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Code Issues Releases Wiki Activity

New Channel FSM

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This commit is contained in:
Antonio Ramos 2018-01-04 10:51:47 +01:00
parent 6dd3abfdea
commit 540221e227
3 changed files with 42 additions and 43 deletions
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6
src/algorithms/channel/adapters/channel.cc
View File

@ -103,10 +103,7 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
// Destructor
Channel::~Channel()
{
channel_fsm_.terminate();
}
Channel::~Channel(){}
void Channel::connect(gr::top_block_sptr top_block)
@ -139,7 +136,6 @@ void Channel::connect(gr::top_block_sptr top_block)
top_block->msg_connect(nav_->get_left_block(), pmt::mp("preamble_timestamp_s"), trk_->get_right_block(), pmt::mp("preamble_timestamp_s"));
DLOG(INFO) << "MSG FEEDBACK CHANNEL telemetry_decoder -> tracking";
//std::cout<<"has port: "<<trk_->get_right_block()->has_msg_port(pmt::mp("events"))<<std::endl;
top_block->msg_connect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));

49
src/algorithms/channel/libs/channel_fsm.cc
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@ -30,15 +30,10 @@
#include "channel_fsm.h"
#include <memory>
#include <boost/statechart/simple_state.hpp>
#include <boost/statechart/state.hpp>
#include <boost/statechart/transition.hpp>
#include <boost/statechart/custom_reaction.hpp>
#include <boost/mpl/list.hpp>
#include <glog/logging.h>
#include "control_message_factory.h"
/*
struct Ev_channel_start_acquisition: sc::event<Ev_channel_start_acquisition>
{};
@ -53,10 +48,9 @@ struct Ev_channel_failed_acquisition_no_repeat: sc::event<Ev_channel_failed_acqu
struct Ev_channel_failed_tracking_standby: sc::event<Ev_channel_failed_tracking_standby>
{};
*/
//struct Ev_channel_failed_tracking_reacq: sc::event<Ev_channel_failed_tracking_reacq>
//{};
/*
struct channel_idle_fsm_S0: public sc::state<channel_idle_fsm_S0, ChannelFsm>
{
public:
@ -114,7 +108,7 @@ public:
}
~channel_waiting_fsm_S3(){}
};
*/
ChannelFsm::ChannelFsm()
@ -122,7 +116,7 @@ ChannelFsm::ChannelFsm()
acq_ = nullptr;
trk_ = nullptr;
channel_ = 0;
initiate(); //start the FSM
d_state = 0;
}
@ -132,51 +126,60 @@ ChannelFsm::ChannelFsm(std::shared_ptr<AcquisitionInterface> acquisition) :
{
trk_ = nullptr;
channel_ = 0;
initiate(); //start the FSM
d_state = 0;
}
void ChannelFsm::Event_start_acquisition()
{
initiate();
this->process_event(Ev_channel_start_acquisition());
mx.lock();
d_state = 1;
start_acquisition();
LOG(INFO) << "FSM Event_start_acquisition";
DLOG(INFO) << "CH = " << channel_ << ". Ev start acquisition";
mx.unlock();
}
void ChannelFsm::Event_valid_acquisition()
{
this->process_event(Ev_channel_valid_acquisition());
mx.lock();
d_state = 2;
start_tracking();
DLOG(INFO) << "CH = " << channel_ << ". Ev valid acquisition";
mx.unlock();
}
void ChannelFsm::Event_failed_acquisition_repeat()
{
this->process_event(Ev_channel_failed_acquisition_repeat());
mx.lock();
d_state = 1;
start_acquisition();
DLOG(INFO) << "CH = " << channel_ << ". Ev failed acquisition repeat";
mx.unlock();
}
void ChannelFsm::Event_failed_acquisition_no_repeat()
{
this->process_event(Ev_channel_failed_acquisition_no_repeat());
mx.lock();
d_state = 3;
request_satellite();
DLOG(INFO) << "CH = " << channel_ << ". Ev failed acquisition no repeat";
mx.unlock();
}
// Something is wrong here, we are using a memory after it ts freed
void ChannelFsm::Event_failed_tracking_standby()
{
this->process_event(Ev_channel_failed_tracking_standby());
mx.lock();
d_state = 0;
notify_stop_tracking();
DLOG(INFO) << "CH = " << channel_ << ". Ev failed tracking standby";
mx.unlock();
}
//void ChannelFsm::Event_failed_tracking_reacq() {
// this->process_event(Ev_channel_failed_tracking_reacq());
//}
void ChannelFsm::set_acquisition(std::shared_ptr<AcquisitionInterface> acquisition)
{
acq_ = acquisition;

30
src/algorithms/channel/libs/channel_fsm.h
View File

@ -1,12 +1,12 @@
/*!
* \file channel_fsm.h
* \brief Interface of the State Machine for channel using boost::statechart
* \author Luis Esteve, 2011. luis(at)epsilon-formacion.com
* \brief Interface of the State Machine for channel
* \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -32,26 +32,23 @@
#ifndef GNSS_SDR_CHANNEL_FSM_H
#define GNSS_SDR_CHANNEL_FSM_H
#include <boost/statechart/state_machine.hpp>
#include <mutex>
#include <gnuradio/msg_queue.h>
#include "acquisition_interface.h"
#include "tracking_interface.h"
#include "telemetry_decoder_interface.h"
namespace sc = boost::statechart;
namespace mpl = boost::mpl;
/*
struct channel_idle_fsm_S0;
struct channel_acquiring_fsm_S1;
struct channel_tracking_fsm_S2;
struct channel_waiting_fsm_S3;
*/
/*!
* \brief This class implements a State Machine for channel using boost::statechart
*/
class ChannelFsm: public sc::state_machine<ChannelFsm, channel_idle_fsm_S0>
class ChannelFsm
{
public:
ChannelFsm();
@ -61,24 +58,27 @@ public:
void set_tracking(std::shared_ptr<TrackingInterface> tracking);
void set_queue(gr::msg_queue::sptr queue);
void set_channel(unsigned int channel);
void start_acquisition();
void start_tracking();
void request_satellite();
void notify_stop_tracking();
//FSM EVENTS
void Event_start_acquisition();
void Event_valid_acquisition();
void Event_failed_acquisition_repeat();
void Event_failed_acquisition_no_repeat();
//void Event_gps_failed_tracking_reacq();
void Event_failed_tracking_standby();
private:
void start_acquisition();
void start_tracking();
void request_satellite();
void notify_stop_tracking();
std::shared_ptr<AcquisitionInterface> acq_;
std::shared_ptr<TrackingInterface> trk_;
gr::msg_queue::sptr queue_;
unsigned int channel_;
unsigned int d_state;
std::mutex mx;
};
#endif /*GNSS_SDR_CHANNEL_FSM_H*/