mirrors
/
gnss-sdr
mirror of https://github.com/gnss-sdr/gnss-sdr
1
0
Fork 0
Code Issues Releases Wiki Activity

Introducing the new satellite dispatcher with optional assistance from primary frequencies to secondary frequencies

This commit is contained in:
Javier Arribas 2019-07-19 18:49:42 +02:00
parent 0035cd06dd
commit 504a22d6bb
4 changed files with 195 additions and 564 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

85
src/core/receiver/control_thread.cc
View File

@ -224,6 +224,49 @@ void ControlThread::telecommand_listener()
}
}
void ControlThread::event_dispatcher(bool &valid_event, pmt::pmt_t &msg)
{
if (valid_event)
{
if (pmt::any_ref(msg).type() == typeid(channel_event_sptr))
{
channel_event_sptr new_event;
new_event = boost::any_cast<channel_event_sptr>(pmt::any_ref(msg));
DLOG(INFO) << "New channel event rx from ch id: " << new_event->channel_id
<< " what: " << new_event->event_type;
flowgraph_->apply_action(new_event->channel_id, new_event->event_type);
}
else if (pmt::any_ref(msg).type() == typeid(command_event_sptr))
{
command_event_sptr new_event;
new_event = boost::any_cast<command_event_sptr>(pmt::any_ref(msg));
DLOG(INFO) << "New command event rx from ch id: " << new_event->command_id
<< " what: " << new_event->event_type;
if (new_event->command_id == 200)
{
apply_action(new_event->event_type);
}
else
{
if (new_event->command_id == 300) // some TC commands require also actions from control_thread
{
apply_action(new_event->event_type);
}
flowgraph_->apply_action(new_event->command_id, new_event->event_type);
}
}
else
{
DLOG(INFO) << "Control Queue: unknown object type!\n";
}
}
else
{
//perform non-priority tasks
flowgraph_->acquisition_manager(0); //start acquisition of untracked satellites
}
}
/*
* Runs the control thread that manages the receiver control plane
@ -286,46 +329,10 @@ int ControlThread::run()
pmt::pmt_t msg;
while (flowgraph_->running() && !stop_)
{
//TODO call here the new sat dispatcher and receiver controller
//read event messages, triggered by event signaling with a 100 ms timeout to perform low priority receiver management tasks
bool valid_event = control_queue_->timed_wait_and_pop(msg, 100);
if (valid_event)
{
if (pmt::any_ref(msg).type() == typeid(channel_event_sptr))
{
channel_event_sptr new_event;
new_event = boost::any_cast<channel_event_sptr>(pmt::any_ref(msg));
DLOG(INFO) << "New channel event rx from ch id: " << new_event->channel_id
<< " what: " << new_event->event_type;
flowgraph_->apply_action(new_event->channel_id, new_event->event_type);
}
else if (pmt::any_ref(msg).type() == typeid(command_event_sptr))
{
command_event_sptr new_event;
new_event = boost::any_cast<command_event_sptr>(pmt::any_ref(msg));
DLOG(INFO) << "New command event rx from ch id: " << new_event->command_id
<< " what: " << new_event->event_type;
if (new_event->command_id == 200)
{
apply_action(new_event->event_type);
}
else
{
if (new_event->command_id == 300) // some TC commands require also actions from control_thread
{
apply_action(new_event->event_type);
}
flowgraph_->apply_action(new_event->command_id, new_event->event_type);
}
}
else
{
DLOG(INFO) << "Control Queue: unknown object type!\n";
}
}
else
{
}
//call the new sat dispatcher and receiver controller
event_dispatcher(valid_event, msg);
}
std::cout << "Stopping GNSS-SDR, please wait!" << std::endl;
flowgraph_->stop();

6
src/core/receiver/control_thread.h
View File

@ -123,6 +123,10 @@ private:
//Telecommand TCP interface
TcpCmdInterface cmd_interface_;
void telecommand_listener();
/*
* New receiver event dispatcher
*/
void event_dispatcher(bool &valid_event, pmt::pmt_t &msg);
std::thread cmd_interface_thread_;
//SUPL assistance classes
Gnss_Sdr_Supl_Client supl_client_acquisition_;
@ -149,7 +153,7 @@ private:
* Compute elevations for the specified time and position for all the available satellites in ephemeris and almanac queues
* returns a vector filled with the available satellites ordered from high elevation to low elevation angle.
*/
std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, const arma::vec& LLH);
std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, const arma::vec &LLH);
/*
* Read initial GNSS assistance from SUPL server or local XML files

660
src/core/receiver/gnss_flowgraph.cc
View File

@ -1161,6 +1161,84 @@ void GNSSFlowgraph::remove_signal(Gnss_Signal gs)
break;
}
}
void GNSSFlowgraph::acquisition_manager(unsigned int who)
{
unsigned int current_channel;
for (unsigned int i = 0; i < channels_count_; i++)
{
current_channel = (i + who + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(current_channel) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[current_channel] == 0))
{
bool is_primary_freq = true;
bool assistance_available = false;
bool start_acquisition = false;
Gnss_Signal gnss_signal;
if (sat_ == 0)
{
float estimated_doppler;
double RX_time;
gnss_signal = search_next_signal(channels_[current_channel]->get_signal().get_signal_str(),
true,
is_primary_freq,
assistance_available,
estimated_doppler,
RX_time);
channels_[current_channel]->set_signal(gnss_signal);
start_acquisition = is_primary_freq or assistance_available or !configuration_->property("GNSS-SDR.assist_dual_frequency_acq", false);
// if (assistance_available)
// {
// std::cout << "Channel " << current_channel
// << " assistance available for " << channels_[current_channel]->get_signal().get_satellite()
// << ", Signal " << channels_[current_channel]->get_signal().get_signal_str() << "\n";
// }
}
else
{
start_acquisition = true;
}
if (start_acquisition == true)
{
channels_state_[current_channel] = 1;
acq_channels_count_++;
DLOG(INFO) << "Channel " << current_channel
<< " Starting acquisition " << channels_[current_channel]->get_signal().get_satellite()
<< ", Signal " << channels_[current_channel]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[current_channel]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[current_channel]);
tmp_thread.detach();
#endif
}
else
{
push_back_signal(gnss_signal);
DLOG(INFO) << "Channel " << current_channel
<< " secondary frequency acquisition assistance not available in "
<< channels_[current_channel]->get_signal().get_satellite()
<< ", Signal " << channels_[current_channel]->get_signal().get_signal_str();
// std::cout << "Channel " << current_channel
// << " secondary frequency acquisition assistance not available in "
// << channels_[current_channel]->get_signal().get_satellite()
// << ", Signal " << channels_[current_channel]->get_signal().get_signal_str() << "\n";
}
}
DLOG(INFO) << "Channel " << current_channel << " in state " << channels_state_[current_channel];
}
}
/*
* Applies an action to the flow graph
*
@ -1188,8 +1266,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
//todo: the acquisition events are initiated from the acquisition success or failure queued msg. If the acquisition is disabled for non-assisted secondary freq channels, the engine stops..
std::lock_guard<std::mutex> lock(signal_list_mutex);
std::cout << "Received " << what << " from " << who << ". acq_channels_count_ = " << acq_channels_count_ << "\n";
DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_;
DLOG(INFO) << "Received " << what << " from " << who;
unsigned int sat = 0;
if (who < 200)
{
@ -1213,134 +1290,28 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
}
channels_state_[who] = 0;
if (acq_channels_count_ > 0) acq_channels_count_--;
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int ch_index = (who + i + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
{
bool is_primary_freq = true;
bool assistance_available = false;
bool start_acquisition = false;
Gnss_Signal gnss_signal;
if (sat_ == 0)
{
float estimated_doppler;
double RX_time;
gnss_signal = search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), false, is_primary_freq, assistance_available, estimated_doppler, RX_time);
channels_[ch_index]->set_signal(gnss_signal);
start_acquisition = is_primary_freq or assistance_available;
}
else
{
start_acquisition = true;
}
//todo: add configuration parameter to enable the mandatory acquisition assistance in secondary freq
// if (start_acquisition == true)
// {
channels_state_[ch_index] = 1;
acq_channels_count_++;
std::cout << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach();
#endif
// }
// else
// {
// push_back_signal(gnss_signal);
// DLOG(INFO) << "Channel " << ch_index << " secondary frequency acquisition assistance not available in " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
// }
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
//call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
break;
case 1:
LOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_[who]->get_signal().get_satellite();
DLOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_[who]->get_signal().get_satellite();
// If the satellite is in the list of available ones, remove it.
remove_signal(channels_[who]->get_signal());
channels_state_[who] = 2;
if (acq_channels_count_ > 0) acq_channels_count_--;
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
{
bool is_primary_freq = true;
bool assistance_available = false;
bool start_acquisition = false;
Gnss_Signal gnss_signal;
if (sat_ == 0)
{
float estimated_doppler;
double RX_time;
gnss_signal = search_next_signal(channels_[i]->get_signal().get_signal_str(), true, is_primary_freq, assistance_available, estimated_doppler, RX_time);
channels_[i]->set_signal(gnss_signal);
}
else
{
start_acquisition = true;
}
//todo: add configuration parameter to enable the mandatory acquisition assistance in secondary freq
// if (start_acquisition == true)
// {
channels_state_[i] = 1;
acq_channels_count_++;
DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[i]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[i]);
tmp_thread.detach();
start_acquisition = is_primary_freq or assistance_available;
#endif
// }
// else
// {
// push_back_signal(gnss_signal);
// DLOG(INFO) << "Channel " << i << " secondary frequency acquisition assistance not available in " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str();
// std::cout << "Channel " << i << " secondary frequency acquisition assistance not available in " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str()<<"\n";
// }
}
DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
}
//call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
break;
case 2:
LOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_[who]->get_signal().get_satellite();
DLOG(INFO) << "Number of channels in acquisition = " << acq_channels_count_;
DLOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_[who]->get_signal().get_satellite();
if (acq_channels_count_ < max_acq_channels_)
{
//try to acquire the same satellite
channels_state_[who] = 1;
acq_channels_count_++;
LOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[who]->start_acquisition();
#else
@ -1377,124 +1348,22 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
break;
case 11: // request coldstart mode
LOG(INFO) << "TC request flowgraph coldstart";
// start again the satellite acquisitions
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int ch_index = (who + i + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
{
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
bool is_primary_freq;
bool assistance_available;
float estimated_doppler;
double RX_time;
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true, is_primary_freq, assistance_available, estimated_doppler, RX_time));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
//call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
break;
case 12: // request hotstart mode
LOG(INFO) << "TC request flowgraph hotstart";
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int ch_index = (who + i + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
{
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
bool is_primary_freq;
bool assistance_available;
float estimated_doppler;
double RX_time;
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true, is_primary_freq, assistance_available, estimated_doppler, RX_time));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
//call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
break;
case 13: // request warmstart mode
LOG(INFO) << "TC request flowgraph warmstart";
// start again the satellite acquisitions
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int ch_index = (who + i + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
{
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
bool is_primary_freq;
bool assistance_available;
float estimated_doppler;
double RX_time;
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true, is_primary_freq, assistance_available, estimated_doppler, RX_time));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
//call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
break;
default:
break;
}
applied_actions_++;
}
@ -1690,7 +1559,6 @@ void GNSSFlowgraph::init()
// fill the signals queue with the satellites ID's to be searched by the acquisition
set_signals_list();
set_channels_state();
applied_actions_ = 0;
DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
/*
@ -2007,6 +1875,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
double& RX_time)
{
is_primary_frequency = false;
assistance_available = false;
Gnss_Signal result;
bool found_signal = false;
switch (mapStringValues_[searched_signal])
@ -2039,7 +1908,9 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
if (it2 != available_GPS_2S_signals_.end())
{
std::cout << " Channel: " << it->first << " => Doppler: " << it->second->Carrier_Doppler_hz << "[Hz] \n";
estimated_doppler = it->second->Carrier_Doppler_hz;
RX_time = it->second->RX_time;
//std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
//3. return the GPS L2 satellite and remove it from list
result = *it2;
if (pop)
@ -2047,7 +1918,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
available_GPS_2S_signals_.erase(it2);
}
found_signal = true;
assistance_available = true;
break;
}
}
@ -2090,7 +1961,9 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
if (it2 != available_GPS_L5_signals_.end())
{
std::cout << " Channel: " << it->first << " => Doppler: " << it->second->Carrier_Doppler_hz << "[Hz] \n";
estimated_doppler = it->second->Carrier_Doppler_hz;
RX_time = it->second->RX_time;
//std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
//3. return the GPS L5 satellite and remove it from list
result = *it2;
if (pop)
@ -2098,6 +1971,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
available_GPS_L5_signals_.erase(it2);
}
found_signal = true;
assistance_available = true;
break;
}
}
@ -2126,11 +2000,47 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
break;
case evGAL_5X:
result = available_GAL_5X_signals_.front();
available_GAL_5X_signals_.pop_front();
if (!pop)
if (configuration_->property("Channels_1B.count", 0) > 0)
{
available_GAL_5X_signals_.push_back(result);
//1. Get the current channel status map
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
//2. search the currently tracked Galileo E1 satellites and assist the Galileo E5 acquisition if the satellite is not tracked on E5
for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = current_channels_status.begin(); it != current_channels_status.end(); ++it)
{
if (std::string(it->second->Signal) == "1B")
{
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_GAL_5X_signals_), std::end(available_GAL_5X_signals_),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == it->second->PRN; });
if (it2 != available_GAL_5X_signals_.end())
{
estimated_doppler = it->second->Carrier_Doppler_hz;
RX_time = it->second->RX_time;
//std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
//3. return the Gal 5X satellite and remove it from list
result = *it2;
if (pop)
{
available_GAL_5X_signals_.erase(it2);
}
found_signal = true;
assistance_available = true;
break;
}
}
}
}
//fallback: pick the front satellite because there is no tracked satellites in E1 to assist E5
if (found_signal == false)
{
result = available_GAL_5X_signals_.front();
available_GAL_5X_signals_.pop_front();
if (!pop)
{
available_GAL_5X_signals_.push_back(result);
}
}
break;
@ -2182,290 +2092,4 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
break;
}
return result;
//old
// bool untracked_satellite = true;
// switch (mapStringValues_[searched_signal])
// {
// case evGPS_1C:
// result = available_GPS_1C_signals_.front();
// available_GPS_1C_signals_.pop_front();
// if (!pop)
// {
// available_GPS_1C_signals_.push_back(result);
// }
// 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()) and (channels_[ch]->get_signal().get_signal_str() != "1C"))
// {
// 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_.remove(gs);
// available_GPS_2S_signals_.push_front(gs);
// }
// if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
// available_GPS_L5_signals_.remove(gs);
// available_GPS_L5_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGPS_2S:
// result = available_GPS_2S_signals_.front();
// available_GPS_2S_signals_.pop_front();
// if (!pop)
// {
// available_GPS_2S_signals_.push_back(result);
// }
// 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()) and (channels_[ch]->get_signal().get_signal_str() != "2S"))
// {
// 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_.remove(gs);
// available_GPS_1C_signals_.push_front(gs);
// }
// if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
// available_GPS_L5_signals_.remove(gs);
// available_GPS_L5_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGPS_L5:
// result = available_GPS_L5_signals_.front();
// available_GPS_L5_signals_.pop_front();
// if (!pop)
// {
// available_GPS_L5_signals_.push_back(result);
// }
// 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()) and (channels_[ch]->get_signal().get_signal_str() != "L5"))
// {
// 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_.remove(gs);
// available_GPS_1C_signals_.push_front(gs);
// }
// if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
// available_GPS_2S_signals_.remove(gs);
// available_GPS_2S_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGAL_1B:
// result = available_GAL_1B_signals_.front();
// available_GAL_1B_signals_.pop_front();
// if (!pop)
// {
// available_GAL_1B_signals_.push_back(result);
// }
// 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()) and (channels_[ch]->get_signal().get_signal_str() != "1B"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "5X");
// available_GAL_5X_signals_.remove(gs);
// available_GAL_5X_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGAL_5X:
// result = available_GAL_5X_signals_.front();
// available_GAL_5X_signals_.pop_front();
// if (!pop)
// {
// available_GAL_5X_signals_.push_back(result);
// }
// 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()) and (channels_[ch]->get_signal().get_signal_str() != "5X"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1B");
// available_GAL_1B_signals_.remove(gs);
// available_GAL_1B_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGLO_1G:
// result = available_GLO_1G_signals_.front();
// available_GLO_1G_signals_.pop_front();
// if (!pop)
// {
// available_GLO_1G_signals_.push_back(result);
// }
// 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()) and (channels_[ch]->get_signal().get_signal_str() != "1G"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2G");
// available_GLO_2G_signals_.remove(gs);
// available_GLO_2G_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGLO_2G:
// result = available_GLO_2G_signals_.front();
// available_GLO_2G_signals_.pop_front();
// if (!pop)
// {
// available_GLO_2G_signals_.push_back(result);
// }
// 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()) and (channels_[ch]->get_signal().get_signal_str() != "2G"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1G");
// available_GLO_1G_signals_.remove(gs);
// available_GLO_1G_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evBDS_B1:
// result = available_BDS_B1_signals_.front();
// available_BDS_B1_signals_.pop_front();
// if (!pop)
// {
// available_BDS_B1_signals_.push_back(result);
// }
// if (tracked)
// {
// if (configuration_->property("Channels_B3.count", 0) > 0)
// {
// for (unsigned int ch = 0; ch < channels_count_; ch++)
// {
// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B3");
// available_BDS_B3_signals_.remove(gs);
// available_BDS_B3_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evBDS_B3:
// result = available_BDS_B3_signals_.front();
// available_BDS_B3_signals_.pop_front();
// if (!pop)
// {
// available_BDS_B3_signals_.push_back(result);
// }
// if (tracked)
// {
// if (configuration_->property("Channels_B1.count", 0) > 0)
// {
// for (unsigned int ch = 0; ch < channels_count_; ch++)
// {
// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B1");
// available_BDS_B1_signals_.remove(gs);
// available_BDS_B1_signals_.push_front(gs);
// }
// }
// }
// 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;
}

8
src/core/receiver/gnss_flowgraph.h
View File

@ -100,6 +100,8 @@ public:
void perform_hw_reset();
#endif
void acquisition_manager(unsigned int who);
/*!
* \brief Applies an action to the flow graph
*
@ -114,11 +116,6 @@ public:
void set_configuration(std::shared_ptr<ConfigurationInterface> configuration);
unsigned int applied_actions() const
{
return applied_actions_;
}
bool connected() const
{
return connected_;
@ -167,7 +164,6 @@ private:
unsigned int channels_count_;
unsigned int acq_channels_count_;
unsigned int max_acq_channels_;
unsigned int applied_actions_;
std::string config_file_;
std::shared_ptr<ConfigurationInterface> configuration_;