mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 20:20:35 +00:00
Add monitor block to send data stream to a remote GUI
This commit is contained in:
parent
2ff637125e
commit
619b2ee624
@ -19,4 +19,4 @@
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add_subdirectory(system_parameters)
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add_subdirectory(libs)
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add_subdirectory(receiver)
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add_subdirectory(monitor)
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37
src/core/monitor/CMakeLists.txt
Normal file
37
src/core/monitor/CMakeLists.txt
Normal file
@ -0,0 +1,37 @@
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# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
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#
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# This file is part of GNSS-SDR.
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#
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# GNSS-SDR is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# GNSS-SDR is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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#
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set(CORE_MONITOR_LIBS_SOURCES
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gnss_synchro_monitor.cc
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gnss_synchro_udp_sink.cc
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)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}
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${CMAKE_SOURCE_DIR}/src/core/system_parameters
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${GLOG_INCLUDE_DIRS}
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${GFlags_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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file(GLOB CORE_MONITOR_LIBS_HEADERS "*.h")
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list(SORT CORE_MONITOR_LIBS_HEADERS)
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add_library(core_monitor_lib ${CORE_MONITOR_LIBS_SOURCES} ${CORE_MONITOR_LIBS_HEADERS})
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source_group(Headers FILES ${CORE_MONITOR_LIBS_HEADERS})
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target_link_libraries(core_monitor_lib ${Boost_LIBRARIES})
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92
src/core/monitor/gnss_synchro_monitor.cc
Normal file
92
src/core/monitor/gnss_synchro_monitor.cc
Normal file
@ -0,0 +1,92 @@
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/*!
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* \file gnss_synchro_monitor.cc
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* \brief Interface of a Position Velocity and Time computation block
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* \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gnss_synchro_monitor.h"
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#include "gnss_synchro.h"
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#include <glog/logging.h>
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#include <algorithm>
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#include <iostream>
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using google::LogMessage;
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gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
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int output_rate_ms,
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int udp_port,
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std::vector<std::string> udp_addresses)
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{
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return gnss_synchro_monitor_sptr(new gnss_synchro_monitor(n_channels,
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output_rate_ms,
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udp_port,
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udp_addresses));
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}
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gnss_synchro_monitor::gnss_synchro_monitor(unsigned int n_channels,
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int output_rate_ms,
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int udp_port,
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std::vector<std::string> udp_addresses) : gr::sync_block("gnss_synchro_monitor",
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gr::io_signature::make(n_channels, n_channels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(0, 0, 0))
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{
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d_output_rate_ms = output_rate_ms;
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d_nchannels = n_channels;
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udp_sink_ptr = std::unique_ptr<Gnss_Synchro_Udp_Sink>(new Gnss_Synchro_Udp_Sink(udp_addresses, udp_port));
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}
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gnss_synchro_monitor::~gnss_synchro_monitor()
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{
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}
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int gnss_synchro_monitor::work(int noutput_items, gr_vector_const_void_star& input_items,
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gr_vector_void_star& output_items __attribute__((unused)))
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{
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const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
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for (int epoch = 0; epoch < noutput_items; epoch++)
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{
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// ############ 1. READ PSEUDORANGES ####
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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//if (in[i][epoch].Flag_valid_pseudorange)
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// {
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// }
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//todo: send the gnss_synchro objects
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std::vector<Gnss_Synchro> stocks;
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stocks.push_back(in[i][epoch]);
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udp_sink_ptr->write_gnss_synchro(stocks);
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}
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}
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return noutput_items;
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}
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81
src/core/monitor/gnss_synchro_monitor.h
Normal file
81
src/core/monitor/gnss_synchro_monitor.h
Normal file
@ -0,0 +1,81 @@
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/*!
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* \file gnss_synchro_monitor.h
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* \brief Interface of a Position Velocity and Time computation block
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* \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GNSS_SYNCHRO_MONITOR_H
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#define GNSS_SDR_GNSS_SYNCHRO_MONITOR_H
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#include "gnss_synchro_udp_sink.h"
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#include <gnuradio/sync_block.h>
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#include <fstream>
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#include <utility>
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#include <string>
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class gnss_synchro_monitor;
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typedef boost::shared_ptr<gnss_synchro_monitor> gnss_synchro_monitor_sptr;
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gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
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int output_rate_ms,
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int udp_port,
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std::vector<std::string> udp_addresses);
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/*!
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* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
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*/
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class gnss_synchro_monitor : public gr::sync_block
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{
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private:
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friend gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int nchannels,
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int output_rate_ms,
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int udp_port,
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std::vector<std::string> udp_addresses);
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unsigned int d_nchannels;
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int d_output_rate_ms;
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std::unique_ptr<Gnss_Synchro_Udp_Sink> udp_sink_ptr;
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public:
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gnss_synchro_monitor(unsigned int nchannels,
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int output_rate_ms,
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int udp_port,
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std::vector<std::string> udp_addresses);
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~gnss_synchro_monitor(); //!< Default destructor
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int work(int noutput_items, gr_vector_const_void_star& input_items,
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gr_vector_void_star& output_items);
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};
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#endif
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69
src/core/monitor/gnss_synchro_udp_sink.cc
Normal file
69
src/core/monitor/gnss_synchro_udp_sink.cc
Normal file
@ -0,0 +1,69 @@
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/*!
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* \file gnss_synchro_udp_sink.cc
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* \brief Implementation of a class that sends serialized Gnss_Synchro
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* objects over udp to one or multiple endponits
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* \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gnss_synchro_udp_sink.h"
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#include <boost/archive/binary_oarchive.hpp>
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#include <boost/serialization/vector.hpp>
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#include <sstream>
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#include <iostream>
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Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const unsigned short& port) : socket{io_service}
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{
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for (auto address : addresses)
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{
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boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port);
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endpoints.push_back(endpoint);
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}
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}
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bool Gnss_Synchro_Udp_Sink::write_gnss_synchro(std::vector<Gnss_Synchro> stocks)
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{
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std::ostringstream archive_stream;
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boost::archive::binary_oarchive oa{archive_stream};
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oa << stocks;
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std::string outbound_data = archive_stream.str();
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for (auto endpoint : endpoints)
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{
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socket.open(endpoint.protocol(), error);
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socket.connect(endpoint, error);
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try
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{
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socket.send(boost::asio::buffer(outbound_data));
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}
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catch (boost::system::system_error const& e)
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{
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return false;
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}
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}
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return true;
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}
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53
src/core/monitor/gnss_synchro_udp_sink.h
Normal file
53
src/core/monitor/gnss_synchro_udp_sink.h
Normal file
@ -0,0 +1,53 @@
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/*!
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* \file gnss_synchro_udp_sink.h
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* \brief Interface of a class that sends serialized Gnss_Synchro objects
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* over udp to one or multiple endponits
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* \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
|
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* This file is part of GNSS-SDR.
|
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*
|
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* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SYNCHRO_UDP_SINK_H_
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#define GNSS_SYNCHRO_UDP_SINK_H_
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#include <boost/asio.hpp>
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#include "gnss_synchro.h"
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class Gnss_Synchro_Udp_Sink
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{
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public:
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Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const unsigned short &port);
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bool write_gnss_synchro(std::vector<Gnss_Synchro> stocks);
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private:
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boost::asio::io_service io_service;
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boost::asio::ip::udp::socket socket;
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boost::system::error_code error;
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std::vector<boost::asio::ip::udp::endpoint> endpoints;
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std::vector<Gnss_Synchro> stocks;
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};
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#endif /* GNSS_SYNCHRO_UDP_SINK_H_ */
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@ -111,6 +111,7 @@ include_directories(
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${CMAKE_SOURCE_DIR}/src/core/libs/supl
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${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-rrlp
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${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-supl
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${CMAKE_SOURCE_DIR}/src/core/monitor
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${CMAKE_SOURCE_DIR}/src/algorithms/libs
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${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/libs
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${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/adapters
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@ -178,4 +179,5 @@ target_link_libraries(gnss_rx ${Boost_LIBRARIES}
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pvt_adapters
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pvt_lib
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rx_core_lib
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core_monitor_lib
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)
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|
@ -4,6 +4,7 @@
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* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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* Luis Esteve, 2012. luis(at)epsilon-formacion.com
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* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
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* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
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*
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* -------------------------------------------------------------------------
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*
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@ -496,6 +497,25 @@ void GNSSFlowgraph::connect()
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return;
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}
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// GNSS SYNCHRO MONITOR
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if (enable_monitor_)
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{
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try
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{
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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top_block_->connect(observables_->get_right_block(), i, GnssSynchroMonitor_, i);
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}
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}
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catch (const std::exception& e)
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{
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LOG(WARNING) << "Can't connect observables to Monitor block";
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LOG(ERROR) << e.what();
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top_block_->disconnect_all();
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return;
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}
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}
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// Activate acquisition in enabled channels
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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@ -1091,6 +1111,25 @@ void GNSSFlowgraph::init()
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set_channels_state();
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applied_actions_ = 0;
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DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
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/*
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* Instantiate the receiver monitor block, if required
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*/
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enable_monitor_ = configuration_->property("Monitor.enable_monitor", false);
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std::vector<std::string> udp_addr_vec;
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std::string address_string = configuration_->property("Monitor.client_addresses", std::string("127.0.0.1"));
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//todo: split the string in substrings using the separator and fill the address vector.
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udp_addr_vec.push_back(address_string);
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if (enable_monitor_)
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{
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GnssSynchroMonitor_ = gr::basic_block_sptr(new gnss_synchro_monitor(channels_count_,
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configuration_->property("Monitor.output_rate_ms", 1),
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configuration_->property("Monitor.udp_port", 1234),
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udp_addr_vec));
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}
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}
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|
@ -4,6 +4,7 @@
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* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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* Luis Esteve, 2011. luis(at)epsilon-formacion.com
|
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* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
|
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* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
|
||||
*
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* It contains a signal source,
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* a signal conditioner, a set of channels, an observables block and a pvt.
|
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@ -39,6 +40,7 @@
|
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#include "GPS_L1_CA.h"
|
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#include "gnss_signal.h"
|
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#include "gnss_sdr_sample_counter.h"
|
||||
#include "gnss_synchro_monitor.h"
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#include <gnuradio/top_block.h>
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#include <gnuradio/msg_queue.h>
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#include <gnuradio/blocks/null_source.h>
|
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@ -185,6 +187,9 @@ private:
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|
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std::vector<unsigned int> channels_state_;
|
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std::mutex signal_list_mutex;
|
||||
|
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bool enable_monitor_;
|
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gr::basic_block_sptr GnssSynchroMonitor_;
|
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};
|
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|
||||
#endif /*GNSS_SDR_GNSS_FLOWGRAPH_H_*/
|
||||
|
@ -307,6 +307,7 @@ set(LIST_INCLUDE_DIRS
|
||||
${CMAKE_SOURCE_DIR}/src/core/libs/supl
|
||||
${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-rrlp
|
||||
${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-supl
|
||||
${CMAKE_SOURCE_DIR}/src/core/monitor
|
||||
${CMAKE_SOURCE_DIR}/src/algorithms/libs
|
||||
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
|
||||
${CMAKE_SOURCE_DIR}/src/algorithms/data_type_adapter/adapters
|
||||
|
Loading…
Reference in New Issue
Block a user