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This commit is contained in:
Carles Fernandez 2018-01-23 20:07:43 +01:00
parent ef2c2bcf6b
commit 2a9d6975e0
1 changed files with 361 additions and 340 deletions
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701
src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
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@ -36,439 +36,460 @@
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <sstream> #include <sstream>
labsat23_source_sptr labsat23_make_source(const char *signal_file_basename, int channel_selector) labsat23_source_sptr labsat23_make_source(const char *signal_file_basename, int channel_selector)
{ {
return labsat23_source_sptr(new labsat23_source(signal_file_basename, channel_selector)); return labsat23_source_sptr(new labsat23_source(signal_file_basename, channel_selector));
} }
std::string labsat23_source::generate_filename() std::string labsat23_source::generate_filename()
{ {
std::ostringstream ss; std::ostringstream ss;
ss << std::setw(4) << std::setfill('0') << d_current_file_number; ss << std::setw(4) << std::setfill('0') << d_current_file_number;
return d_signal_file_basename + "_" + ss.str()+".LS3"; return d_signal_file_basename + "_" + ss.str()+".LS3";
} }
labsat23_source::labsat23_source(const char *signal_file_basename, int channel_selector) : gr::block("labsat23_source", labsat23_source::labsat23_source(const char *signal_file_basename, int channel_selector) : gr::block("labsat23_source",
gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0),
gr::io_signature::make(1, 1, sizeof(gr_complex))) gr::io_signature::make(1, 1, sizeof(gr_complex)))
{ {
if (channel_selector<1 or channel_selector>2) if (channel_selector < 1 or channel_selector > 2)
{ {
std::cout<<"Labsat source config error: channel selection out of bounds, check gnss-sdr config file"<<std::endl; std::cout << "Labsat source config error: channel selection out of bounds, check gnss-sdr config file" << std::endl;
exit(1); exit(1);
} }
d_channel_selector_config=channel_selector; d_channel_selector_config = channel_selector;
d_header_parsed=false; d_header_parsed = false;
d_bits_per_sample=0; d_bits_per_sample = 0;
d_current_file_number=0; d_current_file_number = 0;
d_labsat_version=0; d_labsat_version = 0;
d_signal_file_basename=std::string(signal_file_basename); d_signal_file_basename = std::string(signal_file_basename);
std::string signal_file; std::string signal_file;
this->set_output_multiple(8); this->set_output_multiple(8);
signal_file=generate_filename(); signal_file = generate_filename();
binary_input_file = new std::ifstream (signal_file.c_str(), std::ios::in|std::ios::binary); binary_input_file = new std::ifstream (signal_file.c_str(), std::ios::in|std::ios::binary);
if (binary_input_file->is_open()) if (binary_input_file->is_open())
{ {
std::cout<<"Labsat file source is reading samples from "<<signal_file<<std::endl; std::cout << "Labsat file source is reading samples from " << signal_file << std::endl;
}else{ }
std::cout<<"Labsat file "<<signal_file<<" could not be opened!"<<std::endl; else
delete binary_input_file; {
exit(1); std::cout << "Labsat file " << signal_file << " could not be opened!" << std::endl;
} delete binary_input_file;
exit(1);
}
} }
labsat23_source::~labsat23_source() labsat23_source::~labsat23_source()
{ {
if (binary_input_file->is_open()) if (binary_input_file->is_open())
{ {
binary_input_file->close(); binary_input_file->close();
} }
delete binary_input_file; delete binary_input_file;
} }
int labsat23_source::getBit(uint8_t byte, int position) int labsat23_source::getBit(uint8_t byte, int position)
{ {
return (byte >> position) & 0x01; return (byte >> position) & 0x01;
} }
void labsat23_source::decode_samples_one_channel(int16_t input_short, gr_complex* out, int type) void labsat23_source::decode_samples_one_channel(int16_t input_short, gr_complex* out, int type)
{ {
std::bitset<16> bs(input_short); std::bitset<16> bs(input_short);
switch(type) switch(type)
{ {
case 2: case 2:
//two bits per sample, 8 samples per int16 //two bits per sample, 8 samples per int16
for (int i=0;i<8;i++) for (int i = 0; i < 8; i++)
{ {
out[i]=gr_complex(static_cast<float>(bs[15-(2*i)]), out[i] = gr_complex(static_cast<float>(bs[15-(2*i)]),
static_cast<float>(bs[14-(2*i)])); static_cast<float>(bs[14-(2*i)]));
out[i]=out[i]*gr_complex(2,0)-gr_complex(1,1); out[i] = out[i]*gr_complex(2,0)-gr_complex(1,1);
} }
break; break;
case 4: case 4:
//four bits per sample, 4 samples per int16 //four bits per sample, 4 samples per int16
for (int i=0;i<4;i++) for (int i = 0; i < 4; i++)
{ {
out[i]=gr_complex(0.0,0.0); out[i] = gr_complex(0.0,0.0);
//In-Phase //In-Phase
if (bs[15-4*i]) if (bs[15-4*i])
{
if (bs[13-4*i]) //11
{ {
out[i]+=gr_complex(-1,0); if (bs[13-4*i]) //11
{
out[i] += gr_complex(-1,0);
}
else //10
{
out[i] += gr_complex(-2,0);
}
} }
else //10 else
{ {
out[i]+=gr_complex(-2,0); if (bs[13-4*i]) //01
{
out[i] += gr_complex(1,0);
}
} }
}
else{
if (bs[13-4*i]) //01
{
out[i]+=gr_complex(1,0);
}
}
//Quadrature //Quadrature
if (bs[14-4*i]) if (bs[14-4*i])
{
if (bs[12-4*i]) //11
{ {
out[i]+=gr_complex(0,-1); if (bs[12-4*i]) //11
{
out[i] += gr_complex(0,-1);
}
else //10
{
out[i] += gr_complex(0,-2);
}
} }
else //10 else
{ {
out[i]+=gr_complex(0,-2); if (bs[12-4*i]) //01
{
out[i] += gr_complex(0,1);
}
} }
} out[i] += gr_complex(0.5,0.5);
else{
if (bs[12-4*i]) //01
{
out[i]+=gr_complex(0,1);
}
}
out[i]+=gr_complex(0.5,0.5);
} }
break; break;
} }
} }
int labsat23_source::general_work(int noutput_items,
__attribute__((unused)) gr_vector_int &ninput_items,
__attribute__((unused)) gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
int labsat23_source::general_work(int noutput_items,
__attribute__((unused)) gr_vector_int &ninput_items,
__attribute__((unused)) gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
gr_complex *out = reinterpret_cast<gr_complex *>(output_items[0]); gr_complex *out = reinterpret_cast<gr_complex *>(output_items[0]);
if (d_header_parsed==false) if (d_header_parsed == false)
{
if (binary_input_file->eof()==false)
{ {
char memblock[1024]; if (binary_input_file->eof() == false)
binary_input_file->read(memblock,1024);
//parse Labsat header
//check preamble
int byte_counter=0;
bool preamble_ok=true;
for (int i=0;i<8;i++)
{
if (memblock[byte_counter]!=0x00) preamble_ok=false;
//std::cout<<"H["<<i<<"]:"<<(int)memblock[byte_counter]<<std::endl;
byte_counter++;
}
if (preamble_ok==false)
{
std::cout<<"Labsat source do not detect the preamble in the selected file"<<std::endl;
return -1;
}
// check Labsat version
if (memblock[byte_counter]==0x4C and memblock[byte_counter+1]==0x53 and memblock[byte_counter+2]==0x32)
{
d_labsat_version=2;
std::cout<<"Labsat file version 2 detected"<<std::endl;
}
if (memblock[byte_counter]==0x4C and memblock[byte_counter+1]==0x53 and memblock[byte_counter+2]==0x33)
{
d_labsat_version=3;
std::cout<<"Labsat file version 3 detected"<<std::endl;
}
if (d_labsat_version==0)
{
std::cout<<"Labsat source do not detect the labsat version in file header"<<std::endl;
return -1;
}
byte_counter+=3;
int sub_version=(int)memblock[byte_counter];
std::cout<<"Labsat file sub version "<<sub_version<<std::endl;
byte_counter++;
int header_bytes=0;
header_bytes += memblock[byte_counter] | (memblock[byte_counter+1]<<8) | (memblock[byte_counter+2]<<16) | (memblock[byte_counter+3]<<24);
byte_counter+=4;
//std::cout<<"header_bytes="<<header_bytes<<std::endl;
// read first section
// section ID (little-endian)
uint8_t section_id=(int)memblock[byte_counter]+(int)memblock[byte_counter+1]*256;
//std::cout<<"Section ID: "<<(int)section_id<<std::endl;
byte_counter+=2;
uint8_t section_lenght_bytes=0;
section_lenght_bytes += memblock[byte_counter] | (memblock[byte_counter+1]<<8) | (memblock[byte_counter+2]<<16) | (memblock[byte_counter+3]<<24);
//std::cout<<"section_lenght_bytes="<<(int)section_lenght_bytes<<std::endl;
byte_counter+=4;
if (section_id==2)
{
d_ref_clock=(uint8_t)memblock[byte_counter];
switch(d_ref_clock)
{ {
case 0: char memblock[1024];
std::cout<<"Labsat reference clock: internal OXCO"<<std::endl; binary_input_file->read(memblock, 1024);
break; //parse Labsat header
case 1: //check preamble
std::cout<<"Labsat reference clock: internal TXCO"<<std::endl; int byte_counter = 0;
break; bool preamble_ok = true;
case 2: for (int i = 0; i < 8; i++)
std::cout<<"Labsat reference clock: external 10 MHz"<<std::endl; {
break; if (memblock[byte_counter] != 0x00) preamble_ok = false;
case 3: //std::cout << "H[" << i << "]:" << (int)memblock[byte_counter] << std::endl;
std::cout<<"Labsat reference clock: external 16.386 MHz"<<std::endl; byte_counter++;
break; }
default:
std::cout<<"Labsat Unknown reference clock ID "<<(int)d_ref_clock<<std::endl; if (preamble_ok == false)
{
std::cout << "Labsat source do not detect the preamble in the selected file" << std::endl;
return -1;
}
// check Labsat version
if (memblock[byte_counter] == 0x4C and memblock[byte_counter+1] == 0x53 and memblock[byte_counter+2] == 0x32)
{
d_labsat_version = 2;
std::cout << "Labsat file version 2 detected" << std::endl;
}
if (memblock[byte_counter] == 0x4C and memblock[byte_counter+1] == 0x53 and memblock[byte_counter+2] == 0x33)
{
d_labsat_version = 3;
std::cout << "Labsat file version 3 detected" << std::endl;
}
if (d_labsat_version == 0)
{
std::cout << "Labsat source do not detect the labsat version in file header" << std::endl;
return -1;
}
byte_counter += 3;
int sub_version = static_cast<int>(memblock[byte_counter]);
std::cout << "Labsat file sub version " << sub_version << std::endl;
byte_counter++;
int header_bytes = 0;
header_bytes += memblock[byte_counter] | (memblock[byte_counter+1] << 8) | (memblock[byte_counter+2] << 16) | (memblock[byte_counter+3] << 24);
byte_counter += 4;
//std::cout << "header_bytes=" << header_bytes << std::endl;
// read first section
// section ID (little-endian)
uint8_t section_id = static_cast<int>(memblock[byte_counter]) + static_cast<int>(memblock[byte_counter+1]) * 256;
//std::cout << "Section ID: " << (int)section_id << std::endl;
byte_counter += 2;
uint8_t section_lenght_bytes = 0;
section_lenght_bytes += memblock[byte_counter] | (memblock[byte_counter+1] << 8) | (memblock[byte_counter+2] << 16) | (memblock[byte_counter+3] << 24);
//std::cout << "section_lenght_bytes=" << (int)section_lenght_bytes << std::endl;
byte_counter += 4;
if (section_id == 2)
{
d_ref_clock = static_cast<uint8_t>(memblock[byte_counter]);
switch(d_ref_clock)
{
case 0:
std::cout << "Labsat reference clock: internal OXCO" << std::endl;
break;
case 1:
std::cout << "Labsat reference clock: internal TXCO" << std::endl;
break;
case 2:
std::cout << "Labsat reference clock: external 10 MHz" << std::endl;
break;
case 3:
std::cout << "Labsat reference clock: external 16.386 MHz" << std::endl;
break;
default:
std::cout << "Labsat Unknown reference clock ID " << static_cast<int>(d_ref_clock) << std::endl;
}
byte_counter++;
d_bits_per_sample = static_cast<uint8_t>(memblock[byte_counter]);
switch(d_bits_per_sample)
{
case 2:
std::cout << "Labsat is using 2 bits per sample" << std::endl;
break;
case 4:
std::cout << "Labsat is using 4 bits per sample" << std::endl;
break;
default:
std::cout << "Labsat Unknown bits per sample ID " << static_cast<int>(d_bits_per_sample) << std::endl;
return -1;
}
byte_counter++;
d_channel_selector = static_cast<uint8_t>(memblock[byte_counter]);
switch(d_channel_selector)
{
case 0:
std::cout << "Available channels: Channel A + B, 1 bit quantisation" << std::endl;
break;
case 1:
std::cout << "Available channels: Channel A, 1 bit quantisation" << std::endl;
break;
case 2:
std::cout << "Available channels: Channel B, 1 bit quantisation" << std::endl;
break;
case 3:
std::cout << "Available channels: Channel A, 2 bit quantisation" << std::endl;
break;
case 4:
std::cout << "Available channels: Channel B, 2 bit quantisation" << std::endl;
break;
default:
std::cout << "Unknown channel selection ID " << static_cast<int>(d_channel_selector) << std::endl;
return -1;
}
//check if the selected channel in config file match the file encoding
if (d_channel_selector_config == 2 and d_channel_selector != 0)
{
std::cout << "Labsat source channel config inconsistency: channel 2 is selected but the file has only one channel" << std::endl;
return -1;
}
//todo: Add support for dual channel files
if (d_channel_selector == 0)
{
std::cout << "ERROR: Labsat file contains more than one channel and it is not currently supported by Labsat signal source." << std::endl;
return -1;
}
byte_counter++;
uint8_t quantization = static_cast<uint8_t>(memblock[byte_counter]);
switch(quantization)
{
case 1:
std::cout << "1 bit per sample" << std::endl;
break;
case 2:
std::cout << "2 bit per sample" << std::endl;
break;
default:
std::cout << "Unknown quantization ID " << static_cast<int>(quantization) << std::endl;
}
byte_counter++;
uint8_t channel_a_constellation = static_cast<uint8_t>(memblock[byte_counter]);
switch(channel_a_constellation)
{
case 0:
std::cout << "Labsat Channel A is GPS" << std::endl;
break;
case 1:
std::cout << "Labsat Channel A is GLONASS" << std::endl;
break;
case 2:
std::cout << "Labsat Channel A is BDS" << std::endl;
break;
default:
std::cout << "Unknown channel A constellation ID " << static_cast<int>(channel_a_constellation) << std::endl;
}
byte_counter++;
uint8_t channel_b_constellation = static_cast<uint8_t>(memblock[byte_counter]);
switch(channel_b_constellation)
{
case 0:
std::cout << "Labsat Channel B is GPS" << std::endl;
break;
case 1:
std::cout << "Labsat Channel B is GLONASS" << std::endl;
break;
case 2:
std::cout << "Labsat Channel B is BDS" << std::endl;
break;
default:
std::cout << "Unknown channel B constellation ID " << static_cast<int>(channel_b_constellation) << std::endl;
}
//end of header
d_header_parsed = true;
//seek file to the first signal sample
binary_input_file->clear();
binary_input_file->seekg(header_bytes, binary_input_file->beg);
return 0;
}
else
{
std::cout << "Labsat file header error: section 2 is not available." << std::endl;
return -1;
}
} }
byte_counter++; else
d_bits_per_sample=(uint8_t)memblock[byte_counter];
switch(d_bits_per_sample)
{ {
case 2: std::cout << "Labsat file read error: file is empty." << std::endl;
std::cout<<"Labsat is using 2 bits per sample"<<std::endl;
break;
case 4:
std::cout<<"Labsat is using 4 bits per sample"<<std::endl;
break;
default:
std::cout<<"Labsat Unknown bits per sample ID "<<(int)d_bits_per_sample<<std::endl;
return -1;
}
byte_counter++;
d_channel_selector=(uint8_t)memblock[byte_counter];
switch(d_channel_selector)
{
case 0:
std::cout<<"Available channels: Channel A + B, 1 bit quantisation"<<std::endl;
break;
case 1:
std::cout<<"Available channels: Channel A, 1 bit quantisation"<<std::endl;
break;
case 2:
std::cout<<"Available channels: Channel B, 1 bit quantisation"<<std::endl;
break;
case 3:
std::cout<<"Available channels: Channel A, 2 bit quantisation"<<std::endl;
break;
case 4:
std::cout<<"Available channels: Channel B, 2 bit quantisation"<<std::endl;
break;
default:
std::cout<<"Unknown channel selection ID "<<(int)d_channel_selector<<std::endl;
return -1;
}
//check if the selected channel in config file match the file encoding
if (d_channel_selector_config==2 and d_channel_selector!=0)
{
std::cout<<"Labsat source channel config inconsistency: channel 2 is selected but the file has only one channel"<<std::endl;
return -1; return -1;
} }
//todo: Add support for dual channel files
if (d_channel_selector==0)
{
std::cout<<"ERROR: Labsat file contains more than one channel and it is not currently supported by Labsat signal source."<<std::endl;
return -1;
}
byte_counter++;
uint8_t quantization=(uint8_t)memblock[byte_counter];
switch(quantization)
{
case 1:
std::cout<<"1 bit per sample"<<std::endl;
break;
case 2:
std::cout<<"2 bit per sample"<<std::endl;
break;
default:
std::cout<<"Unknown quantization ID "<<(int)quantization<<std::endl;
}
byte_counter++;
uint8_t channel_a_constellation=(uint8_t)memblock[byte_counter];
switch(channel_a_constellation)
{
case 0:
std::cout<<"Labsat Channel A is GPS"<<std::endl;
break;
case 1:
std::cout<<"Labsat Channel A is GLONASS"<<std::endl;
break;
case 2:
std::cout<<"Labsat Channel A is BDS"<<std::endl;
break;
default:
std::cout<<"Unknown channel A constellation ID "<<(int)channel_a_constellation<<std::endl;
}
byte_counter++;
uint8_t channel_b_constellation=(uint8_t)memblock[byte_counter];
switch(channel_b_constellation)
{
case 0:
std::cout<<"Labsat Channel B is GPS"<<std::endl;
break;
case 1:
std::cout<<"Labsat Channel B is GLONASS"<<std::endl;
break;
case 2:
std::cout<<"Labsat Channel B is BDS"<<std::endl;
break;
default:
std::cout<<"Unknown channel B constellation ID "<<(int)channel_b_constellation<<std::endl;
}
//end of header
d_header_parsed=true;
//seek file to the first signal sample
binary_input_file->clear();
binary_input_file->seekg(header_bytes, binary_input_file->beg);
return 0;
}else{
std::cout<<"Labsat file header error: section 2 is not available."<<std::endl;
return -1;
}
}else{
std::cout<<"Labsat file read error: file is empty."<<std::endl;
return -1;
} }
}else{ else
//ready to start reading samples
switch(d_bits_per_sample)
{ {
case 2: //ready to start reading samples
switch(d_bits_per_sample)
{ {
switch(d_channel_selector) case 2:
{ {
switch(d_channel_selector)
{
case 0: case 0:
// dual channel 2 bits per complex sample // dual channel 2 bits per complex sample
break; break;
default: default:
//single channel 2 bits per complex sample (1 bit I + 1 bit Q, 8 samples per int16) //single channel 2 bits per complex sample (1 bit I + 1 bit Q, 8 samples per int16)
int n_int16_to_read=noutput_items/8; int n_int16_to_read = noutput_items / 8;
if (n_int16_to_read>0) if (n_int16_to_read > 0)
{
int16_t memblock[n_int16_to_read];
binary_input_file->read((char*)memblock,n_int16_to_read*2);
n_int16_to_read=binary_input_file->gcount()/2; //from bytes to int16
if (n_int16_to_read>0)
{ {
int output_pointer=0; int16_t memblock[n_int16_to_read];
for (int i=0;i<n_int16_to_read;i++) binary_input_file->read(reinterpret_cast<char*>(memblock), n_int16_to_read * 2);
{ n_int16_to_read = binary_input_file->gcount() / 2; //from bytes to int16
decode_samples_one_channel(memblock[i],&out[output_pointer], d_bits_per_sample); if (n_int16_to_read > 0)
output_pointer+=8; {
} int output_pointer = 0;
return output_pointer; for (int i = 0; i < n_int16_to_read; i++)
}else{ {
//trigger the read of the next file in the sequence decode_samples_one_channel(memblock[i], &out[output_pointer], d_bits_per_sample);
std::cout<<"End of current file, reading the next Labsat file in sequence: "<<generate_filename()<<std::endl; output_pointer += 8;
}
return output_pointer;
}
else
{
//trigger the read of the next file in the sequence
std::cout << "End of current file, reading the next Labsat file in sequence: " << generate_filename() << std::endl;
d_current_file_number++; d_current_file_number++;
binary_input_file->close(); binary_input_file->close();
binary_input_file->open(generate_filename().c_str(), std::ios::in|std::ios::binary); binary_input_file->open(generate_filename().c_str(), std::ios::in|std::ios::binary);
if (binary_input_file->is_open()) if (binary_input_file->is_open())
{ {
std::cout<<"Labsat file source is reading samples from "<<generate_filename()<<std::endl; std::cout << "Labsat file source is reading samples from " << generate_filename() << std::endl;
}else{ }
std::cout<<"Last file reached, LabSat source stop"<<std::endl; else
return -1; {
} std::cout << "Last file reached, LabSat source stop" << std::endl;
return -1;
}
}
} }
}else{ else
return 0; {
} return 0;
}; }
break; };
} break;
}
case 4: case 4:
{
switch(d_channel_selector)
{ {
switch(d_channel_selector)
{
case 0: case 0:
// dual channel // dual channel
break; break;
default: default:
//single channel 4 bits per complex sample (2 bit I + 2 bit Q, 4 samples per int16) //single channel 4 bits per complex sample (2 bit I + 2 bit Q, 4 samples per int16)
int n_int16_to_read=noutput_items/4; int n_int16_to_read = noutput_items / 4;
if (n_int16_to_read>0) if (n_int16_to_read > 0)
{
int16_t memblock[n_int16_to_read];
binary_input_file->read((char*)memblock,n_int16_to_read*2);
n_int16_to_read=binary_input_file->gcount()/2; //from bytes to int16
if (n_int16_to_read>0)
{ {
int output_pointer=0; int16_t memblock[n_int16_to_read];
for (int i=0;i<n_int16_to_read;i++) binary_input_file->read(reinterpret_cast<char*>(memblock), n_int16_to_read * 2);
{ n_int16_to_read = binary_input_file->gcount() / 2; //from bytes to int16
decode_samples_one_channel(memblock[i],&out[output_pointer], d_bits_per_sample); if (n_int16_to_read > 0)
output_pointer+=4; {
} int output_pointer = 0;
return output_pointer; for (int i = 0; i < n_int16_to_read; i++)
}else{ {
//trigger the read of the next file in the sequence decode_samples_one_channel(memblock[i], &out[output_pointer], d_bits_per_sample);
std::cout<<"End of current file, reading the next Labsat file in sequence: "<<generate_filename()<<std::endl; output_pointer += 4;
}
return output_pointer;
}
else
{
//trigger the read of the next file in the sequence
std::cout << "End of current file, reading the next Labsat file in sequence: " << generate_filename() << std::endl;
d_current_file_number++; d_current_file_number++;
binary_input_file->close(); binary_input_file->close();
binary_input_file->open(generate_filename().c_str(), std::ios::in|std::ios::binary); binary_input_file->open(generate_filename().c_str(), std::ios::in|std::ios::binary);
if (binary_input_file->is_open()) if (binary_input_file->is_open())
{ {
std::cout<<"Labsat file source is reading samples from "<<generate_filename()<<std::endl; std::cout << "Labsat file source is reading samples from " << generate_filename() << std::endl;
}else{ }
std::cout<<"Last file reached, LabSat source stop"<<std::endl; else
return -1; {
} std::cout << "Last file reached, LabSat source stop" << std::endl;
return -1;
}
}
} }
}else{ else
return 0; {
} return 0;
}
}
break;
} }
break;
}
default: default:
{ {
return -1; return -1;
}
} }
} }
} std::cout << "Warning!!" << std::endl;
std::cout<<"Warning!!"<<std::endl;
return 0; return 0;
} }