Commit from GSoC Mara branzanti (27 August)

- Galileo Ephemeris collector thread

git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@410 64b25241-fba3-4117-9849-534c7e92360d

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc

@@ -292,6 +292,8 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
                              	 //decode_page.split_page(page_String, flag_even_word_arrived);
                              	 flag_even_word_arrived=0;
                              	 //std::cout << "page odd" << page_String << std::endl;
+                             	DLOG(INFO) << "mara prova print page odd" << page_String;
+
                              	 //std::cout<<"Page type ="<< page_part_bits[1]<<std::endl;
                                }
                               else
@@ -300,6 +302,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
                              	 d_nav.split_page(page_String.c_str(), flag_even_word_arrived);
                              	 flag_even_word_arrived=1;
                              	 //std::cout << "page even" << std::endl << page_String << std::endl;
+                             	DLOG(INFO) << "Page type =" << page_part_bits[1];
                              	 //std::cout<<"Page type ="<< page_part_bits[1]<<std::endl;
                               }
 

src/core/receiver/control_thread.cc

@@ -38,6 +38,12 @@
 #include "gps_iono.h"
 #include "gps_utc_model.h"
 #include "gps_almanac.h"
+
+#include "galileo_ephemeris.h"
+#include "galileo_iono.h"
+#include "galileo_utc_model.h"
+#include "galileo_almanac.h"
+
 #include "concurrent_queue.h"
 #include "concurrent_map.h"
 #include <unistd.h>
@@ -63,6 +69,19 @@ extern concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
 extern concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
 extern concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
 
+extern concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
+extern concurrent_map<Galileo_Iono> global_galileo_iono_map;
+extern concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
+extern concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
+//extern concurrent_map<Galileo_Acq_Assist> global_gps_acq_assist_map;
+
+extern concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
+extern concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
+extern concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
+extern concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
+//extern concurrent_queue<Galileo_Acq_Assist> global_gps_acq_assist_queue;
+
+
 using google::LogMessage;
 
 DEFINE_string(config_file, "../conf/gnss-sdr.conf",
@@ -141,6 +160,8 @@ void ControlThread::run()
     gps_utc_model_data_collector_thread_ =boost::thread(&ControlThread::gps_utc_model_data_collector, this);
     gps_acq_assist_data_collector_thread_=boost::thread(&ControlThread::gps_acq_assist_data_collector,this);
 
+    galileo_ephemeris_data_collector_thread_ =boost::thread(&ControlThread::galileo_ephemeris_data_collector, this);
+
     // Main loop to read and process the control messages
     while (flowgraph_->running() && !stop_)
         {
@@ -150,10 +171,17 @@ void ControlThread::run()
         }
     std::cout<<"Stopping GNSS-SDR, please wait!"<<std::endl;
     flowgraph_->stop();
+
+    // Join GPS threads
     gps_ephemeris_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
     gps_iono_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
     gps_utc_model_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
     gps_acq_assist_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
+
+    //Join Galileo threads
+    galileo_ephemeris_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
+
+    //Join keyboard threads
     keyboard_thread_.timed_join(boost::posix_time::seconds(1));
 
     LOG_AT_LEVEL(INFO) << "Flowgraph stopped";
@@ -451,6 +479,51 @@ void ControlThread::gps_ephemeris_data_collector()
 	}
 }
 
+void ControlThread::galileo_ephemeris_data_collector()
+{
+
+	// ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
+	Galileo_Ephemeris galileo_eph;
+	Galileo_Ephemeris galileo_eph_old;
+	while(stop_==false)
+	{
+		global_galileo_ephemeris_queue.wait_and_pop(galileo_eph);
+
+			// DEBUG MESSAGE
+			std::cout << "Ephemeris record has arrived from SAT ID "
+					<< galileo_eph.SV_ID_PRN_4 << std::endl;
+     		// insert new ephemeris record to the global ephemeris map
+			if (global_galileo_ephemeris_map.read(galileo_eph.SV_ID_PRN_4,galileo_eph_old))
+			{
+				// Check the EPHEMERIS timestamp. If it is newer, then update the ephemeris
+				if (galileo_eph.WN_5 > galileo_eph_old.WN_5)
+				{
+					std::cout << "Ephemeris record updated -- GALILEO Week Number ="<<galileo_eph.WN_5<<std::endl;
+					global_galileo_ephemeris_map.write(galileo_eph.SV_ID_PRN_4,galileo_eph);
+				}else{
+					if (galileo_eph.TOW_5 > galileo_eph_old.TOW_5)
+					{
+						std::cout << "Ephemeris record updated -- GALILEO TOW ="<<galileo_eph.TOW_5<<std::endl;
+						global_galileo_ephemeris_map.write(galileo_eph.SV_ID_PRN_4,galileo_eph);
+
+						std::cout << "Ephemeris tow OLD: " << galileo_eph_old.TOW_5<<std::endl;
+						std::cout << "Ephemeris satellite: " << galileo_eph.SV_ID_PRN_4<<std::endl;
+
+					}else{
+						std::cout<<"Not updating the existing ephemeris"<<std::endl;
+					}
+				}
+//
+			}else{
+			// insert new ephemeris record
+				std::cout << "New Ephemeris record inserted with TOW="<<galileo_eph.TOW_5<<" and GALILEO Week Number="<< galileo_eph.WN_5 << std::endl;
+				global_galileo_ephemeris_map.write(galileo_eph.SV_ID_PRN_4, galileo_eph);
+			}
+	}
+
+}
+
+
 void ControlThread::gps_iono_data_collector()
 {
 

src/core/receiver/control_thread.h

@@ -159,6 +159,13 @@ private:
      */
     void gps_acq_assist_data_collector();
 
+    /*
+     * \brief Blocking function that reads the Galileo ephemeris queue and updates the shared ephemeris map, accessible from the PVT block
+     */
+    void galileo_ephemeris_data_collector();
+
+
+
     void apply_action(unsigned int what);
     GNSSFlowgraph *flowgraph_;
     ConfigurationInterface *configuration_;
@@ -174,6 +181,9 @@ private:
     boost::thread gps_iono_data_collector_thread_;
     boost::thread gps_utc_model_data_collector_thread_;
     boost::thread gps_acq_assist_data_collector_thread_;
+
+    boost::thread galileo_ephemeris_data_collector_thread_;
+
     void keyboard_listener();
 };
 

src/core/system_parameters/galileo_ephemeris.cc

@@ -35,32 +35,33 @@
 
 Galileo_Ephemeris::Galileo_Ephemeris()
 {
-		double M0_1 = 0;		// Mean anomaly at reference time [semi-circles]
+	 SV_ID_PRN_4 = 0;
-		double delta_n_3 = 0;		// Mean motion difference from computed value  [semi-circles/sec]
+	 M0_1 = 0;		// Mean anomaly at reference time [semi-circles]
-		double e_1 = 0;		// Eccentricity
+	 delta_n_3 = 0;		// Mean motion difference from computed value  [semi-circles/sec]
-		double A_1 = 0;   	// Square root of the semi-major axis [metres^1/2]
+	 e_1 = 0;		// Eccentricity
-		double OMEGA_0_2 = 0; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
+	 A_1 = 0;   	// Square root of the semi-major axis [metres^1/2]
-		double i_0_2 = 0;     // Inclination angle at reference time  [semi-circles]
+	 OMEGA_0_2 = 0; // Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
-		double omega_2 = 0;   // Argument of perigee [semi-circles]
+	 i_0_2 = 0;     // Inclination angle at reference time  [semi-circles]
-		double OMEGA_dot_3 = 0;		// Rate of right ascension [semi-circles/sec]
+	 omega_2 = 0;   // Argument of perigee [semi-circles]
-		double iDot_2 = 0;    // Rate of inclination angle [semi-circles/sec]
+	 OMEGA_dot_3 = 0;		// Rate of right ascension [semi-circles/sec]
-		double C_uc_3 = 0;			// Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
+	 iDot_2 = 0;    // Rate of inclination angle [semi-circles/sec]
-		double C_us_3 = 0;			// Amplitude of the sine harmonic correction term to the argument of latitude [radians]
+	 C_uc_3 = 0;			// Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
-		double C_rc_3 = 0;			// Amplitude of the cosine harmonic correction term to the orbit radius [meters]
+	 C_us_3 = 0;			// Amplitude of the sine harmonic correction term to the argument of latitude [radians]
-		double C_rs_3 = 0;			// Amplitude of the sine harmonic correction term to the orbit radius [meters]
+	 C_rc_3 = 0;			// Amplitude of the cosine harmonic correction term to the orbit radius [meters]
-		double C_ic_4 = 0;		// Amplitude of the cosine harmonic correction 	term to the angle of inclination [radians]
+	 C_rs_3 = 0;			// Amplitude of the sine harmonic correction term to the orbit radius [meters]
-		double C_is_4 = 0;		// Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+	 C_ic_4 = 0;		// Amplitude of the cosine harmonic correction 	term to the angle of inclination [radians]
-		double t0e_1 = 0; 	// Ephemeris reference time [s]
+	 C_is_4 = 0;		// Amplitude of the sine harmonic correction term to the angle of inclination [radians]
+	 t0e_1 = 0; 	// Ephemeris reference time [s]
 
-		/*Clock correction parameters*/
+	/*Clock correction parameters*/
-		double t0c_4 = 0; 			//Clock correction data reference Time of Week [sec]
+	 t0c_4 = 0; 			//Clock correction data reference Time of Week [sec]
-		double af0_4 = 0; 			//SV clock bias correction coefficient [s]
+	 af0_4 = 0; 			//SV clock bias correction coefficient [s]
-		double af1_4 = 0; 			//SV clock drift correction coefficient [s/s]
+	 af1_4 = 0; 			//SV clock drift correction coefficient [s/s]
-		double af2_4 = 0;			//SV clock drift rate correction coefficient [s/s^2]
+	 af2_4 = 0;			//SV clock drift rate correction coefficient [s/s^2]
 
-		/*GST*/
+	/*GST*/
-		double WN_5 = 0;
+	 WN_5 = 0;
-		double TOW_5 = 0;
+	 TOW_5 = 0;
 
 }
 

src/core/system_parameters/galileo_ephemeris.h

@@ -52,6 +52,7 @@ public:
 	/*Galileo ephemeris are 16 parameters and here are reported following the ICD order, paragraph 5.1.1.
 	The number in the name after underscore (_1, _2, _3 and so on) refers to the page were we can find that parameter */
 
+	int SV_ID_PRN_4;
 	double M0_1;		// Mean anomaly at reference time [semi-circles]
 	double delta_n_3;		// Mean motion difference from computed value  [semi-circles/sec]
 	double e_1;		// Eccentricity

src/core/system_parameters/galileo_navigation_message.cc

@@ -553,6 +553,7 @@ Galileo_Ephemeris Galileo_Navigation_Message::get_ephemeris()
 {
 
 	Galileo_Ephemeris ephemeris;
+	ephemeris.SV_ID_PRN_4 = SV_ID_PRN_4;
 	ephemeris.M0_1 = M0_1;		// Mean anomaly at reference time [semi-circles]
 	ephemeris.delta_n_3 = delta_n_3;		// Mean motion difference from computed value  [semi-circles/sec]
 	ephemeris.e_1 =	e_1;	// Eccentricity