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mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-12-15 12:40:35 +00:00

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

This commit is contained in:
Carles Fernandez 2018-10-21 19:40:39 +02:00
commit 15ed9d1a08
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GPG Key ID: 4C583C52B0C3877D
6 changed files with 280 additions and 12 deletions

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@ -507,7 +507,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
// Save Galileo UTC model parameters // Save Galileo UTC model parameters
file_name = "gal_utc_model.xml"; 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; std::ofstream ofs;
try try

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@ -24,6 +24,7 @@ set(GNSS_RECEIVER_SOURCES
gnss_block_factory.cc gnss_block_factory.cc
gnss_flowgraph.cc gnss_flowgraph.cc
in_memory_configuration.cc in_memory_configuration.cc
tcp_cmd_interface.cc
) )
set(GNSS_RECEIVER_HEADERS set(GNSS_RECEIVER_HEADERS

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@ -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 * 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); keyboard_thread_ = boost::thread(&ControlThread::keyboard_listener, this);
sysv_queue_thread_ = boost::thread(&ControlThread::sysv_queue_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) if (enable_FPGA == true)
{ {
flowgraph_->start_acquisition_helper(); flowgraph_->start_acquisition_helper();
@ -167,14 +176,16 @@ void ControlThread::run()
stop_ = true; stop_ = true;
flowgraph_->disconnect(); flowgraph_->disconnect();
//Join keyboard thread //Join keyboard thread
#ifdef OLD_BOOST #ifdef OLD_BOOST
keyboard_thread_.timed_join(boost::posix_time::seconds(1)); keyboard_thread_.timed_join(boost::posix_time::seconds(1));
sysv_queue_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 #endif
#ifndef OLD_BOOST #ifndef OLD_BOOST
keyboard_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); 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)); 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 #endif
LOG(INFO) << "Flowgraph stopped"; LOG(INFO) << "Flowgraph stopped";
@ -201,32 +212,32 @@ bool ControlThread::read_assistance_from_XML()
bool ret = false; bool ret = false;
// getting names from the config file, if available // 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 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 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 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_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 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_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 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 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 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 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) 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); 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); 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); 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_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); 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_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); 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); 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); 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); 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; 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::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) 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; std::cout << "SUPL: UTC model data file created" << std::endl;

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@ -37,6 +37,7 @@
#include "control_message_factory.h" #include "control_message_factory.h"
#include "gnss_sdr_supl_client.h" #include "gnss_sdr_supl_client.h"
#include "tcp_cmd_interface.h"
#include <boost/thread.hpp> #include <boost/thread.hpp>
#include <gnuradio/msg_queue.h> #include <gnuradio/msg_queue.h>
#include <memory> #include <memory>
@ -113,6 +114,10 @@ public:
} }
private: private:
//Telecommand TCP interface
TcpCmdInterface cmd_interface_;
void telecommand_listener();
boost::thread cmd_interface_thread_;
//SUPL assistance classes //SUPL assistance classes
gnss_sdr_supl_client supl_client_acquisition_; gnss_sdr_supl_client supl_client_acquisition_;
gnss_sdr_supl_client supl_client_ephemeris_; gnss_sdr_supl_client supl_client_ephemeris_;

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@ -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
}

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@ -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_ */