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New asynchronous channel and PVT status reporting from observables and PVT to flowgraph. Partial implementation of assistance from L1 to L2 and L5

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This commit is contained in:
Javier Arribas
2019-07-11 18:39:28 +02:00
parent c98bc16552
commit 71d93dc4b9
13 changed files with 711 additions and 249 deletions
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649
src/core/receiver/gnss_flowgraph.cc
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@@ -598,7 +598,11 @@ void GNSSFlowgraph::connect()
}
if (sat == 0)
{
channels_.at(i)->set_signal(search_next_signal(gnss_signal, false));
bool assistance_available;
float estimated_doppler;
double RX_time;
bool is_primary_freq;
channels_.at(i)->set_signal(search_next_signal(gnss_signal, false, is_primary_freq, assistance_available, estimated_doppler, RX_time));
}
else
{
@@ -680,7 +684,11 @@ void GNSSFlowgraph::connect()
top_block_->connect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
}
top_block_->msg_connect(observables_->get_right_block(), pmt::mp("status"), channels_status_, pmt::mp("status"));
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("pvt_to_observables"), observables_->get_right_block(), pmt::mp("pvt_to_observables"));
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("status"), channels_status_, pmt::mp("status"));
}
catch (const std::exception& e)
{
@@ -1065,7 +1073,7 @@ bool GNSSFlowgraph::send_telemetry_msg(const pmt::pmt_t& msg)
* \param[in] what What is the action:
* --- actions from channels ---
* -> 0 acquisition failed
* -> 1 acquisition successful
* -> 1 acquisition succesfull
* -> 2 tracking lost
* --- actions from TC receiver control ---
* -> 10 TC request standby mode
@@ -1078,6 +1086,8 @@ bool GNSSFlowgraph::send_telemetry_msg(const pmt::pmt_t& msg)
*/
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
//todo: the acquisition events are initiated from the acquisition success or failure queued msg. If the acquisition is disabled for non-assisted secondary freq channels, the engine stops..
std::lock_guard<std::mutex> lock(signal_list_mutex);
DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_;
unsigned int sat = 0;
@@ -1167,20 +1177,34 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
{
channels_state_[ch_index] = 1;
bool is_primary_freq = true;
bool assistance_available = false;
if (sat_ == 0)
{
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true));
float estimated_doppler;
double RX_time;
Gnss_Signal gnss_signal;
gnss_signal = search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), false, is_primary_freq, assistance_available, estimated_doppler, RX_time);
channels_[ch_index]->set_signal(gnss_signal);
}
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();
//todo: add configuration parameter to enable the mandatory acquisition assistance in secondary freq
if (is_primary_freq == true or assistance_available == true)
{
channels_state_[ch_index] = 1;
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();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach();
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach();
#endif
}
else
{
DLOG(INFO) << "Channel " << ch_index << " secondary frequency acquisition assistance not available in " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
}
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
@@ -1248,20 +1272,34 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
{
channels_state_[i] = 1;
bool is_primary_freq = true;
bool assistance_available = false;
if (sat_ == 0)
{
channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true, true));
float estimated_doppler;
double RX_time;
Gnss_Signal gnss_signal;
gnss_signal = search_next_signal(channels_[i]->get_signal().get_signal_str(), true, is_primary_freq, assistance_available, estimated_doppler, RX_time);
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str();
//todo: add configuration parameter to enable the mandatory acquisition assistance in secondary freq
if (is_primary_freq == true or assistance_available == true)
{
channels_state_[i] = 1;
acq_channels_count_++;
DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[i]->start_acquisition();
channels_[i]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[i]);
tmp_thread.detach();
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[i]);
tmp_thread.detach();
#endif
}
else
{
DLOG(INFO) << "Channel " << i << " secondary frequency acquisition assistance not available in " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str();
}
}
DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
}
@@ -1420,7 +1458,11 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true));
bool is_primary_freq;
bool assistance_available;
float estimated_doppler;
double RX_time;
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true, is_primary_freq, assistance_available, estimated_doppler, RX_time));
}
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();
@@ -1454,7 +1496,11 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true));
bool is_primary_freq;
bool assistance_available;
float estimated_doppler;
double RX_time;
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true, is_primary_freq, assistance_available, estimated_doppler, RX_time));
}
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();
@@ -1489,7 +1535,11 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true));
bool is_primary_freq;
bool assistance_available;
float estimated_doppler;
double RX_time;
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true, is_primary_freq, assistance_available, estimated_doppler, RX_time));
}
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();
@@ -1610,6 +1660,8 @@ void GNSSFlowgraph::init()
*/
std::unique_ptr<GNSSBlockFactory> block_factory_(new GNSSBlockFactory());
channels_status_ = channel_status_msg_receiver_make();
// 1. read the number of RF front-ends available (one file_source per RF front-end)
sources_count_ = configuration_->property("Receiver.sources_count", 1);
@@ -2010,110 +2062,116 @@ void GNSSFlowgraph::set_channels_state()
}
Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal, bool pop, bool tracked)
Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal,
const bool pop,
bool& is_primary_frequency,
bool& assistance_available,
float& estimated_doppler,
double& RX_time)
{
is_primary_frequency = false;
Gnss_Signal result;
bool untracked_satellite = true;
switch (mapStringValues_[searched_signal])
{
case evGPS_1C:
//todo: assist the satellite selection with almanac and current PVT here (rehuse priorize_satellite function used in control_thread)
result = available_GPS_1C_signals_.front();
available_GPS_1C_signals_.pop_front();
if (!pop)
{
available_GPS_1C_signals_.push_back(result);
}
if (tracked)
{
if ((configuration_->property("Channels_2S.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "1C"))
{
untracked_satellite = false;
}
}
if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
available_GPS_2S_signals_.remove(gs);
available_GPS_2S_signals_.push_front(gs);
}
if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
available_GPS_L5_signals_.remove(gs);
available_GPS_L5_signals_.push_front(gs);
}
}
}
is_primary_frequency = true; //indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evGPS_2S:
result = available_GPS_2S_signals_.front();
available_GPS_2S_signals_.pop_front();
if (!pop)
if (configuration_->property("Channels_1C.count", 0) > 0)
{
available_GPS_2S_signals_.push_back(result);
}
if (tracked)
{
if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
//1. Get the current channel status map
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
//2. search the currently tracked GPS L1 satellites and assist the GPS L2 acquisition if the satellite is not tracked on L2
for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = current_channels_status.begin(); it != current_channels_status.end(); ++it)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
if (std::string(it->second->Signal) == "1C")
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2S"))
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_GPS_2S_signals_), std::end(available_GPS_2S_signals_),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == it->second->PRN; });
if (it2 != available_GPS_2S_signals_.end())
{
untracked_satellite = false;
std::cout << " Channel: " << it->first << " => Doppler: " << it->second->Carrier_Doppler_hz << "[Hz] \n";
//3. return the GPS L2 satellite and remove it from list
result = *it2;
if (pop)
{
available_GPS_2S_signals_.erase(it2);
}
break;
}
}
if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
available_GPS_1C_signals_.remove(gs);
available_GPS_1C_signals_.push_front(gs);
}
if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
available_GPS_L5_signals_.remove(gs);
available_GPS_L5_signals_.push_front(gs);
}
}
//fallback: pick the front satellite because there is no tracked satellites in L1 to assist L2
result = available_GPS_2S_signals_.front();
available_GPS_2S_signals_.pop_front();
if (!pop)
{
available_GPS_2S_signals_.push_back(result);
}
}
else
{
result = available_GPS_2S_signals_.front();
available_GPS_2S_signals_.pop_front();
if (!pop)
{
available_GPS_2S_signals_.push_back(result);
}
}
break;
case evGPS_L5:
result = available_GPS_L5_signals_.front();
available_GPS_L5_signals_.pop_front();
if (!pop)
if (configuration_->property("Channels_1C.count", 0) > 0)
{
available_GPS_L5_signals_.push_back(result);
}
if (tracked)
{
if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_2S.count", 0) > 0))
//1. Get the current channel status map
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
//2. search the currently tracked GPS L1 satellites and assist the GPS L5 acquisition if the satellite is not tracked on L5
for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = current_channels_status.begin(); it != current_channels_status.end(); ++it)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
if (std::string(it->second->Signal) == "1C")
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "L5"))
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_GPS_L5_signals_), std::end(available_GPS_L5_signals_),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == it->second->PRN; });
if (it2 != available_GPS_L5_signals_.end())
{
untracked_satellite = false;
std::cout << " Channel: " << it->first << " => Doppler: " << it->second->Carrier_Doppler_hz << "[Hz] \n";
//3. return the GPS L5 satellite and remove it from list
result = *it2;
if (pop)
{
available_GPS_L5_signals_.erase(it2);
}
break;
}
}
if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
available_GPS_1C_signals_.remove(gs);
available_GPS_1C_signals_.push_front(gs);
}
if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
available_GPS_2S_signals_.remove(gs);
available_GPS_2S_signals_.push_front(gs);
}
}
//fallback: pick the front satellite because there is no tracked satellites in L1 to assist L5
result = available_GPS_L5_signals_.front();
available_GPS_L5_signals_.pop_front();
if (!pop)
{
available_GPS_L5_signals_.push_back(result);
}
}
else
{
result = available_GPS_L5_signals_.front();
available_GPS_L5_signals_.pop_front();
if (!pop)
{
available_GPS_L5_signals_.push_back(result);
}
}
break;
@@ -2125,25 +2183,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
{
available_GAL_1B_signals_.push_back(result);
}
if (tracked)
{
if (configuration_->property("Channels_5X.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "1B"))
{
untracked_satellite = false;
}
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "5X");
available_GAL_5X_signals_.remove(gs);
available_GAL_5X_signals_.push_front(gs);
}
}
}
is_primary_frequency = true; //indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evGAL_5X:
@@ -2153,25 +2193,6 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
{
available_GAL_5X_signals_.push_back(result);
}
if (tracked)
{
if (configuration_->property("Channels_1B.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "5X"))
{
untracked_satellite = false;
}
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1B");
available_GAL_1B_signals_.remove(gs);
available_GAL_1B_signals_.push_front(gs);
}
}
}
break;
case evGLO_1G:
@@ -2181,25 +2202,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
{
available_GLO_1G_signals_.push_back(result);
}
if (tracked)
{
if (configuration_->property("Channels_2G.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "1G"))
{
untracked_satellite = false;
}
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2G");
available_GLO_2G_signals_.remove(gs);
available_GLO_2G_signals_.push_front(gs);
}
}
}
is_primary_frequency = true; //indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evGLO_2G:
@@ -2209,25 +2212,6 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
{
available_GLO_2G_signals_.push_back(result);
}
if (tracked)
{
if (configuration_->property("Channels_1G.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G"))
{
untracked_satellite = false;
}
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1G");
available_GLO_1G_signals_.remove(gs);
available_GLO_1G_signals_.push_front(gs);
}
}
}
break;
case evBDS_B1:
@@ -2237,25 +2221,7 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
{
available_BDS_B1_signals_.push_back(result);
}
if (tracked)
{
if (configuration_->property("Channels_B3.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G"))
{
untracked_satellite = false;
}
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B3");
available_BDS_B3_signals_.remove(gs);
available_BDS_B3_signals_.push_front(gs);
}
}
}
is_primary_frequency = true; //indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evBDS_B3:
@@ -2265,25 +2231,6 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
{
available_BDS_B3_signals_.push_back(result);
}
if (tracked)
{
if (configuration_->property("Channels_B1.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G"))
{
untracked_satellite = false;
}
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B1");
available_BDS_B1_signals_.remove(gs);
available_BDS_B1_signals_.push_front(gs);
}
}
}
break;
default:
@@ -2296,4 +2243,290 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
break;
}
return result;
//old
// bool untracked_satellite = true;
// switch (mapStringValues_[searched_signal])
// {
// case evGPS_1C:
// result = available_GPS_1C_signals_.front();
// available_GPS_1C_signals_.pop_front();
// if (!pop)
// {
// available_GPS_1C_signals_.push_back(result);
// }
// if (tracked)
// {
// if ((configuration_->property("Channels_2S.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
// {
// for (unsigned int ch = 0; ch < channels_count_; ch++)
// {
// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "1C"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
// available_GPS_2S_signals_.remove(gs);
// available_GPS_2S_signals_.push_front(gs);
// }
// if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
// available_GPS_L5_signals_.remove(gs);
// available_GPS_L5_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGPS_2S:
// result = available_GPS_2S_signals_.front();
// available_GPS_2S_signals_.pop_front();
// if (!pop)
// {
// available_GPS_2S_signals_.push_back(result);
// }
// if (tracked)
// {
// if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
// {
// for (unsigned int ch = 0; ch < channels_count_; ch++)
// {
// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2S"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
// available_GPS_1C_signals_.remove(gs);
// available_GPS_1C_signals_.push_front(gs);
// }
// if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
// available_GPS_L5_signals_.remove(gs);
// available_GPS_L5_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGPS_L5:
// result = available_GPS_L5_signals_.front();
// available_GPS_L5_signals_.pop_front();
// if (!pop)
// {
// available_GPS_L5_signals_.push_back(result);
// }
// if (tracked)
// {
// if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_2S.count", 0) > 0))
// {
// for (unsigned int ch = 0; ch < channels_count_; ch++)
// {
// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "L5"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
// available_GPS_1C_signals_.remove(gs);
// available_GPS_1C_signals_.push_front(gs);
// }
// if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
// available_GPS_2S_signals_.remove(gs);
// available_GPS_2S_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGAL_1B:
// result = available_GAL_1B_signals_.front();
// available_GAL_1B_signals_.pop_front();
// if (!pop)
// {
// available_GAL_1B_signals_.push_back(result);
// }
// if (tracked)
// {
// if (configuration_->property("Channels_5X.count", 0) > 0)
// {
// for (unsigned int ch = 0; ch < channels_count_; ch++)
// {
// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "1B"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "5X");
// available_GAL_5X_signals_.remove(gs);
// available_GAL_5X_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGAL_5X:
// result = available_GAL_5X_signals_.front();
// available_GAL_5X_signals_.pop_front();
// if (!pop)
// {
// available_GAL_5X_signals_.push_back(result);
// }
// if (tracked)
// {
// if (configuration_->property("Channels_1B.count", 0) > 0)
// {
// for (unsigned int ch = 0; ch < channels_count_; ch++)
// {
// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "5X"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1B");
// available_GAL_1B_signals_.remove(gs);
// available_GAL_1B_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGLO_1G:
// result = available_GLO_1G_signals_.front();
// available_GLO_1G_signals_.pop_front();
// if (!pop)
// {
// available_GLO_1G_signals_.push_back(result);
// }
// if (tracked)
// {
// if (configuration_->property("Channels_2G.count", 0) > 0)
// {
// for (unsigned int ch = 0; ch < channels_count_; ch++)
// {
// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "1G"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2G");
// available_GLO_2G_signals_.remove(gs);
// available_GLO_2G_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evGLO_2G:
// result = available_GLO_2G_signals_.front();
// available_GLO_2G_signals_.pop_front();
// if (!pop)
// {
// available_GLO_2G_signals_.push_back(result);
// }
// if (tracked)
// {
// if (configuration_->property("Channels_1G.count", 0) > 0)
// {
// for (unsigned int ch = 0; ch < channels_count_; ch++)
// {
// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1G");
// available_GLO_1G_signals_.remove(gs);
// available_GLO_1G_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evBDS_B1:
// result = available_BDS_B1_signals_.front();
// available_BDS_B1_signals_.pop_front();
// if (!pop)
// {
// available_BDS_B1_signals_.push_back(result);
// }
// if (tracked)
// {
// if (configuration_->property("Channels_B3.count", 0) > 0)
// {
// for (unsigned int ch = 0; ch < channels_count_; ch++)
// {
// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B3");
// available_BDS_B3_signals_.remove(gs);
// available_BDS_B3_signals_.push_front(gs);
// }
// }
// }
// break;
//
// case evBDS_B3:
// result = available_BDS_B3_signals_.front();
// available_BDS_B3_signals_.pop_front();
// if (!pop)
// {
// available_BDS_B3_signals_.push_back(result);
// }
// if (tracked)
// {
// if (configuration_->property("Channels_B1.count", 0) > 0)
// {
// for (unsigned int ch = 0; ch < channels_count_; ch++)
// {
// if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "2G"))
// {
// untracked_satellite = false;
// }
// }
// if (untracked_satellite)
// {
// Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "B1");
// available_BDS_B1_signals_.remove(gs);
// available_BDS_B1_signals_.push_front(gs);
// }
// }
// }
// break;
//
// default:
// LOG(ERROR) << "This should not happen :-(";
// result = available_GPS_1C_signals_.front();
// if (pop)
// {
// available_GPS_1C_signals_.pop_front();
// }
// break;
// }
// return result;
}