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mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-12-15 12:40:35 +00:00

New Channel FSM

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

View File

@ -103,10 +103,7 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
// Destructor // Destructor
Channel::~Channel() Channel::~Channel(){}
{
channel_fsm_.terminate();
}
void Channel::connect(gr::top_block_sptr top_block) 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")); 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"; 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(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")); top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));

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@ -30,15 +30,10 @@
#include "channel_fsm.h" #include "channel_fsm.h"
#include <memory> #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 <glog/logging.h>
#include "control_message_factory.h" #include "control_message_factory.h"
/*
struct Ev_channel_start_acquisition: sc::event<Ev_channel_start_acquisition> 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_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> struct channel_idle_fsm_S0: public sc::state<channel_idle_fsm_S0, ChannelFsm>
{ {
public: public:
@ -114,7 +108,7 @@ public:
} }
~channel_waiting_fsm_S3(){} ~channel_waiting_fsm_S3(){}
}; };
*/
ChannelFsm::ChannelFsm() ChannelFsm::ChannelFsm()
@ -122,7 +116,7 @@ ChannelFsm::ChannelFsm()
acq_ = nullptr; acq_ = nullptr;
trk_ = nullptr; trk_ = nullptr;
channel_ = 0; channel_ = 0;
initiate(); //start the FSM d_state = 0;
} }
@ -132,51 +126,60 @@ ChannelFsm::ChannelFsm(std::shared_ptr<AcquisitionInterface> acquisition) :
{ {
trk_ = nullptr; trk_ = nullptr;
channel_ = 0; channel_ = 0;
initiate(); //start the FSM d_state = 0;
} }
void ChannelFsm::Event_start_acquisition() void ChannelFsm::Event_start_acquisition()
{ {
initiate(); mx.lock();
this->process_event(Ev_channel_start_acquisition()); d_state = 1;
start_acquisition();
LOG(INFO) << "FSM Event_start_acquisition"; LOG(INFO) << "FSM Event_start_acquisition";
DLOG(INFO) << "CH = " << channel_ << ". Ev start acquisition"; DLOG(INFO) << "CH = " << channel_ << ". Ev start acquisition";
mx.unlock();
} }
void ChannelFsm::Event_valid_acquisition() 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"; DLOG(INFO) << "CH = " << channel_ << ". Ev valid acquisition";
mx.unlock();
} }
void ChannelFsm::Event_failed_acquisition_repeat() 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"; DLOG(INFO) << "CH = " << channel_ << ". Ev failed acquisition repeat";
mx.unlock();
} }
void ChannelFsm::Event_failed_acquisition_no_repeat() 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"; 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() 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"; 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) void ChannelFsm::set_acquisition(std::shared_ptr<AcquisitionInterface> acquisition)
{ {
acq_ = acquisition; acq_ = acquisition;

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