Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

2024-10-01 00:10:50 +00:00 · 2018-10-21 19:40:39 +02:00 · 2018-10-21 19:40:39 +02:00 · 15ed9d1a08
commit 15ed9d1a08
parent 4d6c8f3ffe 0b79213a0b
6 changed files with 280 additions and 12 deletions
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@ -507,7 +507,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()

    // Save Galileo UTC model parameters
    file_name = "gal_utc_model.xml";
-    if (d_ls_pvt->galileo_utc_model.A0_6 != 0.0)
+    if (d_ls_pvt->galileo_utc_model.Delta_tLS_6 != 0.0)
        {
            std::ofstream ofs;
            try
--- a/src/core/receiver/CMakeLists.txt
+++ b/src/core/receiver/CMakeLists.txt
@ -24,6 +24,7 @@ set(GNSS_RECEIVER_SOURCES
     gnss_block_factory.cc
     gnss_flowgraph.cc
     in_memory_configuration.cc
+     tcp_cmd_interface.cc
 )

 set(GNSS_RECEIVER_HEADERS
--- a/src/core/receiver/control_thread.cc
+++ b/src/core/receiver/control_thread.cc
@ -100,6 +100,12 @@ ControlThread::~ControlThread()
 }


+void ControlThread::telecommand_listener()
+{
+    int tcp_cmd_port = configuration_->property("Channel.telecontrol_tcp_port", 3333);
+    cmd_interface_.run_cmd_server(tcp_cmd_port);
+}
+
 /*
 * Runs the control thread that manages the receiver control plane
 *
@ -148,8 +154,11 @@ void ControlThread::run()
    keyboard_thread_ = boost::thread(&ControlThread::keyboard_listener, this);
    sysv_queue_thread_ = boost::thread(&ControlThread::sysv_queue_listener, this);

-    bool enable_FPGA = configuration_->property("Channel.enable_FPGA", false);
+    //start the telecommand listener thread
+    cmd_interface_thread_ = boost::thread(&ControlThread::telecommand_listener, this);

+
+    bool enable_FPGA = configuration_->property("Channel.enable_FPGA", false);
    if (enable_FPGA == true)
        {
            flowgraph_->start_acquisition_helper();
@ -167,14 +176,16 @@ void ControlThread::run()
    stop_ = true;
    flowgraph_->disconnect();

-    //Join keyboard thread
+//Join keyboard thread
 #ifdef OLD_BOOST
    keyboard_thread_.timed_join(boost::posix_time::seconds(1));
    sysv_queue_thread_.timed_join(boost::posix_time::seconds(1));
+    cmd_interface_thread_.timed_join(boost::posix_time::seconds(1));
 #endif
 #ifndef OLD_BOOST
    keyboard_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
    sysv_queue_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
+    cmd_interface_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
 #endif

    LOG(INFO) << "Flowgraph stopped";
@ -201,32 +212,32 @@ bool ControlThread::read_assistance_from_XML()
    bool ret = false;
    // getting names from the config file, if available
    std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
-    std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
+    std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model_xml", utc_default_xml_filename);
    std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
    std::string gal_iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_iono_xml", gal_iono_default_xml_filename);
    std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
    std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
    std::string eph_gal_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_ephemeris_xml", eph_gal_default_xml_filename);
    std::string eph_cnav_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_cnav_ephemeris_xml", eph_cnav_default_xml_filename);
-    std::string gal_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_utc_model.xml", gal_utc_default_xml_filename);
-    std::string cnav_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_cnav_utc_model.xml", cnav_utc_default_xml_filename);
+    std::string gal_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_utc_model_xml", gal_utc_default_xml_filename);
+    std::string cnav_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_cnav_utc_model_xml", cnav_utc_default_xml_filename);
    std::string eph_glo_xml_filename = configuration_->property("GNSS-SDR.SUPL_glo_ephemeris_xml", eph_glo_gnav_default_xml_filename);
-    std::string glo_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_glo_utc_model.xml", glo_utc_default_xml_filename);
+    std::string glo_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_glo_utc_model_xml", glo_utc_default_xml_filename);

    if (configuration_->property("GNSS-SDR.AGNSS_XML_enabled", false) == true)
        {
            eph_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_ephemeris_xml", eph_default_xml_filename);
-            utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_utc_model.xml", utc_default_xml_filename);
+            utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_utc_model_xml", utc_default_xml_filename);
            iono_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_iono_xml", iono_default_xml_filename);
            gal_iono_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gal_iono_xml", gal_iono_default_xml_filename);
            ref_time_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_ref_time_xml", ref_time_default_xml_filename);
            ref_location_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_ref_location_xml", ref_location_default_xml_filename);
            eph_gal_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gal_ephemeris_xml", eph_gal_default_xml_filename);
            eph_cnav_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_cnav_ephemeris_xml", eph_cnav_default_xml_filename);
-            gal_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gal_utc_model.xml", gal_utc_default_xml_filename);
-            cnav_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_cnav_utc_model.xml", cnav_utc_default_xml_filename);
+            gal_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gal_utc_model_xml", gal_utc_default_xml_filename);
+            cnav_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_cnav_utc_model_xml", cnav_utc_default_xml_filename);
            eph_glo_xml_filename = configuration_->property("GNSS-SDR.AGNSS_glo_ephemeris_xml", eph_glo_gnav_default_xml_filename);
-            glo_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_glo_utc_model.xml", glo_utc_default_xml_filename);
+            glo_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_glo_utc_model_xml", glo_utc_default_xml_filename);
        }

    std::cout << "Trying to read GNSS ephemeris from XML file(s)..." << std::endl;
@ -511,7 +522,7 @@ void ControlThread::assist_GNSS()
                                {
                                    std::cout << "SUPL: Failed to create Iono data file" << std::endl;
                                }
-                            std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
+                            std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model_xml", utc_default_xml_filename);
                            if (supl_client_ephemeris_.save_utc_xml(utc_xml_filename, supl_client_ephemeris_.gps_utc) == true)
                                {
                                    std::cout << "SUPL: UTC model data file created" << std::endl;
--- a/src/core/receiver/control_thread.h
+++ b/src/core/receiver/control_thread.h
@ -37,6 +37,7 @@

 #include "control_message_factory.h"
 #include "gnss_sdr_supl_client.h"
+#include "tcp_cmd_interface.h"
 #include <boost/thread.hpp>
 #include <gnuradio/msg_queue.h>
 #include <memory>
@ -113,6 +114,10 @@ public:
    }

 private:
+    //Telecommand TCP interface
+    TcpCmdInterface cmd_interface_;
+    void telecommand_listener();
+    boost::thread cmd_interface_thread_;
    //SUPL assistance classes
    gnss_sdr_supl_client supl_client_acquisition_;
    gnss_sdr_supl_client supl_client_ephemeris_;
--- a/src/core/receiver/tcp_cmd_interface.cc
+++ b/src/core/receiver/tcp_cmd_interface.cc
@ -0,0 +1,187 @@
+/*!
+ * \file tcp_cmd_interface.cc
+ *
+ * \brief Class that implements a TCP telecontrol command line interface
+ * for GNSS-SDR
+ * \author Javier Arribas jarribas (at) cttc.es
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "tcp_cmd_interface.h"
+
+
+std::string TcpCmdInterface::stop(const std::vector<std::string> &commandLine)
+{
+    std::string response;
+    response = "Not implemented\n";
+    return response;
+}
+
+std::string TcpCmdInterface::status(const std::vector<std::string> &commandLine)
+{
+    std::string response;
+    response = "Not implemented\n";
+    return response;
+}
+
+std::string TcpCmdInterface::assistedstart(const std::vector<std::string> &commandLine)
+{
+    std::string response;
+    response = "Not implemented\n";
+    return response;
+}
+
+std::string TcpCmdInterface::warmstart(const std::vector<std::string> &commandLine)
+{
+    std::string response;
+    response = "Not implemented\n";
+    return response;
+}
+
+
+std::string TcpCmdInterface::coldstart(const std::vector<std::string> &commandLine)
+{
+    std::string response;
+    response = "Not implemented\n";
+    return response;
+}
+
+std::string TcpCmdInterface::set_ch_satellite(const std::vector<std::string> &commandLine)
+{
+    std::string response;
+    response = "Not implemented\n";
+    return response;
+}
+
+
+void TcpCmdInterface::register_functions()
+{
+    functions["status"] = status;
+    functions["stop"] = stop;
+    functions["assistedstart"] = assistedstart;
+    functions["warmstart"] = warmstart;
+    functions["coldstart"] = coldstart;
+    functions["set_ch_satellite"] = set_ch_satellite;
+}
+
+
+TcpCmdInterface::TcpCmdInterface()
+{
+    register_functions();
+}
+
+
+void TcpCmdInterface::run_cmd_server(int tcp_port)
+{
+    // Get the port from the parameters
+    uint16_t port = tcp_port;
+
+    // Error to not throw exception
+    boost::system::error_code not_throw;
+
+    // Socket and acceptor
+    boost::asio::io_service service;
+    boost::asio::ip::tcp::acceptor acceptor(service, boost::asio::ip::tcp::endpoint(boost::asio::ip::tcp::v4(), port));
+
+    bool keep_running = true;
+    while (keep_running)
+        {
+            try
+                {
+                    std::cout << "Telecommand TCP interface listening on port " << tcp_port << std::endl;
+                    boost::asio::ip::tcp::socket socket(service);
+                    acceptor.accept(socket, not_throw);
+                    if (not_throw)
+                        {
+                            std::cerr << "Error when binding the port in the socket" << std::endl;
+                            continue;
+                        }
+
+                    // Read a message
+                    boost::system::error_code error = boost::asio::error::eof;
+                    do
+                        {
+                            std::string response;
+                            boost::asio::streambuf b;
+                            boost::asio::read_until(socket, b, '\n');
+                            std::istream is(&b);
+                            std::string line;
+                            std::getline(is, line);
+                            std::cout << "received command: " << line << std::endl;
+
+                            std::istringstream iss(line);
+                            std::vector<std::string> cmd_vector(std::istream_iterator<std::string>{iss},
+                                std::istream_iterator<std::string>());
+
+                            if (cmd_vector.size() > 0)
+                                {
+                                    try
+                                        {
+                                            response = functions[cmd_vector.at(0)](cmd_vector);
+                                        }
+                                    catch (const std::exception &ex)
+                                        {
+                                            response = "ERROR: command execution error: " + std::string(ex.what()) + "\n";
+                                        }
+                                }
+                            else
+                                {
+                                    response = "ERROR: empty command\n";
+                                }
+
+                            //send cmd response
+                            socket.write_some(boost::asio::buffer(response), not_throw);
+                            if (not_throw)
+                                {
+                                    std::cerr << "Error sending(" << not_throw.value() << "): " << not_throw.message() << std::endl;
+                                    break;
+                                }
+                        }
+                    while (error > 0);  // && error != boost::asio::error::eof);
+
+                    if (error == boost::asio::error::eof)
+                        {
+                            std::cout << "EOF detected\n";
+                        }
+                    else
+                        {
+                            std::cout << "error: " << error << std::endl;
+                        }
+
+                    // Close socket
+                    socket.close();
+                }
+            catch (const std::exception &ex)
+                {
+                    std::cout << "Exception " << ex.what() << std::endl;
+                }
+        }
+}
+
+
+TcpCmdInterface::~TcpCmdInterface()
+{
+    // TODO Auto-generated destructor stub
+}
--- a/src/core/receiver/tcp_cmd_interface.h
+++ b/src/core/receiver/tcp_cmd_interface.h
@ -0,0 +1,64 @@
+/*!
+ * \file tcp_cmd_interface.h
+ *
+ * \brief Class that implements a TCP telecontrol command line interface
+ * for GNSS-SDR
+ * \author Javier Arribas jarribas (at) cttc.es
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+#ifndef TCPCMDINTERFACE_H_
+#define TCPCMDINTERFACE_H_
+
+#include <functional>
+#include <iostream>
+#include <string>
+#include <vector>
+#include <unordered_map>
+#include <algorithm>
+#include <boost/asio.hpp>
+#include <stdint.h>
+
+
+class TcpCmdInterface
+{
+public:
+    TcpCmdInterface();
+    virtual ~TcpCmdInterface();
+    void run_cmd_server(int tcp_port);
+
+private:
+    std::unordered_map<std::string, std::function<std::string(const std::vector<std::string> &)>>
+        functions;
+    static std::string status(const std::vector<std::string> &commandLine);
+    static std::string stop(const std::vector<std::string> &commandLine);
+    static std::string assistedstart(const std::vector<std::string> &commandLine);
+    static std::string warmstart(const std::vector<std::string> &commandLine);
+    static std::string coldstart(const std::vector<std::string> &commandLine);
+    static std::string set_ch_satellite(const std::vector<std::string> &commandLine);
+
+    void register_functions();
+};
+
+#endif /* TCPCMDINTERFACE_H_ */