New Channel FSM

src/algorithms/channel/adapters/channel.cc

@@ -103,10 +103,7 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
 
 
 // Destructor
-Channel::~Channel()
+Channel::~Channel(){}
-{
-    channel_fsm_.terminate();
-}
 
 
 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"));
 

src/algorithms/channel/libs/channel_fsm.cc

@@ -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();
+    mx.lock();
-    this->process_event(Ev_channel_start_acquisition());
+    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;

src/algorithms/channel/libs/channel_fsm.h

@@ -1,12 +1,12 @@
 /*!
  * \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
  *          Satellite Systems receiver
@@ -32,26 +32,23 @@
 #ifndef 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 "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*/