From ca7062764f837f28152aaf4b989454cf8458cb73 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=81lvaro=20Cebri=C3=A1n=20Juan?= Date: Tue, 3 Jul 2018 12:37:08 +0200 Subject: [PATCH 1/3] Add serialize member function, necessary to serialize and restore Gnss_Synchro objects from a byte stream --- src/core/system_parameters/gnss_synchro.h | 39 +++++++++++++++++++++++ 1 file changed, 39 insertions(+) diff --git a/src/core/system_parameters/gnss_synchro.h b/src/core/system_parameters/gnss_synchro.h index 922420bc4..6e240c0c3 100644 --- a/src/core/system_parameters/gnss_synchro.h +++ b/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 + 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 From 2ff637125e7c60376b586387b0932df17234028e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=81lvaro=20Cebri=C3=A1n=20Juan?= Date: Tue, 3 Jul 2018 12:41:59 +0200 Subject: [PATCH 2/3] Fix typo in header --- src/algorithms/PVT/libs/gpx_printer.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/algorithms/PVT/libs/gpx_printer.cc b/src/algorithms/PVT/libs/gpx_printer.cc index 3a8661e6d..1949bb7dc 100644 --- a/src/algorithms/PVT/libs/gpx_printer.cc +++ b/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 * * From 619b2ee624f637364283795fff5b9d2a32b0213c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=81lvaro=20Cebri=C3=A1n=20Juan?= Date: Tue, 3 Jul 2018 13:25:43 +0200 Subject: [PATCH 3/3] Add monitor block to send data stream to a remote GUI --- src/core/CMakeLists.txt | 2 +- src/core/monitor/CMakeLists.txt | 37 +++++++++ src/core/monitor/gnss_synchro_monitor.cc | 92 +++++++++++++++++++++++ src/core/monitor/gnss_synchro_monitor.h | 81 ++++++++++++++++++++ src/core/monitor/gnss_synchro_udp_sink.cc | 69 +++++++++++++++++ src/core/monitor/gnss_synchro_udp_sink.h | 53 +++++++++++++ src/core/receiver/CMakeLists.txt | 2 + src/core/receiver/gnss_flowgraph.cc | 39 ++++++++++ src/core/receiver/gnss_flowgraph.h | 5 ++ src/tests/CMakeLists.txt | 1 + 10 files changed, 380 insertions(+), 1 deletion(-) create mode 100644 src/core/monitor/CMakeLists.txt create mode 100644 src/core/monitor/gnss_synchro_monitor.cc create mode 100644 src/core/monitor/gnss_synchro_monitor.h create mode 100644 src/core/monitor/gnss_synchro_udp_sink.cc create mode 100644 src/core/monitor/gnss_synchro_udp_sink.h diff --git a/src/core/CMakeLists.txt b/src/core/CMakeLists.txt index 4eebaa950..62d75f86c 100644 --- a/src/core/CMakeLists.txt +++ b/src/core/CMakeLists.txt @@ -19,4 +19,4 @@ add_subdirectory(system_parameters) add_subdirectory(libs) add_subdirectory(receiver) - +add_subdirectory(monitor) diff --git a/src/core/monitor/CMakeLists.txt b/src/core/monitor/CMakeLists.txt new file mode 100644 index 000000000..545e8641e --- /dev/null +++ b/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 . +# + + +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}) diff --git a/src/core/monitor/gnss_synchro_monitor.cc b/src/core/monitor/gnss_synchro_monitor.cc new file mode 100644 index 000000000..bde09ef69 --- /dev/null +++ b/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 . + * + * ------------------------------------------------------------------------- + */ + +#include "gnss_synchro_monitor.h" +#include "gnss_synchro.h" +#include +#include +#include + + +using google::LogMessage; + + +gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels, + int output_rate_ms, + int udp_port, + std::vector 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 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(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(&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 stocks; + stocks.push_back(in[i][epoch]); + udp_sink_ptr->write_gnss_synchro(stocks); + } + } + return noutput_items; +} diff --git a/src/core/monitor/gnss_synchro_monitor.h b/src/core/monitor/gnss_synchro_monitor.h new file mode 100644 index 000000000..36b6f1e3a --- /dev/null +++ b/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 . + * + * ------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_GNSS_SYNCHRO_MONITOR_H +#define GNSS_SDR_GNSS_SYNCHRO_MONITOR_H + + +#include "gnss_synchro_udp_sink.h" +#include +#include +#include +#include + + +class gnss_synchro_monitor; + +typedef boost::shared_ptr 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 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 udp_addresses); + + unsigned int d_nchannels; + + int d_output_rate_ms; + + std::unique_ptr udp_sink_ptr; + + +public: + gnss_synchro_monitor(unsigned int nchannels, + int output_rate_ms, + int udp_port, + std::vector 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 diff --git a/src/core/monitor/gnss_synchro_udp_sink.cc b/src/core/monitor/gnss_synchro_udp_sink.cc new file mode 100644 index 000000000..52b53b260 --- /dev/null +++ b/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 . + * + * ------------------------------------------------------------------------- + */ + +#include "gnss_synchro_udp_sink.h" +#include +#include +#include +#include + +Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector 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 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; +} diff --git a/src/core/monitor/gnss_synchro_udp_sink.h b/src/core/monitor/gnss_synchro_udp_sink.h new file mode 100644 index 000000000..cf3cfc91d --- /dev/null +++ b/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 . + * + * ------------------------------------------------------------------------- + */ + +#ifndef GNSS_SYNCHRO_UDP_SINK_H_ +#define GNSS_SYNCHRO_UDP_SINK_H_ + +#include +#include "gnss_synchro.h" + +class Gnss_Synchro_Udp_Sink +{ +public: + Gnss_Synchro_Udp_Sink(std::vector addresses, const unsigned short &port); + bool write_gnss_synchro(std::vector stocks); + +private: + boost::asio::io_service io_service; + boost::asio::ip::udp::socket socket; + boost::system::error_code error; + std::vector endpoints; + std::vector stocks; +}; + + +#endif /* GNSS_SYNCHRO_UDP_SINK_H_ */ diff --git a/src/core/receiver/CMakeLists.txt b/src/core/receiver/CMakeLists.txt index 7be920a47..46a13614e 100644 --- a/src/core/receiver/CMakeLists.txt +++ b/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 ) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index ab9589658..b5b978d9f 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/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 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)); + } } diff --git a/src/core/receiver/gnss_flowgraph.h b/src/core/receiver/gnss_flowgraph.h index 5da90cd1f..00a6ced4e 100644 --- a/src/core/receiver/gnss_flowgraph.h +++ b/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 #include #include @@ -185,6 +187,9 @@ private: std::vector channels_state_; std::mutex signal_list_mutex; + + bool enable_monitor_; + gr::basic_block_sptr GnssSynchroMonitor_; }; #endif /*GNSS_SDR_GNSS_FLOWGRAPH_H_*/ diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt index f24dcd8cc..54b3ac685 100644 --- a/src/tests/CMakeLists.txt +++ b/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