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Smarter flowgraph for multi-system and multi-band configurations

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This commit is contained in:
Carles Fernandez 2018-06-14 23:10:43 +02:00
parent 5b2040ae50
commit 4506bed859
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GPG Key ID: 4C583C52B0C3877D
2 changed files with 378 additions and 62 deletions
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414
src/core/receiver/gnss_flowgraph.cc
View File

@ -422,11 +422,59 @@ void GNSSFlowgraph::connect()
else
{
std::string gnss_system;
if ((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) or (gnss_signal.compare("L5") == 0)) gnss_system = "GPS";
if ((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0)) gnss_system = "Galileo";
if ((gnss_signal.compare("1G") == 0) or (gnss_signal.compare("2G") == 0)) gnss_system = "Glonass";
Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GNSS_signals_.remove(signal_value);
Gnss_Signal signal_value;
switch (mapStringValues_[gnss_signal])
{
case evGPS_1C:
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_1C_signals_.remove(signal_value);
break;
case evGPS_2S:
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_2S_signals_.remove(signal_value);
break;
case evGPS_L5:
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_L5_signals_.remove(signal_value);
break;
case evGAL_1B:
gnss_system = "Galileo";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GAL_1B_signals_.remove(signal_value);
break;
case evGAL_5X:
gnss_system = "Galileo";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GAL_5X_signals_.remove(signal_value);
break;
case evGLO_1G:
gnss_system = "Glonass";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GLO_1G_signals_.remove(signal_value);
break;
case evGLO_2G:
gnss_system = "Glonass";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GLO_2G_signals_.remove(signal_value);
break;
default:
LOG(ERROR) << "This should not happen :-(";
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_1C_signals_.remove(signal_value);
break;
}
channels_.at(i)->set_signal(signal_value);
}
}
@ -762,35 +810,68 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
if (sat == 0)
{
std::lock_guard<std::mutex> lock(signal_list_mutex);
available_GNSS_signals_.push_back(channels_[who]->get_signal());
switch (mapStringValues_[channels_[who]->get_signal().get_signal_str()])
{
case evGPS_1C:
available_GPS_1C_signals_.push_back(channels_[who]->get_signal());
break;
case evGPS_2S:
available_GPS_2S_signals_.push_back(channels_[who]->get_signal());
break;
case evGPS_L5:
available_GPS_L5_signals_.push_back(channels_[who]->get_signal());
break;
case evGAL_1B:
available_GAL_1B_signals_.push_back(channels_[who]->get_signal());
break;
case evGAL_5X:
available_GAL_5X_signals_.push_back(channels_[who]->get_signal());
break;
case evGLO_1G:
available_GLO_1G_signals_.push_back(channels_[who]->get_signal());
break;
case evGLO_2G:
available_GLO_2G_signals_.push_back(channels_[who]->get_signal());
break;
default:
LOG(ERROR) << "This should not happen :-(";
break;
}
}
channels_state_[who] = 0;
acq_channels_count_--;
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int ii = (i + 1) % channels_count_;
unsigned int ch_index = (who + i + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(ii) + ".satellite", 0);
sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[ii] == 0))
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
{
channels_state_[ii] = 1;
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
std::lock_guard<std::mutex> lock(signal_list_mutex);
channels_[ii]->set_signal(search_next_signal(channels_[ii]->get_signal().get_signal_str(), true));
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ii << " Starting acquisition " << channels_[ii]->get_signal().get_satellite() << ", Signal " << channels_[ii]->get_signal().get_signal_str();
channels_[ii]->start_acquisition();
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
channels_[ch_index]->start_acquisition();
}
DLOG(INFO) << "Channel " << ii << " in state " << channels_state_[ii];
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
break;
@ -809,13 +890,13 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
LOG(WARNING) << e.what();
}
if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
{
channels_state_[i] = 1;
if (sat_ == 0)
{
std::lock_guard<std::mutex> lock(signal_list_mutex);
channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true));
channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true, true));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str();
@ -843,7 +924,40 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
if (sat == 0)
{
std::lock_guard<std::mutex> lock(signal_list_mutex);
available_GNSS_signals_.push_back(channels_[who]->get_signal());
switch (mapStringValues_[channels_[who]->get_signal().get_signal_str()])
{
case evGPS_1C:
available_GPS_1C_signals_.push_back(channels_[who]->get_signal());
break;
case evGPS_2S:
available_GPS_2S_signals_.push_back(channels_[who]->get_signal());
break;
case evGPS_L5:
available_GPS_L5_signals_.push_back(channels_[who]->get_signal());
break;
case evGAL_1B:
available_GAL_1B_signals_.push_back(channels_[who]->get_signal());
break;
case evGAL_5X:
available_GAL_5X_signals_.push_back(channels_[who]->get_signal());
break;
case evGLO_1G:
available_GLO_1G_signals_.push_back(channels_[who]->get_signal());
break;
case evGLO_2G:
available_GLO_2G_signals_.push_back(channels_[who]->get_signal());
break;
default:
LOG(ERROR) << "This should not happen :-(";
break;
}
}
}
break;
@ -851,7 +965,6 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
default:
break;
}
DLOG(INFO) << "Number of available signals: " << available_GNSS_signals_.size();
applied_actions_++;
}
@ -968,7 +1081,15 @@ void GNSSFlowgraph::init()
top_block_ = gr::make_top_block("GNSSFlowgraph");
// fill the available_GNSS_signals_ queue with the satellites ID's to be searched by the acquisition
mapStringValues_["1C"] = evGPS_1C;
mapStringValues_["2S"] = evGPS_2S;
mapStringValues_["L5"] = evGPS_L5;
mapStringValues_["1B"] = evGAL_1B;
mapStringValues_["5X"] = evGAL_5X;
mapStringValues_["1G"] = evGLO_1G;
mapStringValues_["2G"] = evGLO_2G;
// fill the signals queue with the satellites ID's to be searched by the acquisition
set_signals_list();
set_channels_state();
applied_actions_ = 0;
@ -1061,14 +1182,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_1C.count", 0) > 0)
{
/*
* Loop to create GPS L1 C/A signals
*/
// Loop to create GPS L1 C/A signals
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GPS_1C_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("1C")));
}
@ -1076,14 +1195,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_2S.count", 0) > 0)
{
/*
* Loop to create GPS L2C M signals
*/
// Loop to create GPS L2C M signals
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GPS_2S_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("2S")));
}
@ -1091,14 +1208,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_L5.count", 0) > 0)
{
/*
* Loop to create GPS L5 signals
*/
// Loop to create GPS L5 signals
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GPS_L5_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("L5")));
}
@ -1106,14 +1221,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_SBAS.count", 0) > 0)
{
/*
* Loop to create SBAS L1 C/A signals
*/
// Loop to create SBAS L1 C/A signals
for (available_gnss_prn_iter = available_sbas_prn.cbegin();
available_gnss_prn_iter != available_sbas_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_SBAS_1C_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("SBAS"), *available_gnss_prn_iter),
std::string("1C")));
}
@ -1121,14 +1234,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_1B.count", 0) > 0)
{
/*
* Loop to create the list of Galileo E1B signals
*/
// Loop to create the list of Galileo E1B signals
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
available_gnss_prn_iter != available_galileo_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GAL_1B_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
std::string("1B")));
}
@ -1136,14 +1247,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_5X.count", 0) > 0)
{
/*
* Loop to create the list of Galileo E5a signals
*/
// Loop to create the list of Galileo E5a signals
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
available_gnss_prn_iter != available_galileo_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GAL_5X_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
std::string("5X")));
}
@ -1151,14 +1260,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_1G.count", 0) > 0)
{
/*
* Loop to create the list of GLONASS L1 C/A signals
*/
// Loop to create the list of GLONASS L1 C/A signals
for (available_gnss_prn_iter = available_glonass_prn.begin();
available_gnss_prn_iter != available_glonass_prn.end();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GLO_1G_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
std::string("1G")));
}
@ -1166,14 +1273,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_2G.count", 0) > 0)
{
/*
* Loop to create the list of GLONASS L2 C/A signals
*/
// Loop to create the list of GLONASS L2 C/A signals
for (available_gnss_prn_iter = available_glonass_prn.begin();
available_gnss_prn_iter != available_glonass_prn.end();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GLO_2G_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
std::string("2G")));
}
@ -1207,17 +1312,206 @@ void GNSSFlowgraph::set_channels_state()
}
Gnss_Signal GNSSFlowgraph::search_next_signal(std::string searched_signal, bool pop)
Gnss_Signal GNSSFlowgraph::search_next_signal(std::string searched_signal, bool pop, bool tracked)
{
while (searched_signal.compare(available_GNSS_signals_.front().get_signal_str()) != 0)
Gnss_Signal result;
bool untracked_satellite = true;
switch (mapStringValues_[searched_signal])
{
available_GNSS_signals_.push_back(available_GNSS_signals_.front());
available_GNSS_signals_.pop_front();
}
Gnss_Signal result = available_GNSS_signals_.front();
if (pop)
{
available_GNSS_signals_.pop_front();
case evGPS_1C:
result = available_GPS_1C_signals_.front();
if (pop)
{
available_GPS_1C_signals_.pop_front();
}
if (tracked)
{
if ((configuration_->property("Channels_2S.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if (channels_[ch]->get_signal().get_satellite() == result.get_satellite()) untracked_satellite = false;
}
if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
available_GPS_2S_signals_.push_front(gs);
available_GPS_2S_signals_.unique();
}
if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
available_GPS_L5_signals_.push_front(gs);
available_GPS_L5_signals_.unique();
}
}
}
break;
case evGPS_2S:
result = available_GPS_2S_signals_.front();
if (pop)
{
available_GPS_2S_signals_.pop_front();
}
if (tracked)
{
if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if (channels_[ch]->get_signal().get_satellite() == result.get_satellite()) untracked_satellite = false;
}
if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
available_GPS_1C_signals_.push_front(gs);
available_GPS_1C_signals_.unique();
}
if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
available_GPS_L5_signals_.push_front(gs);
available_GPS_L5_signals_.unique();
}
}
}
break;
case evGPS_L5:
result = available_GPS_L5_signals_.front();
if (pop)
{
available_GPS_L5_signals_.pop_front();
}
if (tracked)
{
if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_2S.count", 0) > 0))
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if (channels_[ch]->get_signal().get_satellite() == result.get_satellite()) untracked_satellite = false;
}
if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
available_GPS_1C_signals_.push_front(gs);
available_GPS_1C_signals_.unique();
}
if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
available_GPS_2S_signals_.push_front(gs);
available_GPS_2S_signals_.unique();
}
}
}
break;
case evGAL_1B:
result = available_GAL_1B_signals_.front();
if (pop)
{
available_GAL_1B_signals_.pop_front();
}
if (tracked)
{
if (configuration_->property("Channels_5X.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if (channels_[ch]->get_signal().get_satellite() == result.get_satellite()) untracked_satellite = false;
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "5X");
available_GAL_5X_signals_.push_front(gs);
available_GAL_5X_signals_.unique();
}
}
}
break;
case evGAL_5X:
result = available_GAL_5X_signals_.front();
if (pop)
{
available_GAL_5X_signals_.pop_front();
}
if (tracked)
{
if (configuration_->property("Channels_1B.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if (channels_[ch]->get_signal().get_satellite() == result.get_satellite()) untracked_satellite = false;
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1B");
available_GAL_1B_signals_.push_front(gs);
available_GAL_1B_signals_.unique();
}
}
}
break;
case evGLO_1G:
result = available_GLO_1G_signals_.front();
if (pop)
{
available_GLO_1G_signals_.pop_front();
}
if (tracked)
{
if (configuration_->property("Channels_2G.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if (channels_[ch]->get_signal().get_satellite() == result.get_satellite()) untracked_satellite = false;
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2G");
available_GLO_2G_signals_.push_front(gs);
available_GLO_2G_signals_.unique();
}
}
}
break;
case evGLO_2G:
result = available_GLO_2G_signals_.front();
if (pop)
{
available_GLO_2G_signals_.pop_front();
}
if (tracked)
{
if (configuration_->property("Channels_1G.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if (channels_[ch]->get_signal().get_satellite() == result.get_satellite()) untracked_satellite = false;
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1G");
available_GLO_1G_signals_.push_front(gs);
available_GLO_1G_signals_.unique();
}
}
}
break;
default:
LOG(ERROR) << "This should not happen :-(";
result = available_GPS_1C_signals_.front();
if (pop)
{
available_GPS_1C_signals_.pop_front();
}
break;
}
return result;
}

26
src/core/receiver/gnss_flowgraph.h
View File

@ -44,6 +44,7 @@
#include <gnuradio/blocks/null_source.h>
#include <gnuradio/blocks/throttle.h>
#include <list>
#include <map>
#include <memory>
#include <mutex>
#include <queue>
@ -133,7 +134,7 @@ private:
void set_signals_list();
void set_channels_state(); // Initializes the channels state (start acquisition or keep standby)
// using the configuration parameters (number of channels and max channels in acquisition)
Gnss_Signal search_next_signal(std::string searched_signal, bool pop);
Gnss_Signal search_next_signal(std::string searched_signal, bool pop, bool tracked = false);
bool connected_;
bool running_;
int sources_count_;
@ -160,7 +161,28 @@ private:
gr::blocks::throttle::sptr throttle_;
gr::top_block_sptr top_block_;
gr::msg_queue::sptr queue_;
std::list<Gnss_Signal> available_GNSS_signals_;
std::list<Gnss_Signal> available_GPS_1C_signals_;
std::list<Gnss_Signal> available_GPS_2S_signals_;
std::list<Gnss_Signal> available_GPS_L5_signals_;
std::list<Gnss_Signal> available_SBAS_1C_signals_;
std::list<Gnss_Signal> available_GAL_1B_signals_;
std::list<Gnss_Signal> available_GAL_5X_signals_;
std::list<Gnss_Signal> available_GLO_1G_signals_;
std::list<Gnss_Signal> available_GLO_2G_signals_;
enum StringValue
{
evGPS_1C,
evGPS_2S,
evGPS_L5,
evSBAS_1C,
evGAL_1B,
evGAL_5X,
evGLO_1G,
evGLO_2G
};
std::map<std::string, StringValue> mapStringValues_;
std::vector<unsigned int> channels_state_;
std::mutex signal_list_mutex;
};