mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-07-02 10:02:51 +00:00
minor code cleaning
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@195 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
parent
1c0fed749d
commit
72df1f7ced
@ -8,7 +8,7 @@
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
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* Copyright (C) 2010-2012 (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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@ -47,7 +47,8 @@
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using google::LogMessage;
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GNSSFlowgraph::GNSSFlowgraph(ConfigurationInterface *configuration,
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gr_msg_queue_sptr queue) {
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gr_msg_queue_sptr queue)
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{
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connected_ = false;
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running_ = false;
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configuration_ = configuration;
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@ -55,31 +56,37 @@ GNSSFlowgraph::GNSSFlowgraph(ConfigurationInterface *configuration,
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block_factory_ = new GNSSBlockFactory();
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queue_ = queue;
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//available_GNSS_signals_ = new std::list<Gnss_Satellite>();
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init();
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}
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GNSSFlowgraph::~GNSSFlowgraph() {
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GNSSFlowgraph::~GNSSFlowgraph()
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{
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delete block_factory_;
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for (unsigned int i = 0; i < blocks_->size(); i++) {
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for (unsigned int i = 0; i < blocks_->size(); i++)
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{
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delete blocks_->at(i);
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}
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blocks_->clear();
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delete blocks_;
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}
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void GNSSFlowgraph::start() {
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if (running_) {
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void GNSSFlowgraph::start()
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{
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if (running_)
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{
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LOG_AT_LEVEL(WARNING) << "Already running";
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return;
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}
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try {
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try
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{
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top_block_->start();
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR) << "Unable to start flowgraph";
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LOG_AT_LEVEL(ERROR) << e.what();
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return;
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@ -88,13 +95,18 @@ void GNSSFlowgraph::start() {
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running_ = true;
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}
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void GNSSFlowgraph::stop() {
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for (unsigned int i = 0; i < channels_count_; i++) {
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void GNSSFlowgraph::stop()
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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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// if(channels_state_[i]==2) channel(i)->
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channel(i)->stop();
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}
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for (unsigned int i = 0; i < channels_count_; i++) {
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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std::cout << "Channel " << i << " in state " << channels_state_[i]
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<< std::endl;
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}
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@ -104,20 +116,27 @@ void GNSSFlowgraph::stop() {
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running_ = false;
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}
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void GNSSFlowgraph::connect() {
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void GNSSFlowgraph::connect()
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{
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/* Connects the blocks in the flowgraph
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*
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* Signal Source > Signal conditioner >> Channels >> Observables >> PVT > Output filter
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*/
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DLOG(INFO) << "Connecting flowgraph";
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if (connected_) {
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if (connected_)
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{
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LOG_AT_LEVEL(WARNING) << "flowgraph already connected";
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return;
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}
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try {
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try
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{
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signal_source()->connect(top_block_);
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR) << "Can't connect signal source block internally";
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LOG_AT_LEVEL(ERROR) << e.what();
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top_block_->disconnect_all();
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@ -125,9 +144,12 @@ void GNSSFlowgraph::connect() {
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}
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// Signal Source > Signal conditioner >
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try {
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try
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{
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signal_conditioner()->connect(top_block_);
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR)
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<< "Can't connect signal conditioner block internally";
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LOG_AT_LEVEL(ERROR) << e.what();
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@ -135,10 +157,14 @@ void GNSSFlowgraph::connect() {
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return;
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}
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for (unsigned int i = 0; i < channels_count_; i++) {
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try {
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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try
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{
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channel(i)->connect(top_block_);
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR) << "Can't connect channel " << i
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<< " internally";
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LOG_AT_LEVEL(ERROR) << e.what();
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@ -147,9 +173,12 @@ void GNSSFlowgraph::connect() {
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}
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}
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try {
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try
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{
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observables()->connect(top_block_);
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR) << "Can't connect observables block internally";
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LOG_AT_LEVEL(ERROR) << e.what();
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top_block_->disconnect_all();
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@ -157,9 +186,12 @@ void GNSSFlowgraph::connect() {
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}
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// Signal Source > Signal conditioner >> Channels >> Observables > PVT
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try {
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try
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{
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pvt()->connect(top_block_);
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR) << "Can't connect PVT block internally";
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LOG_AT_LEVEL(ERROR) << e.what();
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top_block_->disconnect_all();
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@ -167,9 +199,12 @@ void GNSSFlowgraph::connect() {
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}
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// Signal Source > Signal conditioner >> Channels >> Observables > PVT > Output Filter
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try {
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try
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{
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output_filter()->connect(top_block_);
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR) << "Can't connect output filter block internally";
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LOG_AT_LEVEL(ERROR) << e.what();
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top_block_->disconnect_all();
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@ -179,10 +214,13 @@ void GNSSFlowgraph::connect() {
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DLOG(INFO) << "blocks connected internally";
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// Signal Source > Signal conditioner >
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try {
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try
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{
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top_block_->connect(signal_source()->get_right_block(), 0,
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signal_conditioner()->get_left_block(), 0);
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR)
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<< "Can't connect signal source to signal conditioner";
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LOG_AT_LEVEL(ERROR) << e.what();
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@ -192,11 +230,15 @@ void GNSSFlowgraph::connect() {
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DLOG(INFO) << "Signal source connected to signal conditioner";
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// Signal Source > Signal conditioner >> channels_count_ number of Channels in parallel
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for (unsigned int i = 0; i < channels_count_; i++) {
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try {
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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try
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{
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top_block_->connect(signal_conditioner()->get_right_block(), 0,
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channel(i)->get_left_block(), 0);
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR)
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<< "Can't connect signal conditioner to channel " << i;
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LOG_AT_LEVEL(ERROR) << e.what();
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@ -207,10 +249,13 @@ void GNSSFlowgraph::connect() {
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DLOG(INFO) << "signal conditioner connected to channel " << i;
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// Signal Source > Signal conditioner >> Channels >> Observables
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try {
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try
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{
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top_block_->connect(channel(i)->get_right_block(), 0,
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observables()->get_left_block(), i);
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR) << "Can't connect channel " << i
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<< " to observables";
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LOG_AT_LEVEL(ERROR) << e.what();
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@ -223,11 +268,14 @@ void GNSSFlowgraph::connect() {
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<< available_GNSS_signals_.front() << std::endl;
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available_GNSS_signals_.pop_front();
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channel(i)->start();
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if (channels_state_[i] == 1) {
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if (channels_state_[i] == 1)
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{
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channel(i)->start_acquisition();
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DLOG(INFO) << "Channel " << i
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<< " connected to observables and ready for acquisition";
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} else {
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}
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else
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{
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DLOG(INFO) << "Channel " << i
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<< " connected to observables in standby mode";
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}
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@ -236,22 +284,29 @@ void GNSSFlowgraph::connect() {
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/*
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* Connect the observables output of each channel to the PVT block
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*/
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try {
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for (unsigned int i = 0; i < channels_count_; i++) {
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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,
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pvt()->get_left_block(), i);
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}
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR) << "Can't connect observables to PVT";
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LOG_AT_LEVEL(ERROR) << e.what();
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top_block_->disconnect_all();
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return;
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}
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try {
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try
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{
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top_block_->connect(pvt()->get_right_block(), 0,
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output_filter()->get_left_block(), 0);
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} catch (std::exception& e) {
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}
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catch (std::exception& e)
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{
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LOG_AT_LEVEL(ERROR) << "Can't connect PVT to output filter";
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LOG_AT_LEVEL(ERROR) << e.what();
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top_block_->disconnect_all();
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@ -259,15 +314,18 @@ void GNSSFlowgraph::connect() {
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}
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DLOG(INFO) << "PVT connected to output filter";
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connected_ = true;
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DLOG(INFO) << "Flowgraph connected";
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top_block_->dump();
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}
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void GNSSFlowgraph::wait() {
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if (!running_) {
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void GNSSFlowgraph::wait()
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{
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if (!running_)
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{
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LOG_AT_LEVEL(WARNING) << "Can't apply wait. Flowgraph is not running";
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return;
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}
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@ -276,16 +334,22 @@ void GNSSFlowgraph::wait() {
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running_ = false;
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}
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/*
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* Applies an action to the flowgraph
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*
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* \param[in] who Who generated the action
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* \param[in] what What is the action 0: acquisition failed
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*/
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void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) {
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void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
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{
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DLOG(INFO) << "received " << what << " from " << who;
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switch (what) {
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switch (what)
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{
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case 0:
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DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite "
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@ -301,12 +365,14 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) {
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DLOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite "
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<< channel(who)->get_signal().get_satellite();
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channels_state_[who] = 2;
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acq_channels_count_--;
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if (acq_channels_count_ < max_acq_channels_) {
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for (unsigned int i = 0; i < channels_count_; i++) {
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if (channels_state_[i] == 0) {
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if (acq_channels_count_ < max_acq_channels_)
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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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if (channels_state_[i] == 0)
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{
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channels_state_[i] = 1;
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acq_channels_count_++;
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channel(i)->start_acquisition();
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@ -315,7 +381,8 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) {
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}
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}
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for (unsigned int i = 0; i < channels_count_; i++) {
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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std::cout << "Channel " << i << " in state " << channels_state_[i]
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<< std::endl;
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}
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@ -326,16 +393,20 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) {
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DLOG(INFO) << "Channel " << who << " TRK FAILED satellite "
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<< channel(who)->get_signal().get_satellite();
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if (acq_channels_count_ < max_acq_channels_) {
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if (acq_channels_count_ < max_acq_channels_)
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{
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channels_state_[who] = 1;
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acq_channels_count_++;
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channel(who)->start_acquisition();
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}else {
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}
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else
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{
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channels_state_[who] = 0;
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channel(who)->standby();
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}
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for (unsigned int i = 0; i < channels_count_; i++) {
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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std::cout << "Channel " << i << " in state " << channels_state_[i]
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<< std::endl;
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}
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@ -344,51 +415,75 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) {
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default:
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break;
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}
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DLOG(INFO) << "Number of available satellites: "
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<< available_GNSS_signals_.size();
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}
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void GNSSFlowgraph::set_configuration(ConfigurationInterface* configuration) {
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if (running_) {
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void GNSSFlowgraph::set_configuration(ConfigurationInterface* configuration)
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{
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if (running_)
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{
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LOG_AT_LEVEL(WARNING)
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<< "Unable to update configuration while flowgraph running";
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return;
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}
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if (connected_) {
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if (connected_)
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{
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LOG_AT_LEVEL(WARNING)
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<< "Unable to update configuration while flowgraph connected";
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}
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configuration_ = configuration;
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}
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GNSSBlockInterface* GNSSFlowgraph::signal_source() {
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GNSSBlockInterface* GNSSFlowgraph::signal_source()
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{
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return blocks_->at(0);
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}
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GNSSBlockInterface* GNSSFlowgraph::signal_conditioner() {
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GNSSBlockInterface* GNSSFlowgraph::signal_conditioner()
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{
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return blocks_->at(1);
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}
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ChannelInterface* GNSSFlowgraph::channel(unsigned int index) {
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ChannelInterface* GNSSFlowgraph::channel(unsigned int index)
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{
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return (ChannelInterface*) blocks_->at(index + 5);
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}
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GNSSBlockInterface* GNSSFlowgraph::observables() {
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GNSSBlockInterface* GNSSFlowgraph::observables()
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{
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return blocks_->at(2);
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}
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|
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GNSSBlockInterface* GNSSFlowgraph::pvt() {
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GNSSBlockInterface* GNSSFlowgraph::pvt()
|
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{
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return blocks_->at(3);
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}
|
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GNSSBlockInterface* GNSSFlowgraph::output_filter() {
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|
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|
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GNSSBlockInterface* GNSSFlowgraph::output_filter()
|
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{
|
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return blocks_->at(4);
|
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}
|
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|
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void GNSSFlowgraph::init() {
|
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|
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|
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void GNSSFlowgraph::init()
|
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{
|
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/*
|
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* Instantiates the receiver blocks
|
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*/
|
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@ -404,7 +499,8 @@ void GNSSFlowgraph::init() {
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|
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channels_count_ = channels->size();
|
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for (unsigned int i = 0; i < channels_count_; i++) {
|
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for (unsigned int i = 0; i < channels_count_; i++)
|
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{
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blocks_->push_back(channels->at(i));
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}
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|
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@ -415,7 +511,6 @@ void GNSSFlowgraph::init() {
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// fill the available_GNSS_signals_ queue with the satellites ID's to be searched by the acquisition
|
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|
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set_signals_list();
|
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|
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set_channels_state();
|
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|
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applied_actions_ = 0;
|
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@ -423,8 +518,8 @@ void GNSSFlowgraph::init() {
|
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DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
|
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}
|
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|
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void GNSSFlowgraph::set_signals_list() {
|
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|
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void GNSSFlowgraph::set_signals_list()
|
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{
|
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/*
|
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* Sets a sequential list of satellites (1...32)
|
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*/
|
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@ -447,7 +542,8 @@ void GNSSFlowgraph::set_signals_list() {
|
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*/
|
||||
|
||||
for (available_gps_prn_iter = available_gps_prn.begin(); available_gps_prn_iter
|
||||
!= available_gps_prn.end(); available_gps_prn_iter++) {
|
||||
!= available_gps_prn.end(); available_gps_prn_iter++)
|
||||
{
|
||||
signal_value = Gnss_Signal(Gnss_Satellite(std::string("GPS"),
|
||||
*available_gps_prn_iter), std::string("1C"));
|
||||
available_GNSS_signals_.push_back(signal_value);
|
||||
@ -455,7 +551,8 @@ void GNSSFlowgraph::set_signals_list() {
|
||||
|
||||
std::list<Gnss_Signal>::iterator gnss_it = available_GNSS_signals_.begin();
|
||||
|
||||
for (unsigned int i = 0; i < channels_count_; i++) {
|
||||
for (unsigned int i = 0; i < channels_count_; i++)
|
||||
{
|
||||
std::string default_system = "GPS";
|
||||
std::string default_signal = "1C";
|
||||
|
||||
@ -471,7 +568,9 @@ void GNSSFlowgraph::set_signals_list() {
|
||||
if ((sat == 0) || (sat == gnss_it->get_satellite().get_PRN())) // 0 = not PRN in configuration file
|
||||
{
|
||||
gnss_it++;
|
||||
} else {
|
||||
}
|
||||
else
|
||||
{
|
||||
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat),
|
||||
gnss_signal);
|
||||
available_GNSS_signals_.remove(signal_value);
|
||||
@ -488,12 +587,15 @@ void GNSSFlowgraph::set_signals_list() {
|
||||
|
||||
}
|
||||
|
||||
void GNSSFlowgraph::set_channels_state() {
|
||||
|
||||
|
||||
void GNSSFlowgraph::set_channels_state()
|
||||
{
|
||||
max_acq_channels_ = (configuration_->property("Channels.in_acquisition",
|
||||
channels_count_));
|
||||
|
||||
if (max_acq_channels_ > channels_count_) {
|
||||
if (max_acq_channels_ > channels_count_)
|
||||
{
|
||||
max_acq_channels_ = channels_count_;
|
||||
std::cout
|
||||
<< "Channels_in_acquisition is bigger than number of channels. Variable acq_channels_count_ is set to "
|
||||
@ -502,8 +604,10 @@ void GNSSFlowgraph::set_channels_state() {
|
||||
|
||||
channels_state_.reserve(channels_count_);
|
||||
|
||||
for (unsigned int i = 0; i < channels_count_; i++) {
|
||||
if (i < max_acq_channels_) {
|
||||
for (unsigned int i = 0; i < channels_count_; i++)
|
||||
{
|
||||
if (i < max_acq_channels_)
|
||||
{
|
||||
channels_state_.push_back(1);
|
||||
} else
|
||||
channels_state_.push_back(0);
|
||||
@ -512,13 +616,17 @@ void GNSSFlowgraph::set_channels_state() {
|
||||
|
||||
DLOG(INFO) << acq_channels_count_ << " channels in acquisition state";
|
||||
|
||||
for (unsigned int i = 0; i < channels_count_; i++) {
|
||||
for (unsigned int i = 0; i < channels_count_; i++)
|
||||
{
|
||||
std::cout << "Channel " << i << " in state " << channels_state_[i]
|
||||
<< std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
void GNSSFlowgraph::apply_action(unsigned int what) {
|
||||
|
||||
|
||||
void GNSSFlowgraph::apply_action(unsigned int what)
|
||||
{
|
||||
DLOG(INFO) << "Applied action " << what << " to flowgraph";
|
||||
applied_actions_++;
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user