diff --git a/src/algorithms/channel/libs/channel_fsm.cc b/src/algorithms/channel/libs/channel_fsm.cc index f147a57ef..daef2f9ad 100644 --- a/src/algorithms/channel/libs/channel_fsm.cc +++ b/src/algorithms/channel/libs/channel_fsm.cc @@ -62,10 +62,8 @@ struct channel_idle_fsm_S0: public sc::state public: // sc::transition(event, next state) typedef sc::transition reactions; - channel_idle_fsm_S0(my_context ctx) : my_base(ctx) - { - //std::cout << "Enter Channel_Idle_S0 " << std::endl; - } + channel_idle_fsm_S0(my_context ctx) : my_base(ctx){} + }; @@ -78,13 +76,10 @@ public: channel_acquiring_fsm_S1(my_context ctx) : my_base(ctx) { - //std::cout << "Enter Channel_Acq_S1 " << std::endl; context ().start_acquisition(); } - ~channel_acquiring_fsm_S1() - { - //std::cout << "Exit Channel_Acq_S1 " << std::endl; - } + ~channel_acquiring_fsm_S1(){} + }; @@ -96,13 +91,11 @@ public: channel_tracking_fsm_S2(my_context ctx) : my_base(ctx) { - //std::cout << "Enter Channel_tracking_S2 " << std::endl; context ().start_tracking(); } ~channel_tracking_fsm_S2() { - //std::cout << "Exit Channel_tracking_S2 " << std::endl; context ().notify_stop_tracking(); } @@ -117,10 +110,9 @@ public: channel_waiting_fsm_S3(my_context ctx) : my_base(ctx) { - //std::cout << "Enter Channel_waiting_S3 " << std::endl; context ().request_satellite(); } - // ~channel_waiting_fsm_S3(){} + ~channel_waiting_fsm_S3(){} }; @@ -148,7 +140,6 @@ ChannelFsm::ChannelFsm(std::shared_ptr acquisition) : void ChannelFsm::Event_start_acquisition() { this->process_event(Ev_channel_start_acquisition()); - //std::cout<<"Ev_channel_start_acquisition launched"<start_acquisition(); available_GNSS_signals_.pop_front(); - LOG(INFO) << "Channel " << i << " assigned to " << available_GNSS_signals_.front(); + LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal(); LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition"; } else @@ -367,12 +367,10 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg) void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) { DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_; - VLOG(-100) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_; switch (what) { case 0: - DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); - VLOG(-100) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); + LOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); //TODO: Optimize the channel and signal matching! while ( channels_.at(who)->get_signal().get_signal_str().compare(available_GNSS_signals_.front().get_signal_str()) != 0 ) @@ -382,14 +380,12 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) } channels_.at(who)->set_signal(available_GNSS_signals_.front()); available_GNSS_signals_.pop_front(); - DLOG(INFO) << "Channel "<< who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); - VLOG(-100) << "Channel "<< who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); + LOG(INFO) << "Channel "<< who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); channels_.at(who)->start_acquisition(); break; case 1: - DLOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_.at(who)->get_signal().get_satellite(); - VLOG(-100) << "Channel " << who << " ACQ SUCCESS satellite " << channels_.at(who)->get_signal().get_satellite(); + LOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_.at(who)->get_signal().get_satellite(); channels_state_[who] = 2; acq_channels_count_--; for (unsigned int i = 0; i < channels_count_; i++) @@ -435,20 +431,20 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) break; case 2: - DLOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_.at(who)->get_signal().get_satellite(); + LOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_.at(who)->get_signal().get_satellite(); DLOG(INFO) << "Number of channels in acquisition = " << acq_channels_count_; - VLOG(-100) << "Channel " << who << " TRK FAILED satellite " << channels_.at(who)->get_signal().get_satellite(); - VLOG(-100) << "Number of channels in acquisition = " << acq_channels_count_; if (acq_channels_count_ < max_acq_channels_) { channels_state_[who] = 1; acq_channels_count_++; + LOG(INFO) << "Channel "<< who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); channels_.at(who)->start_acquisition(); } else { channels_state_[who] = 0; + LOG(INFO) << "Channel "<< who << " Idle state"; available_GNSS_signals_.push_back( channels_.at(who)->get_signal() ); } break;