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Code Issues Releases Wiki Activity

Expose usage of Protocol Buffers to the configuration

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This commit is contained in:
Carles Fernandez 2019-04-21 13:30:59 +02:00
parent b3ca9bda99
commit 6c9154aede
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GPG Key ID: 4C583C52B0C3877D
11 changed files with 65 additions and 39 deletions
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5
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -741,6 +741,11 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
pvt_output_parameters.monitor_enabled = configuration->property(role + ".enable_monitor", false); pvt_output_parameters.monitor_enabled = configuration->property(role + ".enable_monitor", false);
pvt_output_parameters.udp_addresses = configuration->property(role + ".monitor_client_addresses", std::string("127.0.0.1")); pvt_output_parameters.udp_addresses = configuration->property(role + ".monitor_client_addresses", std::string("127.0.0.1"));
pvt_output_parameters.udp_port = configuration->property(role + ".monitor_udp_port", 1234); pvt_output_parameters.udp_port = configuration->property(role + ".monitor_udp_port", 1234);
pvt_output_parameters.protobuf_enabled = configuration->property(role + ".enable_protobuf", true);
if (configuration->property("Monitor.enable_protobuf", false) == true)
{
pvt_output_parameters.protobuf_enabled = true;
}
// Show time in local zone // Show time in local zone
pvt_output_parameters.show_local_time_zone = configuration->property(role + ".show_local_time_zone", false); pvt_output_parameters.show_local_time_zone = configuration->property(role + ".show_local_time_zone", false);

2
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -347,7 +347,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
std::sort(udp_addr_vec.begin(), udp_addr_vec.end()); std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end()); udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
udp_sink_ptr = std::unique_ptr<Monitor_Pvt_Udp_Sink>(new Monitor_Pvt_Udp_Sink(udp_addr_vec, conf_.udp_port)); udp_sink_ptr = std::unique_ptr<Monitor_Pvt_Udp_Sink>(new Monitor_Pvt_Udp_Sink(udp_addr_vec, conf_.udp_port, conf_.protobuf_enabled));
} }
else else
{ {

12
src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc
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@ -35,7 +35,7 @@
#include <sstream> #include <sstream>
Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port) : socket{io_service} Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_service}
{ {
for (const auto& address : addresses) for (const auto& address : addresses)
{ {
@ -71,14 +71,18 @@ Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, c
monitor_pvt.hdop = 0.0; monitor_pvt.hdop = 0.0;
monitor_pvt.vdop = 0.0; monitor_pvt.vdop = 0.0;
serdes = Serdes_Monitor_Pvt(); use_protobuf = protobuf_enabled;
if (use_protobuf)
{
serdes = Serdes_Monitor_Pvt();
}
} }
bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(const Monitor_Pvt& monitor_pvt, bool protobuf) bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(const Monitor_Pvt& monitor_pvt)
{ {
std::string outbound_data; std::string outbound_data;
if (protobuf == false) if (use_protobuf == false)
{ {
std::ostringstream archive_stream; std::ostringstream archive_stream;
boost::archive::binary_oarchive oa{archive_stream}; boost::archive::binary_oarchive oa{archive_stream};

5
src/algorithms/PVT/libs/monitor_pvt_udp_sink.h
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@ -39,8 +39,8 @@
class Monitor_Pvt_Udp_Sink class Monitor_Pvt_Udp_Sink
{ {
public: public:
Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t &port); Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t &port, bool protobuf_enabled);
bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt, bool protobuf = false); bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt);
private: private:
boost::asio::io_service io_service; boost::asio::io_service io_service;
@ -49,6 +49,7 @@ private:
std::vector<boost::asio::ip::udp::endpoint> endpoints; std::vector<boost::asio::ip::udp::endpoint> endpoints;
Monitor_Pvt monitor_pvt; Monitor_Pvt monitor_pvt;
Serdes_Monitor_Pvt serdes; Serdes_Monitor_Pvt serdes;
bool use_protobuf;
}; };

1
src/algorithms/PVT/libs/pvt_conf.cc
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@ -69,6 +69,7 @@ Pvt_Conf::Pvt_Conf()
rtcm_output_file_path = std::string("."); rtcm_output_file_path = std::string(".");
monitor_enabled = false; monitor_enabled = false;
protobuf_enabled = true;
udp_port = 0; udp_port = 0;
show_local_time_zone = false; show_local_time_zone = false;

1
src/algorithms/PVT/libs/pvt_conf.h
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@ -80,6 +80,7 @@ public:
std::string rtcm_output_file_path; std::string rtcm_output_file_path;
bool monitor_enabled; bool monitor_enabled;
bool protobuf_enabled;
std::string udp_addresses; std::string udp_addresses;
int udp_port; int udp_port;

15
src/core/monitor/gnss_synchro_monitor.cc
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@ -41,26 +41,29 @@
gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels, gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
int decimation_factor, int decimation_factor,
int udp_port, int udp_port,
const std::vector<std::string>& udp_addresses) const std::vector<std::string>& udp_addresses,
bool enable_protobuf)
{ {
return gnss_synchro_monitor_sptr(new gnss_synchro_monitor(n_channels, return gnss_synchro_monitor_sptr(new gnss_synchro_monitor(n_channels,
decimation_factor, decimation_factor,
udp_port, udp_port,
udp_addresses)); udp_addresses,
enable_protobuf));
} }
gnss_synchro_monitor::gnss_synchro_monitor(unsigned int n_channels, gnss_synchro_monitor::gnss_synchro_monitor(unsigned int n_channels,
int decimation_factor, int decimation_factor,
int udp_port, int udp_port,
const std::vector<std::string>& udp_addresses) : gr::sync_block("gnss_synchro_monitor", const std::vector<std::string>& udp_addresses,
gr::io_signature::make(n_channels, n_channels, sizeof(Gnss_Synchro)), bool enable_protobuf) : gr::sync_block("gnss_synchro_monitor",
gr::io_signature::make(0, 0, 0)) gr::io_signature::make(n_channels, n_channels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
{ {
d_decimation_factor = decimation_factor; d_decimation_factor = decimation_factor;
d_nchannels = n_channels; d_nchannels = n_channels;
udp_sink_ptr = std::unique_ptr<Gnss_Synchro_Udp_Sink>(new Gnss_Synchro_Udp_Sink(udp_addresses, udp_port)); udp_sink_ptr = std::unique_ptr<Gnss_Synchro_Udp_Sink>(new Gnss_Synchro_Udp_Sink(udp_addresses, udp_port, enable_protobuf));
count = 0; count = 0;
} }

9
src/core/monitor/gnss_synchro_monitor.h
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@ -50,7 +50,8 @@ using gnss_synchro_monitor_sptr = boost::shared_ptr<gnss_synchro_monitor>;
gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels, gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
int decimation_factor, int decimation_factor,
int udp_port, int udp_port,
const std::vector<std::string>& udp_addresses); const std::vector<std::string>& udp_addresses,
bool enable_protobuf);
/*! /*!
* \brief This class implements a monitoring block which allows sending * \brief This class implements a monitoring block which allows sending
@ -63,12 +64,14 @@ private:
friend gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels, friend gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
int decimation_factor, int decimation_factor,
int udp_port, int udp_port,
const std::vector<std::string>& udp_addresses); const std::vector<std::string>& udp_addresses,
bool enable_protobuf);
gnss_synchro_monitor(unsigned int n_channels, gnss_synchro_monitor(unsigned int n_channels,
int decimation_factor, int decimation_factor,
int udp_port, int udp_port,
const std::vector<std::string>& udp_addresses); const std::vector<std::string>& udp_addresses,
bool enable_protobuf);
unsigned int d_nchannels; unsigned int d_nchannels;
int d_decimation_factor; int d_decimation_factor;

12
src/core/monitor/gnss_synchro_udp_sink.cc
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@ -35,9 +35,13 @@
#include <iostream> #include <iostream>
#include <sstream> #include <sstream>
Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port) : socket{io_service} Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool enable_protobuf) : socket{io_service}
{ {
serdes = Serdes_Gnss_Synchro(); use_protobuf = enable_protobuf;
if (enable_protobuf)
{
serdes = Serdes_Gnss_Synchro();
}
for (const auto& address : addresses) for (const auto& address : addresses)
{ {
boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port); boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port);
@ -46,10 +50,10 @@ Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses,
} }
bool Gnss_Synchro_Udp_Sink::write_gnss_synchro(const std::vector<Gnss_Synchro>& stocks, bool protocolbuffers) bool Gnss_Synchro_Udp_Sink::write_gnss_synchro(const std::vector<Gnss_Synchro>& stocks)
{ {
std::string outbound_data; std::string outbound_data;
if (protocolbuffers == false) if (use_protobuf == false)
{ {
std::ostringstream archive_stream; std::ostringstream archive_stream;
boost::archive::binary_oarchive oa{archive_stream}; boost::archive::binary_oarchive oa{archive_stream};

5
src/core/monitor/gnss_synchro_udp_sink.h
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@ -48,8 +48,8 @@
class Gnss_Synchro_Udp_Sink class Gnss_Synchro_Udp_Sink
{ {
public: public:
Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port); Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool enable_protobuf);
bool write_gnss_synchro(const std::vector<Gnss_Synchro>& stocks, bool protocolbuffers = false); bool write_gnss_synchro(const std::vector<Gnss_Synchro>& stocks);
private: private:
boost::asio::io_service io_service; boost::asio::io_service io_service;
@ -58,6 +58,7 @@ private:
std::vector<boost::asio::ip::udp::endpoint> endpoints; std::vector<boost::asio::ip::udp::endpoint> endpoints;
std::vector<Gnss_Synchro> stocks; std::vector<Gnss_Synchro> stocks;
Serdes_Gnss_Synchro serdes; Serdes_Gnss_Synchro serdes;
bool use_protobuf;
}; };

37
src/core/receiver/gnss_flowgraph.cc
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@ -215,7 +215,7 @@ void GNSSFlowgraph::connect()
} }
DLOG(INFO) << "blocks connected internally"; DLOG(INFO) << "blocks connected internally";
// Signal Source (i) > Signal conditioner (i) > // Signal Source (i) > Signal conditioner (i) >
#ifndef ENABLE_FPGA #ifndef ENABLE_FPGA
int RF_Channels = 0; int RF_Channels = 0;
int signal_conditioner_ID = 0; int signal_conditioner_ID = 0;
@ -444,20 +444,20 @@ void GNSSFlowgraph::connect()
// create a FIR low pass filter // create a FIR low pass filter
std::vector<float> taps; std::vector<float> taps;
// float beta = 7.0; // float beta = 7.0;
// float halfband = 0.5; // float halfband = 0.5;
// float fractional_bw = 0.4; // float fractional_bw = 0.4;
// float rate = 1.0 / static_cast<float>(decimation); // float rate = 1.0 / static_cast<float>(decimation);
// //
// float trans_width = rate * (halfband - fractional_bw); // float trans_width = rate * (halfband - fractional_bw);
// float mid_transition_band = rate * halfband - trans_width / 2.0; // float mid_transition_band = rate * halfband - trans_width / 2.0;
// //
// taps = gr::filter::firdes::low_pass(1.0, // taps = gr::filter::firdes::low_pass(1.0,
// 1.0, // 1.0,
// mid_transition_band, // mid_transition_band,
// trans_width, // trans_width,
// gr::filter::firdes::win_type::WIN_KAISER, // gr::filter::firdes::win_type::WIN_KAISER,
// beta); // beta);
taps = gr::filter::firdes::low_pass(1.0, taps = gr::filter::firdes::low_pass(1.0,
fs, fs,
@ -526,7 +526,6 @@ void GNSSFlowgraph::connect()
} }
#endif #endif
// Signal Source > Signal conditioner >> Channels >> Observables // Signal Source > Signal conditioner >> Channels >> Observables
try try
{ {
@ -556,6 +555,7 @@ void GNSSFlowgraph::connect()
} }
} }
} }
// Put channels fixed to a given satellite at the beginning of the vector, then the rest // Put channels fixed to a given satellite at the beginning of the vector, then the rest
std::vector<unsigned int> vector_of_channels; std::vector<unsigned int> vector_of_channels;
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
@ -1169,7 +1169,6 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
} }
acq_channels_count_++; acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str(); DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA #ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition(); channels_[ch_index]->start_acquisition();
#else #else
@ -1704,7 +1703,11 @@ void GNSSFlowgraph::init()
* Instantiate the receiver monitor block, if required * Instantiate the receiver monitor block, if required
*/ */
enable_monitor_ = configuration_->property("Monitor.enable_monitor", false); enable_monitor_ = configuration_->property("Monitor.enable_monitor", false);
bool enable_protobuf = configuration_->property("Monitor.enable_protobuf", true);
if (configuration_->property("PVT.enable_protobuf", false) == true)
{
enable_protobuf = true;
}
std::string address_string = configuration_->property("Monitor.client_addresses", std::string("127.0.0.1")); std::string address_string = configuration_->property("Monitor.client_addresses", std::string("127.0.0.1"));
std::vector<std::string> udp_addr_vec = split_string(address_string, '_'); std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
std::sort(udp_addr_vec.begin(), udp_addr_vec.end()); std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
@ -1715,7 +1718,7 @@ void GNSSFlowgraph::init()
GnssSynchroMonitor_ = gnss_synchro_make_monitor(channels_count_, GnssSynchroMonitor_ = gnss_synchro_make_monitor(channels_count_,
configuration_->property("Monitor.decimation_factor", 1), configuration_->property("Monitor.decimation_factor", 1),
configuration_->property("Monitor.udp_port", 1234), configuration_->property("Monitor.udp_port", 1234),
udp_addr_vec); udp_addr_vec, enable_protobuf);
} }
} }