Merge pull request #187 from acebrianjuan/monitor_block

Add monitor block to send data stream to a remote GUI

src/algorithms/PVT/libs/gpx_printer.cc

@@ -1,6 +1,6 @@
 /*!
  * \file gpx_printer.cc
- * \brief Interface of a class that prints PVT information to a gpx file
+ * \brief Implementation of a class that prints PVT information to a gpx file
  * \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
  *
  *

src/core/CMakeLists.txt

@@ -19,4 +19,4 @@
 add_subdirectory(system_parameters)
 add_subdirectory(libs)
 add_subdirectory(receiver)
-
+add_subdirectory(monitor)

src/core/monitor/CMakeLists.txt

@@ -0,0 +1,37 @@
+# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+#
+# 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/>.
+#
+
+
+set(CORE_MONITOR_LIBS_SOURCES 
+	gnss_synchro_monitor.cc
+	gnss_synchro_udp_sink.cc
+)
+	
+include_directories(
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_SOURCE_DIR}/src/core/system_parameters
+    ${GLOG_INCLUDE_DIRS}
+    ${GFlags_INCLUDE_DIRS}
+    ${Boost_INCLUDE_DIRS}
+)
+
+file(GLOB CORE_MONITOR_LIBS_HEADERS "*.h")
+list(SORT CORE_MONITOR_LIBS_HEADERS)
+add_library(core_monitor_lib ${CORE_MONITOR_LIBS_SOURCES} ${CORE_MONITOR_LIBS_HEADERS})
+source_group(Headers FILES ${CORE_MONITOR_LIBS_HEADERS})
+target_link_libraries(core_monitor_lib ${Boost_LIBRARIES}) 

src/core/monitor/gnss_synchro_monitor.cc

@@ -0,0 +1,92 @@
+/*!
+ * \file gnss_synchro_monitor.cc
+ * \brief Interface of a Position Velocity and Time computation block
+ * \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * 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 "gnss_synchro_monitor.h"
+#include "gnss_synchro.h"
+#include <glog/logging.h>
+#include <algorithm>
+#include <iostream>
+
+
+using google::LogMessage;
+
+
+gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
+    int output_rate_ms,
+    int udp_port,
+    std::vector<std::string> udp_addresses)
+{
+    return gnss_synchro_monitor_sptr(new gnss_synchro_monitor(n_channels,
+        output_rate_ms,
+        udp_port,
+        udp_addresses));
+}
+
+
+gnss_synchro_monitor::gnss_synchro_monitor(unsigned int n_channels,
+    int output_rate_ms,
+    int udp_port,
+    std::vector<std::string> udp_addresses) : gr::sync_block("gnss_synchro_monitor",
+                                                  gr::io_signature::make(n_channels, n_channels, sizeof(Gnss_Synchro)),
+                                                  gr::io_signature::make(0, 0, 0))
+{
+    d_output_rate_ms = output_rate_ms;
+    d_nchannels = n_channels;
+
+    udp_sink_ptr = std::unique_ptr<Gnss_Synchro_Udp_Sink>(new Gnss_Synchro_Udp_Sink(udp_addresses, udp_port));
+}
+
+
+gnss_synchro_monitor::~gnss_synchro_monitor()
+{
+}
+
+
+int gnss_synchro_monitor::work(int noutput_items, gr_vector_const_void_star& input_items,
+    gr_vector_void_star& output_items __attribute__((unused)))
+{
+    const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]);  // Get the input buffer pointer
+    for (int epoch = 0; epoch < noutput_items; epoch++)
+        {
+            // ############ 1. READ PSEUDORANGES ####
+            for (unsigned int i = 0; i < d_nchannels; i++)
+                {
+                    //if (in[i][epoch].Flag_valid_pseudorange)
+                    //    {
+                    //    }
+                    //todo: send the gnss_synchro objects
+
+                    std::vector<Gnss_Synchro> stocks;
+                    stocks.push_back(in[i][epoch]);
+                    udp_sink_ptr->write_gnss_synchro(stocks);
+                }
+        }
+    return noutput_items;
+}

src/core/monitor/gnss_synchro_monitor.h

@@ -0,0 +1,81 @@
+/*!
+ * \file gnss_synchro_monitor.h
+ * \brief Interface of a Position Velocity and Time computation block
+ * \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * 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 GNSS_SDR_GNSS_SYNCHRO_MONITOR_H
+#define GNSS_SDR_GNSS_SYNCHRO_MONITOR_H
+
+
+#include "gnss_synchro_udp_sink.h"
+#include <gnuradio/sync_block.h>
+#include <fstream>
+#include <utility>
+#include <string>
+
+
+class gnss_synchro_monitor;
+
+typedef boost::shared_ptr<gnss_synchro_monitor> gnss_synchro_monitor_sptr;
+
+gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
+    int output_rate_ms,
+    int udp_port,
+    std::vector<std::string> udp_addresses);
+
+/*!
+ * \brief This class implements a block that computes the PVT solution with Galileo E1 signals
+ */
+class gnss_synchro_monitor : public gr::sync_block
+{
+private:
+    friend gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int nchannels,
+        int output_rate_ms,
+        int udp_port,
+        std::vector<std::string> udp_addresses);
+
+    unsigned int d_nchannels;
+
+    int d_output_rate_ms;
+
+    std::unique_ptr<Gnss_Synchro_Udp_Sink> udp_sink_ptr;
+
+
+public:
+    gnss_synchro_monitor(unsigned int nchannels,
+        int output_rate_ms,
+        int udp_port,
+        std::vector<std::string> udp_addresses);
+
+    ~gnss_synchro_monitor();  //!< Default destructor
+
+    int work(int noutput_items, gr_vector_const_void_star& input_items,
+        gr_vector_void_star& output_items);
+};
+
+#endif

src/core/monitor/gnss_synchro_udp_sink.cc

@@ -0,0 +1,69 @@
+/*!
+ * \file gnss_synchro_udp_sink.cc
+ * \brief Implementation of a class that sends serialized Gnss_Synchro
+ * objects over udp to one or multiple endponits
+ * \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * 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 "gnss_synchro_udp_sink.h"
+#include <boost/archive/binary_oarchive.hpp>
+#include <boost/serialization/vector.hpp>
+#include <sstream>
+#include <iostream>
+
+Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const unsigned short& port) : socket{io_service}
+{
+    for (auto address : addresses)
+        {
+            boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port);
+            endpoints.push_back(endpoint);
+        }
+}
+
+bool Gnss_Synchro_Udp_Sink::write_gnss_synchro(std::vector<Gnss_Synchro> stocks)
+{
+    std::ostringstream archive_stream;
+    boost::archive::binary_oarchive oa{archive_stream};
+    oa << stocks;
+    std::string outbound_data = archive_stream.str();
+
+    for (auto endpoint : endpoints)
+        {
+            socket.open(endpoint.protocol(), error);
+            socket.connect(endpoint, error);
+
+            try
+                {
+                    socket.send(boost::asio::buffer(outbound_data));
+                }
+            catch (boost::system::system_error const& e)
+                {
+                    return false;
+                }
+        }
+    return true;
+}

src/core/monitor/gnss_synchro_udp_sink.h

@@ -0,0 +1,53 @@
+/*!
+ * \file gnss_synchro_udp_sink.h
+ * \brief Interface of a class that sends serialized Gnss_Synchro objects
+ * over udp to one or multiple endponits
+ * \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * 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 GNSS_SYNCHRO_UDP_SINK_H_
+#define GNSS_SYNCHRO_UDP_SINK_H_
+
+#include <boost/asio.hpp>
+#include "gnss_synchro.h"
+
+class Gnss_Synchro_Udp_Sink
+{
+public:
+    Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const unsigned short &port);
+    bool write_gnss_synchro(std::vector<Gnss_Synchro> stocks);
+
+private:
+    boost::asio::io_service io_service;
+    boost::asio::ip::udp::socket socket;
+    boost::system::error_code error;
+    std::vector<boost::asio::ip::udp::endpoint> endpoints;
+    std::vector<Gnss_Synchro> stocks;
+};
+
+
+#endif /* GNSS_SYNCHRO_UDP_SINK_H_ */

src/core/receiver/CMakeLists.txt

@@ -111,6 +111,7 @@ include_directories(
      ${CMAKE_SOURCE_DIR}/src/core/libs/supl
      ${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-rrlp
      ${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-supl
+     ${CMAKE_SOURCE_DIR}/src/core/monitor
      ${CMAKE_SOURCE_DIR}/src/algorithms/libs
      ${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/libs
      ${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/adapters
@@ -178,4 +179,5 @@ target_link_libraries(gnss_rx ${Boost_LIBRARIES}
                               pvt_adapters
                               pvt_lib
                               rx_core_lib
+                              core_monitor_lib
 )

src/core/receiver/gnss_flowgraph.cc

@@ -4,6 +4,7 @@
  * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
  *         Luis Esteve, 2012. luis(at)epsilon-formacion.com
  *         Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
+ *         Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
  *
  * -------------------------------------------------------------------------
  *
@@ -496,6 +497,25 @@ void GNSSFlowgraph::connect()
             return;
         }
 
+    // GNSS SYNCHRO MONITOR
+    if (enable_monitor_)
+        {
+            try
+                {
+                    for (unsigned int i = 0; i < channels_count_; i++)
+                        {
+                            top_block_->connect(observables_->get_right_block(), i, GnssSynchroMonitor_, i);
+                        }
+                }
+            catch (const std::exception& e)
+                {
+                    LOG(WARNING) << "Can't connect observables to Monitor block";
+                    LOG(ERROR) << e.what();
+                    top_block_->disconnect_all();
+                    return;
+                }
+        }
+
     // Activate acquisition in enabled channels
     for (unsigned int i = 0; i < channels_count_; i++)
         {
@@ -1091,6 +1111,25 @@ void GNSSFlowgraph::init()
     set_channels_state();
     applied_actions_ = 0;
     DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
+
+    /*
+	 * Instantiate the receiver monitor block, if required
+	 */
+    enable_monitor_ = configuration_->property("Monitor.enable_monitor", false);
+
+    std::vector<std::string> udp_addr_vec;
+
+    std::string address_string = configuration_->property("Monitor.client_addresses", std::string("127.0.0.1"));
+    //todo: split the string in substrings using the separator and fill the address vector.
+    udp_addr_vec.push_back(address_string);
+
+    if (enable_monitor_)
+        {
+            GnssSynchroMonitor_ = gr::basic_block_sptr(new gnss_synchro_monitor(channels_count_,
+                configuration_->property("Monitor.output_rate_ms", 1),
+                configuration_->property("Monitor.udp_port", 1234),
+                udp_addr_vec));
+        }
 }
 
 

src/core/receiver/gnss_flowgraph.h

@@ -4,6 +4,7 @@
  * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
  *         Luis Esteve, 2011. luis(at)epsilon-formacion.com
  *         Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
+ *         Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
  *
  * It contains a signal source,
  * a signal conditioner, a set of channels, an observables block and a pvt.
@@ -39,6 +40,7 @@
 #include "GPS_L1_CA.h"
 #include "gnss_signal.h"
 #include "gnss_sdr_sample_counter.h"
+#include "gnss_synchro_monitor.h"
 #include <gnuradio/top_block.h>
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_source.h>
@@ -185,6 +187,9 @@ private:
 
     std::vector<unsigned int> channels_state_;
     std::mutex signal_list_mutex;
+
+    bool enable_monitor_;
+    gr::basic_block_sptr GnssSynchroMonitor_;
 };
 
 #endif /*GNSS_SDR_GNSS_FLOWGRAPH_H_*/

src/core/system_parameters/gnss_synchro.h

@@ -4,6 +4,7 @@
  * \author
  *  Luis Esteve, 2012. luis(at)epsilon-formacion.com
  *  Javier Arribas, 2012. jarribas(at)cttc.es
+ *  Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
  * -------------------------------------------------------------------------
  *
  * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
@@ -73,6 +74,44 @@ public:
     double RX_time;               //!< Set by Observables processing block
     bool Flag_valid_pseudorange;  //!< Set by Observables processing block
     double interp_TOW_ms;         //!< Set by Observables processing block
+
+
+    /*!
+     * \brief This member function is necessary to serialize and restore
+     * Gnss_Synchro objects from a byte stream.
+     */
+    template <class Archive>
+    void serialize(Archive& ar, const unsigned int version)
+    {
+        // Satellite and signal info
+        ar& System;
+        ar& Signal;
+        ar& PRN;
+        ar& Channel_ID;
+        ar& Acq_delay_samples;
+        ar& Acq_doppler_hz;
+        ar& Acq_samplestamp_samples;
+        ar& Flag_valid_acquisition;
+        //Tracking
+        ar& fs;
+        ar& Prompt_I;
+        ar& Prompt_Q;
+        ar& CN0_dB_hz;
+        ar& Carrier_Doppler_hz;
+        ar& Carrier_phase_rads;
+        ar& Code_phase_samples;
+        ar& Tracking_sample_counter;
+        ar& Flag_valid_symbol_output;
+        ar& correlation_length_ms;
+        //Telemetry Decoder
+        ar& Flag_valid_word;
+        ar& TOW_at_current_symbol_ms;
+        // Observables
+        ar& Pseudorange_m;
+        ar& RX_time;
+        ar& Flag_valid_pseudorange;
+        ar& interp_TOW_ms;
+    }
 };
 
 #endif

src/tests/CMakeLists.txt

@@ -307,6 +307,7 @@ set(LIST_INCLUDE_DIRS
      ${CMAKE_SOURCE_DIR}/src/core/libs/supl
      ${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-rrlp
      ${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-supl
+     ${CMAKE_SOURCE_DIR}/src/core/monitor
      ${CMAKE_SOURCE_DIR}/src/algorithms/libs
      ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
      ${CMAKE_SOURCE_DIR}/src/algorithms/data_type_adapter/adapters