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Fix assignment of a channel to a given satellite with ChannelN.satellite=PRN

This commit is contained in:
Carles Fernandez 2018-04-20 12:50:32 +02:00
parent 4db5f9165f
commit 514fde256a
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
1 changed files with 81 additions and 77 deletions
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158
src/core/receiver/gnss_flowgraph.cc
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@ -9,7 +9,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -61,6 +61,8 @@ GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configurati
GNSSFlowgraph::~GNSSFlowgraph() {} GNSSFlowgraph::~GNSSFlowgraph() {}
void GNSSFlowgraph::start() void GNSSFlowgraph::start()
{ {
if (running_) if (running_)
@ -93,10 +95,9 @@ void GNSSFlowgraph::stop()
void GNSSFlowgraph::connect() void GNSSFlowgraph::connect()
{ {
/* Connects the blocks in the flowgraph // Connects the blocks in the flowgraph
* // Signal Source > Signal conditioner >> Channels >> Observables >> PVT
* Signal Source > Signal conditioner >> Channels >> Observables >> PVT
*/
LOG(INFO) << "Connecting flowgraph"; LOG(INFO) << "Connecting flowgraph";
if (connected_) if (connected_)
{ {
@ -184,8 +185,8 @@ void GNSSFlowgraph::connect()
{ {
try try
{ {
//TODO: Remove this array implementation and create generic multistream connector // TODO: Remove this array implementation and create generic multistream connector
//(if a signal source has more than 1 stream, then connect it to the multistream signal conditioner) // (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
if (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0) if (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0)
{ {
//Multichannel Array //Multichannel Array
@ -198,14 +199,14 @@ void GNSSFlowgraph::connect()
} }
else else
{ {
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. // TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
//Include GetRFChannels in the interface to avoid read config parameters here // Include GetRFChannels in the interface to avoid read config parameters here
//read the number of RF channels for each front-end // read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1); RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++) for (int j = 0; j < RF_Channels; j++)
{ {
//Connect the multichannel signal source to multiple signal conditioners // Connect the multichannel signal source to multiple signal conditioners
// GNURADIO max_streams=-1 means infinite ports! // GNURADIO max_streams=-1 means infinite ports!
LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams(); LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams(); LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();
@ -244,8 +245,8 @@ void GNSSFlowgraph::connect()
} }
DLOG(INFO) << "Signal source connected to signal conditioner"; DLOG(INFO) << "Signal source connected to signal conditioner";
//connect the signal source to sample counter // connect the signal source to sample counter
//connect the sample counter to Observables // connect the sample counter to Observables
try try
{ {
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0)); double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
@ -267,7 +268,6 @@ void GNSSFlowgraph::connect()
return; return;
} }
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID) // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
int selected_signal_conditioner_ID; int selected_signal_conditioner_ID;
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
@ -301,26 +301,46 @@ void GNSSFlowgraph::connect()
top_block_->disconnect_all(); top_block_->disconnect_all();
return; return;
} }
}
std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal! // Put channels fixed to a given satellite at the beginning of the vector, then the rest
channels_.at(i)->set_signal(search_next_signal(gnss_signal, false)); std::vector<unsigned int> vector_of_channels;
for (unsigned int i = 0; i < channels_count_; i++)
if (channels_state_[i] == 1) {
unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
if (sat == 0)
{ {
channels_.at(i)->start_acquisition(); vector_of_channels.push_back(i);
available_GNSS_signals_.pop_front();
LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
} }
else else
{ {
LOG(INFO) << "Channel " << i << " connected to observables in standby mode"; auto it = vector_of_channels.begin();
it = vector_of_channels.insert(it, i);
} }
} }
/* // Assign satellites to channels in the initialization
* Connect the observables output of each channel to the PVT block for (unsigned int& i : vector_of_channels)
*/ {
std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal
unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
if (sat == 0)
{
channels_.at(i)->set_signal(search_next_signal(gnss_signal, true));
}
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);
channels_.at(i)->set_signal(signal_value);
}
}
// Connect the observables output of each channel to the PVT block
try try
{ {
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
@ -337,6 +357,21 @@ void GNSSFlowgraph::connect()
return; return;
} }
// Activate acquisition in enabled channels
for (unsigned int i = 0; i < channels_count_; i++)
{
LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
if (channels_state_[i] == 1)
{
channels_.at(i)->start_acquisition();
LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
}
else
{
LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
}
}
connected_ = true; connected_ = true;
LOG(INFO) << "Flowgraph connected"; LOG(INFO) << "Flowgraph connected";
top_block_->dump(); top_block_->dump();
@ -374,12 +409,16 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg)
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{ {
DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_; DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_;
unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(who) + ".satellite", 0);
switch (what) switch (what)
{ {
case 0: 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(); DLOG(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()); if (sat == 0)
channels_.at(who)->set_signal(search_next_signal(channels_.at(who)->get_signal().get_signal_str(), true)); {
available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
channels_.at(who)->set_signal(search_next_signal(channels_.at(who)->get_signal().get_signal_str(), true));
}
DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); DLOG(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(); channels_.at(who)->start_acquisition();
break; break;
@ -390,10 +429,14 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
acq_channels_count_--; acq_channels_count_--;
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
{ {
unsigned int sat_ = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0)) if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
{ {
channels_state_[i] = 1; channels_state_[i] = 1;
channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true)); if (sat_ == 0)
{
channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true));
}
acq_channels_count_++; acq_channels_count_++;
DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_.at(i)->get_signal().get_satellite() << ", Signal " << channels_.at(i)->get_signal().get_signal_str(); DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_.at(i)->get_signal().get_satellite() << ", Signal " << channels_.at(i)->get_signal().get_signal_str();
channels_.at(i)->start_acquisition(); channels_.at(i)->start_acquisition();
@ -417,7 +460,10 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{ {
channels_state_[who] = 0; channels_state_[who] = 0;
LOG(INFO) << "Channel " << who << " Idle state"; LOG(INFO) << "Channel " << who << " Idle state";
available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); if (sat == 0)
{
available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
}
} }
break; break;
@ -436,7 +482,6 @@ void GNSSFlowgraph::set_configuration(std::shared_ptr<ConfigurationInterface> co
LOG(WARNING) << "Unable to update configuration while flowgraph running"; LOG(WARNING) << "Unable to update configuration while flowgraph running";
return; return;
} }
if (connected_) if (connected_)
{ {
LOG(WARNING) << "Unable to update configuration while flowgraph connected"; LOG(WARNING) << "Unable to update configuration while flowgraph connected";
@ -541,20 +586,10 @@ void GNSSFlowgraph::init()
void GNSSFlowgraph::set_signals_list() void GNSSFlowgraph::set_signals_list()
{ {
/* // Set a sequential list of GNSS satellites
* Sets a sequential list of GNSS satellites
*/
std::set<unsigned int>::const_iterator available_gnss_prn_iter; std::set<unsigned int>::const_iterator available_gnss_prn_iter;
/* // Read GNSS systems and signals
* \TODO Describe GNSS satellites more nicely, with RINEX notation
* See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf (page 5)
*/
/*
* Read GNSS-SDR default GNSS system and signal
*/
unsigned int total_channels = configuration_->property("Channels_1C.count", 0) + unsigned int total_channels = configuration_->property("Channels_1C.count", 0) +
configuration_->property("Channels_1B.count", 0) + configuration_->property("Channels_1B.count", 0) +
configuration_->property("Channels_1G.count", 0) + configuration_->property("Channels_1G.count", 0) +
@ -563,11 +598,7 @@ void GNSSFlowgraph::set_signals_list()
configuration_->property("Channels_5X.count", 0) + configuration_->property("Channels_5X.count", 0) +
configuration_->property("Channels_L5.count", 0); configuration_->property("Channels_L5.count", 0);
/* // Create the lists of GNSS satellites
* Loop to create the list of GNSS Signals
* To add signals from other systems, add another loop 'for'
*/
std::set<unsigned int> available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, std::set<unsigned int> available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
29, 30, 31, 32}; 29, 30, 31, 32};
@ -689,6 +720,7 @@ void GNSSFlowgraph::set_signals_list()
std::string("L5"))); std::string("L5")));
} }
} }
if (configuration_->property("Channels_SBAS.count", 0) > 0) if (configuration_->property("Channels_SBAS.count", 0) > 0)
{ {
/* /*
@ -704,7 +736,6 @@ void GNSSFlowgraph::set_signals_list()
} }
} }
if (configuration_->property("Channels_1B.count", 0) > 0) if (configuration_->property("Channels_1B.count", 0) > 0)
{ {
/* /*
@ -764,39 +795,12 @@ void GNSSFlowgraph::set_signals_list()
std::string("2G"))); std::string("2G")));
} }
} }
/*
* Ordering the list of signals from configuration file
*/
std::list<Gnss_Signal>::iterator gnss_it = available_GNSS_signals_.begin();
// Pre-assignation if not defined at ChannelX.signal=1C ...? In what order?
for (unsigned int i = 0; i < total_channels; i++)
{
std::string gnss_signal = (configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".signal", std::string("1C")));
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";
unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
LOG(INFO) << "Channel " << i << " system " << gnss_system << ", signal " << gnss_signal << ", sat " << sat;
if (sat == 0) // 0 = not PRN in configuration file
{
gnss_it++;
}
else
{
Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GNSS_signals_.remove(signal_value);
gnss_it = available_GNSS_signals_.insert(gnss_it, signal_value);
}
}
} }
void GNSSFlowgraph::set_channels_state() void GNSSFlowgraph::set_channels_state()
{ {
max_acq_channels_ = (configuration_->property("Channels.in_acquisition", channels_count_)); max_acq_channels_ = configuration_->property("Channels.in_acquisition", channels_count_);
if (max_acq_channels_ > channels_count_) if (max_acq_channels_ > channels_count_)
{ {
max_acq_channels_ = channels_count_; max_acq_channels_ = channels_count_;