Removing gnuradio block inheritance in FPGA acquisition

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc

@@ -64,6 +64,9 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
     int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
     int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
 
+    acq_parameters.repeat_satellite = configuration_->property(role + ".repeat_satellite", false);
+    DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
+
     float downsampling_factor = configuration_->property(role + ".downsampling_factor", 4.0);
     acq_parameters.downsampling_factor = downsampling_factor;
 
@@ -163,7 +166,6 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
     acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 14);
 
     acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
-    DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
 
     channel_ = 0;
     doppler_step_ = 0;
@@ -274,5 +276,5 @@ gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisitionFpga::get_left_block()
 
 gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisitionFpga::get_right_block()
 {
-    return acquisition_fpga_;
+    return nullptr;
 }

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc

@@ -61,6 +61,10 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
     int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
     int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
 
+
+    acq_parameters.repeat_satellite = configuration_->property(role + ".repeat_satellite", false);
+    DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
+
     float downsampling_factor = configuration_->property(role + ".downsampling_factor", 1.0);
     acq_parameters.downsampling_factor = downsampling_factor;
     fs_in = fs_in / downsampling_factor;
@@ -164,7 +168,6 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
     acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 14);
 
     acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
-    DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
 
     channel_ = 0;
     doppler_step_ = 0;
@@ -274,5 +277,5 @@ gr::basic_block_sptr GalileoE5aPcpsAcquisitionFpga::get_left_block()
 
 gr::basic_block_sptr GalileoE5aPcpsAcquisitionFpga::get_right_block()
 {
-    return acquisition_fpga_;
+    return nullptr;
 }

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc

@@ -68,6 +68,9 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
     int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
     int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
 
+    acq_parameters.repeat_satellite = configuration_->property(role + ".repeat_satellite", false);
+    DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
+
     float downsampling_factor = configuration_->property(role + ".downsampling_factor", 4.0);
     acq_parameters.downsampling_factor = downsampling_factor;
 
@@ -146,7 +149,6 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
     acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 14);
 
     acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
-    DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
 
     channel_ = 0;
     doppler_step_ = 0;
@@ -257,5 +259,5 @@ gr::basic_block_sptr GpsL1CaPcpsAcquisitionFpga::get_left_block()
 
 gr::basic_block_sptr GpsL1CaPcpsAcquisitionFpga::get_right_block()
 {
-    return acquisition_fpga_;
+    return nullptr;
 }

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc

@@ -70,6 +70,9 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     acq_parameters.fs_in = fs_in_;
 
+    acq_parameters.repeat_satellite = configuration_->property(role + ".repeat_satellite", false);
+    DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
+
     doppler_max_ = configuration->property(role + ".doppler_max", 5000);
     if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
     acq_parameters.doppler_max = doppler_max_;
@@ -139,13 +142,11 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
     delete[] fft_codes_padded;
 
     acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
-    DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
 
     channel_ = 0;
     doppler_step_ = 0;
     gnss_synchro_ = nullptr;
     channel_fsm_ = nullptr;
-    DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
 
     threshold_ = 0.0;
 }
@@ -253,5 +254,5 @@ gr::basic_block_sptr GpsL2MPcpsAcquisitionFpga::get_left_block()
 
 gr::basic_block_sptr GpsL2MPcpsAcquisitionFpga::get_right_block()
 {
-    return acquisition_fpga_;
+    return nullptr;
 }

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc

@@ -67,6 +67,9 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
     int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
     int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
 
+    acq_parameters.repeat_satellite = configuration_->property(role + ".repeat_satellite", false);
+    DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
+
     float downsampling_factor = configuration_->property(role + ".downsampling_factor", 1.0);
     acq_parameters.downsampling_factor = downsampling_factor;
 
@@ -146,7 +149,6 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
     acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 14);
 
     acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
-    DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
 
     channel_ = 0;
     doppler_step_ = 0;
@@ -258,5 +260,5 @@ gr::basic_block_sptr GpsL5iPcpsAcquisitionFpga::get_left_block()
 
 gr::basic_block_sptr GpsL5iPcpsAcquisitionFpga::get_right_block()
 {
-    return acquisition_fpga_;
+    return nullptr;
 }

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc

@@ -52,12 +52,8 @@ pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
 }
 
 
-pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block("pcps_acquisition_fpga",
+pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_)
-                                                                          gr::io_signature::make(0, 0, 0),
-                                                                          gr::io_signature::make(0, 0, 0))
 {
-    this->message_port_register_out(pmt::mp("events"));
-
     acq_parameters = std::move(conf_);
     d_sample_counter = 0ULL;  // SAMPLE COUNTER
     d_active = false;
@@ -150,15 +146,8 @@ void pcps_acquisition_fpga::send_positive_acquisition()
                << ", magnitude " << d_mag
                << ", input signal power " << d_input_power;
 
-    if (d_channel_fsm)
+    //the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
-        {
+    d_channel_fsm->Event_valid_acquisition();
-            //the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
-            d_channel_fsm->Event_valid_acquisition();
-        }
-    else
-        {
-            this->message_port_pub(pmt::mp("events"), pmt::from_long(1));
-        }
 }
 
 
@@ -175,7 +164,14 @@ void pcps_acquisition_fpga::send_negative_acquisition()
                << ", magnitude " << d_mag
                << ", input signal power " << d_input_power;
 
-    this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
+    if (acq_parameters.repeat_satellite == true)
+        {
+            d_channel_fsm->Event_failed_acquisition_repeat();
+        }
+    else
+        {
+            d_channel_fsm->Event_failed_acquisition_no_repeat();
+        }
 }
 
 
@@ -266,16 +262,6 @@ void pcps_acquisition_fpga::set_active(bool active)
 }
 
 
-int pcps_acquisition_fpga::general_work(int noutput_items __attribute__((unused)),
-    gr_vector_int& ninput_items __attribute__((unused)),
-    gr_vector_const_void_star& input_items __attribute__((unused)),
-    gr_vector_void_star& output_items __attribute__((unused)))
-{
-    // the general work is not used with the acquisition that uses the FPGA
-    return noutput_items;
-}
-
-
 void pcps_acquisition_fpga::reset_acquisition(void)
 {
     // this function triggers a HW reset of the FPGA PL.

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h

@@ -68,6 +68,7 @@ typedef struct
     float downsampling_factor;
     uint32_t total_block_exp;
     uint32_t excludelimit;
+    bool repeat_satellite;
 } pcpsconf_fpga_t;
 
 class pcps_acquisition_fpga;
@@ -83,7 +84,7 @@ pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
  * Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
  * Algorithm 1, for a pseudocode description of this implementation.
  */
-class pcps_acquisition_fpga : public gr::block
+class pcps_acquisition_fpga
 {
 private:
     friend pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
@@ -221,13 +222,6 @@ public:
      * \brief This funciton is only used for the unit tests
      */
     void read_fpga_total_scale_factor(uint32_t* total_scale_factor, uint32_t* fw_scale_factor);
-
-    /*!
-     * \brief Parallel Code Phase Search Acquisition signal processing.
-     */
-    int general_work(int noutput_items, gr_vector_int& ninput_items,
-        gr_vector_const_void_star& input_items,
-        gr_vector_void_star& output_items);
 };
 
 #endif /* GNSS_SDR_PCPS_ACQUISITION_FPGA_H_*/

src/algorithms/channel/adapters/channel.cc

@@ -55,7 +55,7 @@ Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::s
     queue_ = std::move(queue);
     channel_fsm_ = std::make_shared<ChannelFsm>();
 
-    flag_enable_fpga = configuration->property("Channel.enable_FPGA", false);
+    flag_enable_fpga = configuration->property("GNSS-SDR.enable_FPGA", false);
     acq_->set_channel(channel_);
     acq_->set_channel_fsm(channel_fsm_);
     trk_->set_channel(channel_);
@@ -125,7 +125,10 @@ Channel::~Channel() = default;
 
 void Channel::connect(gr::top_block_sptr top_block)
 {
-    acq_->connect(top_block);
+    if (!flag_enable_fpga)
+        {
+            acq_->connect(top_block);
+        }
     trk_->connect(top_block);
     nav_->connect(top_block);
 
@@ -136,7 +139,10 @@ void Channel::connect(gr::top_block_sptr top_block)
     DLOG(INFO) << "tracking -> telemetry_decoder";
 
     // Message ports
-    top_block->msg_connect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
+    if (!flag_enable_fpga)
+        {
+            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"));
 
     connected_ = true;
@@ -152,12 +158,18 @@ void Channel::disconnect(gr::top_block_sptr top_block)
         }
 
     top_block->disconnect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
-
+    if (!flag_enable_fpga)
-    acq_->disconnect(top_block);
+        {
+            acq_->disconnect(top_block);
+        }
     trk_->disconnect(top_block);
     nav_->disconnect(top_block);
+
     top_block->msg_disconnect(nav_->get_left_block(), pmt::mp("telemetry_to_trk"), trk_->get_right_block(), pmt::mp("telemetry_to_trk"));
-    top_block->msg_disconnect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
+    if (!flag_enable_fpga)
+        {
+            top_block->msg_disconnect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
+        }
     top_block->msg_disconnect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
     connected_ = false;
 }
@@ -178,6 +190,10 @@ gr::basic_block_sptr Channel::get_left_block_trk()
 
 gr::basic_block_sptr Channel::get_left_block_acq()
 {
+    if (flag_enable_fpga)
+        {
+            LOG(ERROR) << "Enabled FPGA and called get_left_block() in channel interface";
+        }
     return acq_->get_left_block();
 }