mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-08-18 19:59:31 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
commit
465013e574
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@ -80,6 +80,7 @@ ControlThread::ControlThread()
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configuration_ = std::make_shared<FileConfiguration>(FLAGS_c);
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configuration_ = std::make_shared<FileConfiguration>(FLAGS_c);
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}
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}
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delete_configuration_ = false;
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delete_configuration_ = false;
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restart_ = false;
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init();
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init();
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}
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}
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@ -115,7 +116,7 @@ void ControlThread::telecommand_listener()
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* while (flowgraph_->running() && !stop)_{
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* while (flowgraph_->running() && !stop)_{
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* 3- Read control messages and process them }
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* 3- Read control messages and process them }
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*/
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*/
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void ControlThread::run()
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int ControlThread::run()
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{
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{
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// Connect the flowgraph
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// Connect the flowgraph
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try
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try
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@ -125,7 +126,7 @@ void ControlThread::run()
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catch (const std::exception &e)
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catch (const std::exception &e)
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{
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{
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LOG(ERROR) << e.what();
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LOG(ERROR) << e.what();
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return;
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return 0;
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}
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}
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if (flowgraph_->connected())
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if (flowgraph_->connected())
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{
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{
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@ -134,7 +135,7 @@ void ControlThread::run()
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else
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else
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{
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{
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LOG(ERROR) << "Unable to connect flowgraph";
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LOG(ERROR) << "Unable to connect flowgraph";
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return;
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return 0;
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}
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}
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// Start the flowgraph
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// Start the flowgraph
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flowgraph_->start();
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flowgraph_->start();
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@ -145,7 +146,7 @@ void ControlThread::run()
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else
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else
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{
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{
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LOG(ERROR) << "Unable to start flowgraph";
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LOG(ERROR) << "Unable to start flowgraph";
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return;
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return 0;
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}
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}
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//launch GNSS assistance process AFTER the flowgraph is running because the GNURadio asynchronous queues must be already running to transport msgs
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//launch GNSS assistance process AFTER the flowgraph is running because the GNURadio asynchronous queues must be already running to transport msgs
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@ -189,6 +190,15 @@ void ControlThread::run()
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#endif
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#endif
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LOG(INFO) << "Flowgraph stopped";
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LOG(INFO) << "Flowgraph stopped";
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if (restart_)
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{
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return 42; //signal the gnss-sdr-harness.sh to restart the receiver program
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}
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else
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{
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return 0; //normal shutdown
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}
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}
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}
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@ -200,6 +210,7 @@ void ControlThread::set_control_queue(gr::msg_queue::sptr control_queue)
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return;
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return;
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}
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}
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control_queue_ = control_queue;
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control_queue_ = control_queue;
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cmd_interface_.set_msg_queue(control_queue_);
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}
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}
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@ -602,6 +613,7 @@ void ControlThread::init()
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{
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{
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// Instantiates a control queue, a GNSS flowgraph, and a control message factory
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// Instantiates a control queue, a GNSS flowgraph, and a control message factory
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control_queue_ = gr::msg_queue::make(0);
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control_queue_ = gr::msg_queue::make(0);
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cmd_interface_.set_msg_queue(control_queue_); //set also the queue pointer for the telecommand thread
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try
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try
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{
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{
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flowgraph_ = std::make_shared<GNSSFlowgraph>(configuration_, control_queue_);
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flowgraph_ = std::make_shared<GNSSFlowgraph>(configuration_, control_queue_);
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@ -668,6 +680,12 @@ void ControlThread::apply_action(unsigned int what)
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stop_ = true;
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stop_ = true;
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applied_actions_++;
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applied_actions_++;
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break;
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break;
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case 1:
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DLOG(INFO) << "Received action RESTART";
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stop_ = true;
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restart_ = true;
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applied_actions_++;
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break;
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default:
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default:
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DLOG(INFO) << "Unrecognized action.";
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DLOG(INFO) << "Unrecognized action.";
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break;
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break;
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@ -83,7 +83,7 @@ public:
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*
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*
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* - Read control messages and process them; }
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* - Read control messages and process them; }
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*/
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*/
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void run();
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int run();
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/*!
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/*!
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* \brief Sets the control_queue
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* \brief Sets the control_queue
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@ -155,6 +155,7 @@ private:
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std::shared_ptr<ControlMessageFactory> control_message_factory_;
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std::shared_ptr<ControlMessageFactory> control_message_factory_;
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std::shared_ptr<std::vector<std::shared_ptr<ControlMessage>>> control_messages_;
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std::shared_ptr<std::vector<std::shared_ptr<ControlMessage>>> control_messages_;
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bool stop_;
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bool stop_;
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bool restart_;
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bool delete_configuration_;
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bool delete_configuration_;
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unsigned int processed_control_messages_;
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unsigned int processed_control_messages_;
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unsigned int applied_actions_;
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unsigned int applied_actions_;
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@ -30,8 +30,27 @@
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*/
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*/
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#include "tcp_cmd_interface.h"
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#include "tcp_cmd_interface.h"
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#include "control_message_factory.h"
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#include <functional>
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std::string TcpCmdInterface::reset(const std::vector<std::string> &commandLine)
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{
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std::string response;
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std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
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if (control_queue_ != nullptr)
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{
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control_queue_->handle(cmf->GetQueueMessage(200, 1)); //send the restart message (who=200,what=1)
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response = "OK\n";
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}
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else
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{
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response = "ERROR\n";
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}
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return response;
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}
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std::string TcpCmdInterface::stop(const std::vector<std::string> &commandLine)
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std::string TcpCmdInterface::stop(const std::vector<std::string> &commandLine)
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{
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{
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std::string response;
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std::string response;
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@ -78,21 +97,28 @@ std::string TcpCmdInterface::set_ch_satellite(const std::vector<std::string> &co
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void TcpCmdInterface::register_functions()
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void TcpCmdInterface::register_functions()
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{
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{
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functions["status"] = status;
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functions["status"] = std::bind(&TcpCmdInterface::status, this, std::placeholders::_1);
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functions["stop"] = stop;
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functions["stop"] = std::bind(&TcpCmdInterface::stop, this, std::placeholders::_1);
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functions["assistedstart"] = assistedstart;
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functions["reset"] = std::bind(&TcpCmdInterface::reset, this, std::placeholders::_1);
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functions["warmstart"] = warmstart;
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functions["assistedstart"] = std::bind(&TcpCmdInterface::assistedstart, this, std::placeholders::_1);
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functions["coldstart"] = coldstart;
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functions["warmstart"] = std::bind(&TcpCmdInterface::warmstart, this, std::placeholders::_1);
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functions["set_ch_satellite"] = set_ch_satellite;
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functions["coldstart"] = std::bind(&TcpCmdInterface::coldstart, this, std::placeholders::_1);
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functions["set_ch_satellite"] = std::bind(&TcpCmdInterface::set_ch_satellite, this, std::placeholders::_1);
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}
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}
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TcpCmdInterface::TcpCmdInterface()
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TcpCmdInterface::TcpCmdInterface()
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{
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{
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register_functions();
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register_functions();
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keep_running_ = true;
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control_queue_ = nullptr;
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}
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}
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void TcpCmdInterface::set_msg_queue(gr::msg_queue::sptr control_queue)
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{
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control_queue_ = control_queue;
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}
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void TcpCmdInterface::run_cmd_server(int tcp_port)
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void TcpCmdInterface::run_cmd_server(int tcp_port)
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{
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{
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// Get the port from the parameters
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// Get the port from the parameters
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@ -106,18 +132,18 @@ void TcpCmdInterface::run_cmd_server(int tcp_port)
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try
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try
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{
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{
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boost::asio::ip::tcp::acceptor acceptor(service, boost::asio::ip::tcp::endpoint(boost::asio::ip::tcp::v4(), port));
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boost::asio::ip::tcp::acceptor acceptor(service, boost::asio::ip::tcp::endpoint(boost::asio::ip::tcp::v4(), port));
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bool keep_running = true;
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while (keep_running)
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while (keep_running_)
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{
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{
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try
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try
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{
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{
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std::cout << "Telecommand TCP interface listening on port " << tcp_port << std::endl;
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std::cout << "TcpCmdInterface: Telecommand TCP interface listening on port " << tcp_port << std::endl;
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boost::asio::ip::tcp::socket socket(service);
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boost::asio::ip::tcp::socket socket(service);
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acceptor.accept(socket, not_throw);
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acceptor.accept(socket, not_throw);
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if (not_throw)
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if (not_throw)
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{
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{
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std::cerr << "Error when binding the port in the socket" << std::endl;
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std::cout << "TcpCmdInterface: Error when binding the port in the socket" << std::endl;
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continue;
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continue;
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}
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}
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@ -127,12 +153,10 @@ void TcpCmdInterface::run_cmd_server(int tcp_port)
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{
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{
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std::string response;
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std::string response;
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boost::asio::streambuf b;
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boost::asio::streambuf b;
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boost::asio::read_until(socket, b, '\n');
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boost::asio::read_until(socket, b, '\n', error);
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std::istream is(&b);
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std::istream is(&b);
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std::string line;
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std::string line;
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std::getline(is, line);
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std::getline(is, line);
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std::cout << "received command: " << line << std::endl;
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std::istringstream iss(line);
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std::istringstream iss(line);
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std::vector<std::string> cmd_vector(std::istream_iterator<std::string>{iss},
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std::vector<std::string> cmd_vector(std::istream_iterator<std::string>{iss},
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std::istream_iterator<std::string>());
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std::istream_iterator<std::string>());
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@ -141,7 +165,14 @@ void TcpCmdInterface::run_cmd_server(int tcp_port)
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{
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{
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try
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try
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{
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{
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response = functions[cmd_vector.at(0)](cmd_vector);
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if (cmd_vector.at(0).compare("exit") == 0)
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{
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error = boost::asio::error::eof;
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}
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else
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{
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response = functions[cmd_vector.at(0)](cmd_vector);
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}
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}
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}
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catch (const std::exception &ex)
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catch (const std::exception &ex)
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{
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{
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@ -157,19 +188,19 @@ void TcpCmdInterface::run_cmd_server(int tcp_port)
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socket.write_some(boost::asio::buffer(response), not_throw);
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socket.write_some(boost::asio::buffer(response), not_throw);
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if (not_throw)
|
if (not_throw)
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{
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{
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std::cerr << "Error sending(" << not_throw.value() << "): " << not_throw.message() << std::endl;
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std::cout << "Error sending(" << not_throw.value() << "): " << not_throw.message() << std::endl;
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break;
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break;
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}
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}
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}
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}
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while (!error); // && error != boost::asio::error::eof);
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while (error != boost::asio::error::eof);
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|
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if (error == boost::asio::error::eof)
|
if (error == boost::asio::error::eof)
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{
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{
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std::cout << "EOF detected\n";
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std::cout << "TcpCmdInterface: EOF detected\n";
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}
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}
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else
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else
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{
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{
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std::cout << "error: " << error << std::endl;
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std::cout << "TcpCmdInterface unexpected error: " << error << std::endl;
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}
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}
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// Close socket
|
// Close socket
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@ -177,11 +208,11 @@ void TcpCmdInterface::run_cmd_server(int tcp_port)
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}
|
}
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catch (const boost::exception &e)
|
catch (const boost::exception &e)
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{
|
{
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std::cout << "Boost exception " << std::endl;
|
std::cout << "TcpCmdInterface: Boost exception " << std::endl;
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}
|
}
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catch (const std::exception &ex)
|
catch (const std::exception &ex)
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{
|
{
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std::cout << "Exception " << ex.what() << std::endl;
|
std::cout << "TcpCmdInterface: Exception " << ex.what() << std::endl;
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}
|
}
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}
|
}
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}
|
}
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|
|
|
@ -38,7 +38,10 @@
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#include <unordered_map>
|
#include <unordered_map>
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#include <algorithm>
|
#include <algorithm>
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#include <boost/asio.hpp>
|
#include <boost/asio.hpp>
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|
#include <glog/logging.h>
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#include <cstdint>
|
#include <cstdint>
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|
#include <gnuradio/message.h>
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|
#include <gnuradio/msg_queue.h>
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|
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|
|
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class TcpCmdInterface
|
class TcpCmdInterface
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|
@ -47,18 +50,24 @@ public:
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TcpCmdInterface();
|
TcpCmdInterface();
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virtual ~TcpCmdInterface();
|
virtual ~TcpCmdInterface();
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void run_cmd_server(int tcp_port);
|
void run_cmd_server(int tcp_port);
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|
void set_msg_queue(gr::msg_queue::sptr control_queue);
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|
|
||||||
|
|
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private:
|
private:
|
||||||
std::unordered_map<std::string, std::function<std::string(const std::vector<std::string> &)>>
|
std::unordered_map<std::string, std::function<std::string(const std::vector<std::string> &)>>
|
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functions;
|
functions;
|
||||||
static std::string status(const std::vector<std::string> &commandLine);
|
std::string status(const std::vector<std::string> &commandLine);
|
||||||
static std::string stop(const std::vector<std::string> &commandLine);
|
std::string reset(const std::vector<std::string> &commandLine);
|
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static std::string assistedstart(const std::vector<std::string> &commandLine);
|
std::string stop(const std::vector<std::string> &commandLine);
|
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static std::string warmstart(const std::vector<std::string> &commandLine);
|
std::string assistedstart(const std::vector<std::string> &commandLine);
|
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static std::string coldstart(const std::vector<std::string> &commandLine);
|
std::string warmstart(const std::vector<std::string> &commandLine);
|
||||||
static std::string set_ch_satellite(const std::vector<std::string> &commandLine);
|
std::string coldstart(const std::vector<std::string> &commandLine);
|
||||||
|
std::string set_ch_satellite(const std::vector<std::string> &commandLine);
|
||||||
|
|
||||||
void register_functions();
|
void register_functions();
|
||||||
|
|
||||||
|
gr::msg_queue::sptr control_queue_;
|
||||||
|
bool keep_running_;
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif /* GNSS_SDR_TCPCMDINTERFACE_H_ */
|
#endif /* GNSS_SDR_TCPCMDINTERFACE_H_ */
|
||||||
|
|
|
@ -135,9 +135,10 @@ int main(int argc, char** argv)
|
||||||
std::chrono::time_point<std::chrono::system_clock> start, end;
|
std::chrono::time_point<std::chrono::system_clock> start, end;
|
||||||
start = std::chrono::system_clock::now();
|
start = std::chrono::system_clock::now();
|
||||||
|
|
||||||
|
int return_code;
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
control_thread->run();
|
return_code = control_thread->run();
|
||||||
}
|
}
|
||||||
catch (const boost::exception& e)
|
catch (const boost::exception& e)
|
||||||
{
|
{
|
||||||
|
@ -189,5 +190,5 @@ int main(int argc, char** argv)
|
||||||
|
|
||||||
google::ShutDownCommandLineFlags();
|
google::ShutDownCommandLineFlags();
|
||||||
std::cout << "GNSS-SDR program ended." << std::endl;
|
std::cout << "GNSS-SDR program ended." << std::endl;
|
||||||
return 0;
|
return return_code;
|
||||||
}
|
}
|
||||||
|
|
10
src/utils/scripts/gnss-sdr-harness.sh
Executable file
10
src/utils/scripts/gnss-sdr-harness.sh
Executable file
|
@ -0,0 +1,10 @@
|
||||||
|
#!/bin/sh
|
||||||
|
# GNSS-SDR shell script that enables the remote GNSS-SDR restart telecommand
|
||||||
|
# usage: ./gnss-sdr-harness.sh ./gnss-sdr -c config_file.conf
|
||||||
|
echo $@
|
||||||
|
$@
|
||||||
|
while [ $? -eq 42 ]
|
||||||
|
do
|
||||||
|
echo "restarting GNSS-SDR..."
|
||||||
|
$@
|
||||||
|
done
|
Loading…
Reference in New Issue
Block a user