diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
index 13962f559..a9df67b7d 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -126,9 +126,12 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
{
// Send feedback message to observables block with the receiver clock offset
this->message_port_register_out(pmt::mp("pvt_to_observables"));
+ // Send PVT status to gnss_flowgraph
+ this->message_port_register_out(pmt::mp("status"));
d_output_rate_ms = conf_.output_rate_ms;
d_display_rate_ms = conf_.display_rate_ms;
+ d_report_rate_ms = 1000; //report every second PVT to gnss_synchro
d_dump = conf_.dump;
d_dump_mat = conf_.dump_mat and d_dump;
d_dump_filename = conf_.dump_filename;
@@ -3729,10 +3732,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
// PVT MONITOR
- if (d_pvt_solver->is_valid_position() and flag_monitor_pvt_enabled)
+ if (d_pvt_solver->is_valid_position())
{
- Monitor_Pvt monitor_pvt = d_pvt_solver->get_monitor_pvt();
- udp_sink_ptr->write_monitor_pvt(monitor_pvt);
+ std::shared_ptr<Monitor_Pvt> monitor_pvt = std::make_shared<Monitor_Pvt>(d_pvt_solver->get_monitor_pvt());
+
+ //publish new position to the gnss_flowgraph channel status monitor
+ if (current_RX_time_ms % d_report_rate_ms == 0)
+ {
+ this->message_port_pub(pmt::mp("status"), pmt::make_any(monitor_pvt));
+ }
+ if (flag_monitor_pvt_enabled)
+ {
+ udp_sink_ptr->write_monitor_pvt(monitor_pvt);
+ }
}
}
}
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
index 595cd2624..b046735d8 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
@@ -169,6 +169,7 @@ private:
int32_t d_output_rate_ms;
int32_t d_display_rate_ms;
+ int32_t d_report_rate_ms;
std::shared_ptr<Rinex_Printer> rp;
std::shared_ptr<Kml_Printer> d_kml_dump;
diff --git a/src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc b/src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc
index 2796f13da..ed23fbb5d 100644
--- a/src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc
+++ b/src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc
@@ -51,14 +51,14 @@ Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addre
}
-bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(const Monitor_Pvt& monitor_pvt)
+bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(std::shared_ptr<Monitor_Pvt> monitor_pvt)
{
std::string outbound_data;
if (use_protobuf == false)
{
std::ostringstream archive_stream;
boost::archive::binary_oarchive oa{archive_stream};
- oa << monitor_pvt;
+ oa << *monitor_pvt.get();
outbound_data = archive_stream.str();
}
else
diff --git a/src/algorithms/PVT/libs/monitor_pvt_udp_sink.h b/src/algorithms/PVT/libs/monitor_pvt_udp_sink.h
index f1f9146f4..588e70257 100644
--- a/src/algorithms/PVT/libs/monitor_pvt_udp_sink.h
+++ b/src/algorithms/PVT/libs/monitor_pvt_udp_sink.h
@@ -45,8 +45,8 @@ using b_io_context = boost::asio::io_service;
class Monitor_Pvt_Udp_Sink
{
public:
- Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t &port, bool protobuf_enabled);
- bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt);
+ Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t& port, bool protobuf_enabled);
+ bool write_monitor_pvt(std::shared_ptr<Monitor_Pvt> monitor_pvt);
private:
b_io_context io_context;
diff --git a/src/algorithms/PVT/libs/rtcm.h b/src/algorithms/PVT/libs/rtcm.h
index 792eafb9a..75dcd4c50 100644
--- a/src/algorithms/PVT/libs/rtcm.h
+++ b/src/algorithms/PVT/libs/rtcm.h
@@ -43,6 +43,7 @@
#include <boost/asio.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h>
+#include <pmt/pmt.h>
#include <bitset>
#include <cstddef> // for size_t
#include <cstdint>
diff --git a/src/algorithms/PVT/libs/serdes_monitor_pvt.h b/src/algorithms/PVT/libs/serdes_monitor_pvt.h
index 1b5ca11ca..1477442df 100644
--- a/src/algorithms/PVT/libs/serdes_monitor_pvt.h
+++ b/src/algorithms/PVT/libs/serdes_monitor_pvt.h
@@ -34,7 +34,7 @@
#include "monitor_pvt.h"
#include "monitor_pvt.pb.h" // file created by Protocol Buffers at compile time
-
+#include <memory>
/*!
* \brief This class implements serialization and deserialization of
@@ -80,40 +80,40 @@ public:
return *this;
}
- inline std::string createProtobuffer(const Monitor_Pvt& monitor) //!< Serialization into a string
+ inline std::string createProtobuffer(std::shared_ptr<Monitor_Pvt> monitor) //!< Serialization into a string
{
monitor_.Clear();
std::string data;
- monitor_.set_tow_at_current_symbol_ms(monitor.TOW_at_current_symbol_ms);
- monitor_.set_week(monitor.week);
- monitor_.set_rx_time(monitor.RX_time);
- monitor_.set_user_clk_offset(monitor.user_clk_offset);
- monitor_.set_pos_x(monitor.pos_x);
- monitor_.set_pos_y(monitor.pos_y);
- monitor_.set_pos_z(monitor.pos_z);
- monitor_.set_vel_x(monitor.vel_x);
- monitor_.set_vel_y(monitor.vel_y);
- monitor_.set_vel_z(monitor.vel_z);
- monitor_.set_cov_xx(monitor.cov_xx);
- monitor_.set_cov_yy(monitor.cov_yy);
- monitor_.set_cov_zz(monitor.cov_zz);
- monitor_.set_cov_xy(monitor.cov_xy);
- monitor_.set_cov_yz(monitor.cov_yz);
- monitor_.set_cov_zx(monitor.cov_zx);
- monitor_.set_latitude(monitor.latitude);
- monitor_.set_longitude(monitor.longitude);
- monitor_.set_height(monitor.height);
- monitor_.set_valid_sats(monitor.valid_sats);
- monitor_.set_solution_status(monitor.solution_status);
- monitor_.set_solution_type(monitor.solution_type);
- monitor_.set_ar_ratio_factor(monitor.AR_ratio_factor);
- monitor_.set_ar_ratio_threshold(monitor.AR_ratio_threshold);
- monitor_.set_gdop(monitor.gdop);
- monitor_.set_pdop(monitor.pdop);
- monitor_.set_hdop(monitor.hdop);
- monitor_.set_vdop(monitor.vdop);
+ monitor_.set_tow_at_current_symbol_ms(monitor->TOW_at_current_symbol_ms);
+ monitor_.set_week(monitor->week);
+ monitor_.set_rx_time(monitor->RX_time);
+ monitor_.set_user_clk_offset(monitor->user_clk_offset);
+ monitor_.set_pos_x(monitor->pos_x);
+ monitor_.set_pos_y(monitor->pos_y);
+ monitor_.set_pos_z(monitor->pos_z);
+ monitor_.set_vel_x(monitor->vel_x);
+ monitor_.set_vel_y(monitor->vel_y);
+ monitor_.set_vel_z(monitor->vel_z);
+ monitor_.set_cov_xx(monitor->cov_xx);
+ monitor_.set_cov_yy(monitor->cov_yy);
+ monitor_.set_cov_zz(monitor->cov_zz);
+ monitor_.set_cov_xy(monitor->cov_xy);
+ monitor_.set_cov_yz(monitor->cov_yz);
+ monitor_.set_cov_zx(monitor->cov_zx);
+ monitor_.set_latitude(monitor->latitude);
+ monitor_.set_longitude(monitor->longitude);
+ monitor_.set_height(monitor->height);
+ monitor_.set_valid_sats(monitor->valid_sats);
+ monitor_.set_solution_status(monitor->solution_status);
+ monitor_.set_solution_type(monitor->solution_type);
+ monitor_.set_ar_ratio_factor(monitor->AR_ratio_factor);
+ monitor_.set_ar_ratio_threshold(monitor->AR_ratio_threshold);
+ monitor_.set_gdop(monitor->gdop);
+ monitor_.set_pdop(monitor->pdop);
+ monitor_.set_hdop(monitor->hdop);
+ monitor_.set_vdop(monitor->vdop);
monitor_.SerializeToString(&data);
return data;
diff --git a/src/algorithms/channel/adapters/CMakeLists.txt b/src/algorithms/channel/adapters/CMakeLists.txt
index 7f439ce56..48f293df5 100644
--- a/src/algorithms/channel/adapters/CMakeLists.txt
+++ b/src/algorithms/channel/adapters/CMakeLists.txt
@@ -31,6 +31,7 @@ target_link_libraries(channel_adapters
Gnuradio::runtime
channel_libs
core_system_parameters
+ core_receiver
PRIVATE
Gflags::gflags
Glog::glog
diff --git a/src/algorithms/channel/adapters/channel.cc b/src/algorithms/channel/adapters/channel.cc
index 98574b3eb..2cea8e915 100644
--- a/src/algorithms/channel/adapters/channel.cc
+++ b/src/algorithms/channel/adapters/channel.cc
@@ -42,7 +42,7 @@
Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
- std::string role, std::string implementation, gr::msg_queue::sptr queue)
+ std::string role, std::string implementation, std::shared_ptr<Concurrent_Queue<pmt::pmt_t> > queue)
{
acq_ = std::move(acq);
trk_ = std::move(trk);
diff --git a/src/algorithms/channel/adapters/channel.h b/src/algorithms/channel/adapters/channel.h
index a238f490c..083608331 100644
--- a/src/algorithms/channel/adapters/channel.h
+++ b/src/algorithms/channel/adapters/channel.h
@@ -38,10 +38,11 @@
#include "channel_fsm.h"
#include "channel_interface.h"
#include "channel_msg_receiver_cc.h"
+#include "concurrent_queue.h"
#include "gnss_signal.h"
#include "gnss_synchro.h"
#include <gnuradio/block.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <cstddef>
#include <cstdint>
#include <memory>
@@ -66,7 +67,7 @@ public:
//! Constructor
Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
- std::string role, std::string implementation, gr::msg_queue::sptr queue);
+ std::string role, std::string implementation, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~Channel(); //!< Virtual destructor
@@ -105,7 +106,7 @@ private:
bool connected_;
bool repeat_;
std::shared_ptr<ChannelFsm> channel_fsm_;
- gr::msg_queue::sptr queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
std::mutex mx;
};
diff --git a/src/algorithms/channel/libs/CMakeLists.txt b/src/algorithms/channel/libs/CMakeLists.txt
index ba6e2a274..1ab513f43 100644
--- a/src/algorithms/channel/libs/CMakeLists.txt
+++ b/src/algorithms/channel/libs/CMakeLists.txt
@@ -24,7 +24,7 @@ set(CHANNEL_FSM_SOURCES
set(CHANNEL_FSM_HEADERS
channel_fsm.h
channel_msg_receiver_cc.h
-)
+)
list(SORT CHANNEL_FSM_HEADERS)
list(SORT CHANNEL_FSM_SOURCES)
@@ -35,14 +35,14 @@ add_library(channel_libs ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
target_link_libraries(channel_libs
PUBLIC
+ core_libs
+ core_system_parameters
Gnuradio::runtime
Gnuradio::pmt
- core_system_parameters
PRIVATE
Boost::boost
Gflags::gflags
Glog::glog
- core_receiver
)
if(ENABLE_CLANG_TIDY)
diff --git a/src/algorithms/channel/libs/channel_fsm.cc b/src/algorithms/channel/libs/channel_fsm.cc
index ac533d310..ffc491634 100644
--- a/src/algorithms/channel/libs/channel_fsm.cc
+++ b/src/algorithms/channel/libs/channel_fsm.cc
@@ -31,7 +31,7 @@
*/
#include "channel_fsm.h"
-#include "control_message_factory.h"
+#include "channel_event.h"
#include <glog/logging.h>
#include <utility>
@@ -179,7 +179,7 @@ void ChannelFsm::set_telemetry(std::shared_ptr<TelemetryDecoderInterface> teleme
}
-void ChannelFsm::set_queue(gr::msg_queue::sptr queue)
+void ChannelFsm::set_queue(std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
std::lock_guard<std::mutex> lk(mx);
queue_ = std::move(queue);
@@ -215,29 +215,17 @@ void ChannelFsm::start_acquisition()
void ChannelFsm::start_tracking()
{
trk_->start_tracking();
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
- if (queue_ != gr::msg_queue::make())
- {
- queue_->handle(cmf->GetQueueMessage(channel_, 1));
- }
+ queue_->push(pmt::make_any(channel_event_make(channel_, 1)));
}
void ChannelFsm::request_satellite()
{
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
- if (queue_ != gr::msg_queue::make())
- {
- queue_->handle(cmf->GetQueueMessage(channel_, 0));
- }
+ queue_->push(pmt::make_any(channel_event_make(channel_, 0)));
}
void ChannelFsm::notify_stop_tracking()
{
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
- if (queue_ != gr::msg_queue::make())
- {
- queue_->handle(cmf->GetQueueMessage(channel_, 2));
- }
+ queue_->push(pmt::make_any(channel_event_make(channel_, 2)));
}
diff --git a/src/algorithms/channel/libs/channel_fsm.h b/src/algorithms/channel/libs/channel_fsm.h
index 8a3342511..a083a1507 100644
--- a/src/algorithms/channel/libs/channel_fsm.h
+++ b/src/algorithms/channel/libs/channel_fsm.h
@@ -34,9 +34,10 @@
#define GNSS_SDR_CHANNEL_FSM_H
#include "acquisition_interface.h"
+#include "concurrent_queue.h"
#include "telemetry_decoder_interface.h"
#include "tracking_interface.h"
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <cstdint>
#include <memory>
#include <mutex>
@@ -54,7 +55,7 @@ public:
void set_acquisition(std::shared_ptr<AcquisitionInterface> acquisition);
void set_tracking(std::shared_ptr<TrackingInterface> tracking);
void set_telemetry(std::shared_ptr<TelemetryDecoderInterface> telemetry);
- void set_queue(gr::msg_queue::sptr queue);
+ void set_queue(std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
void set_channel(uint32_t channel);
void start_acquisition();
// FSM EVENTS
@@ -76,7 +77,7 @@ private:
std::shared_ptr<AcquisitionInterface> acq_;
std::shared_ptr<TrackingInterface> trk_;
std::shared_ptr<TelemetryDecoderInterface> nav_;
- gr::msg_queue::sptr queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
uint32_t channel_;
uint32_t d_state;
std::mutex mx;
diff --git a/src/algorithms/libs/pass_through.cc b/src/algorithms/libs/pass_through.cc
index 1a517a96b..7b4144dd1 100644
--- a/src/algorithms/libs/pass_through.cc
+++ b/src/algorithms/libs/pass_through.cc
@@ -109,6 +109,12 @@ Pass_Through::Pass_Through(ConfigurationInterface* configuration, const std::str
}
kludge_copy_ = gr::blocks::copy::make(item_size_);
+ unsigned long int max_source_buffer_samples = configuration->property("GNSS-SDR.max_source_buffer_samples", 0);
+ if (max_source_buffer_samples > 0)
+ {
+ kludge_copy_->set_max_output_buffer(max_source_buffer_samples);
+ LOG(INFO) << "Set signal conditioner max output buffer to " << max_source_buffer_samples;
+ }
DLOG(INFO) << "kludge_copy(" << kludge_copy_->unique_id() << ")";
if (in_streams_ > 1)
{
diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
index 3131d198b..b6abea28f 100644
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
@@ -84,6 +84,9 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
this->message_port_register_in(pmt::mp("pvt_to_observables"));
this->set_msg_handler(pmt::mp("pvt_to_observables"), boost::bind(&hybrid_observables_gs::msg_handler_pvt_to_observables, this, _1));
+ // Send Channel status to gnss_flowgraph
+ this->message_port_register_out(pmt::mp("status"));
+
d_dump = dump;
d_dump_mat = dump_mat and d_dump;
d_dump_filename = std::move(dump_filename);
@@ -140,7 +143,7 @@ hybrid_observables_gs::hybrid_observables_gs(uint32_t nchannels_in,
T_rx_remnant_to_20ms = 0;
T_rx_step_ms = 20; //read from config at the adapter GNSS-SDR.observable_interval_ms!!
T_rx_TOW_set = false;
-
+ T_status_report_timer_ms = 0;
// rework
d_Rx_clock_buffer.set_capacity(10); // 10*20 ms = 200 ms of data in buffer
d_Rx_clock_buffer.clear(); // Clear all the elements in the buffer
@@ -618,6 +621,20 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
{
out[n][0] = epoch_data.at(n);
}
+
+ //report channel status every second
+ T_status_report_timer_ms += T_rx_step_ms;
+ if (T_status_report_timer_ms >= 1000)
+ {
+ for (uint32_t n = 0; n < d_nchannels_out; n++)
+ {
+ std::shared_ptr<Gnss_Synchro> gnss_synchro_sptr = std::make_shared<Gnss_Synchro>(epoch_data.at(n));
+ //publish valid gnss_synchro to the gnss_flowgraph channel status monitor
+ this->message_port_pub(pmt::mp("status"), pmt::make_any(gnss_synchro_sptr));
+ }
+ T_status_report_timer_ms = 0;
+ }
+
if (d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
index 39112b160..e2bbfa299 100644
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
@@ -90,6 +90,7 @@ private:
uint32_t T_rx_TOW_ms;
uint32_t T_rx_remnant_to_20ms;
uint32_t T_rx_step_ms;
+ uint32_t T_status_report_timer_ms;
uint32_t d_nchannels_in;
uint32_t d_nchannels_out;
double T_rx_offset_ms;
diff --git a/src/algorithms/signal_generator/adapters/CMakeLists.txt b/src/algorithms/signal_generator/adapters/CMakeLists.txt
index fb651871e..a519eaa3f 100644
--- a/src/algorithms/signal_generator/adapters/CMakeLists.txt
+++ b/src/algorithms/signal_generator/adapters/CMakeLists.txt
@@ -34,6 +34,7 @@ target_link_libraries(signal_generator_adapters
Gflags::gflags
Glog::glog
algorithms_libs
+ core_receiver
)
target_include_directories(signal_generator_adapters
diff --git a/src/algorithms/signal_generator/adapters/signal_generator.cc b/src/algorithms/signal_generator/adapters/signal_generator.cc
index c4dc9dc3d..31636f246 100644
--- a/src/algorithms/signal_generator/adapters/signal_generator.cc
+++ b/src/algorithms/signal_generator/adapters/signal_generator.cc
@@ -44,7 +44,7 @@
SignalGenerator::SignalGenerator(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream,
- unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t> > queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/gen_source.dat";
diff --git a/src/algorithms/signal_generator/adapters/signal_generator.h b/src/algorithms/signal_generator/adapters/signal_generator.h
index e32c431b8..d2adfc27e 100644
--- a/src/algorithms/signal_generator/adapters/signal_generator.h
+++ b/src/algorithms/signal_generator/adapters/signal_generator.h
@@ -33,12 +33,13 @@
#ifndef GNSS_SDR_SIGNAL_GENERATOR_H_
#define GNSS_SDR_SIGNAL_GENERATOR_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include "signal_generator_c.h"
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/blocks/vector_to_stream.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <string>
#include <vector>
@@ -53,7 +54,7 @@ class SignalGenerator : public GNSSBlockInterface
public:
SignalGenerator(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream,
- unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t> > queue);
virtual ~SignalGenerator();
@@ -91,6 +92,6 @@ private:
boost::shared_ptr<gr::block> gen_source_;
gr::blocks::vector_to_stream::sptr vector_to_stream_;
gr::blocks::file_sink::sptr file_sink_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t> > queue_;
};
#endif /*GNSS_SDR_SIGNAL_GENERATOR_H_*/
diff --git a/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc
index f83c64f25..dac665cc4 100644
--- a/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc
@@ -48,7 +48,7 @@
Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream, unsigned int out_stream,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/signal_source.dat";
diff --git a/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h
index 9277c4c2b..e5a917199 100644
--- a/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h
+++ b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h
@@ -32,10 +32,11 @@
#ifndef GNSS_SDR_AD9361_FPGA_SIGNAL_SOURCE_H_
#define GNSS_SDR_AD9361_FPGA_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "fpga_switch.h"
#include "gnss_block_interface.h"
#include <boost/shared_ptr.hpp>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <cstdint>
#include <string>
@@ -46,7 +47,7 @@ class Ad9361FpgaSignalSource : public GNSSBlockInterface
public:
Ad9361FpgaSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream,
- unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
~Ad9361FpgaSignalSource();
@@ -112,7 +113,7 @@ private:
bool dump_;
std::string dump_filename_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
std::shared_ptr<Fpga_Switch> switch_fpga;
};
diff --git a/src/algorithms/signal_source/adapters/custom_udp_signal_source.cc b/src/algorithms/signal_source/adapters/custom_udp_signal_source.cc
index 024966d0e..a130b32f8 100644
--- a/src/algorithms/signal_source/adapters/custom_udp_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/custom_udp_signal_source.cc
@@ -40,7 +40,7 @@
CustomUDPSignalSource::CustomUDPSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream, unsigned int out_stream,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
// DUMP PARAMETERS
std::string empty = "";
diff --git a/src/algorithms/signal_source/adapters/custom_udp_signal_source.h b/src/algorithms/signal_source/adapters/custom_udp_signal_source.h
index 37e80caf7..3d8d400de 100644
--- a/src/algorithms/signal_source/adapters/custom_udp_signal_source.h
+++ b/src/algorithms/signal_source/adapters/custom_udp_signal_source.h
@@ -32,12 +32,13 @@
#ifndef GNSS_SDR_CUSTOM_UDP_SIGNAL_SOURCE_H
#define GNSS_SDR_CUSTOM_UDP_SIGNAL_SOURCE_H
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include "gr_complex_ip_packet_source.h"
#include <boost/shared_ptr.hpp>
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <stdexcept>
#include <string>
#include <vector>
@@ -54,7 +55,7 @@ class CustomUDPSignalSource : public GNSSBlockInterface
public:
CustomUDPSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream,
- unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~CustomUDPSignalSource();
@@ -98,7 +99,7 @@ private:
std::vector<boost::shared_ptr<gr::block>> null_sinks_;
Gr_Complex_Ip_Packet_Source::sptr udp_gnss_rx_source_;
std::vector<boost::shared_ptr<gr::block>> file_sink_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
};
#endif /*GNSS_SDR_CUSTOM_UDP_SIGNAL_SOURCE_H */
diff --git a/src/algorithms/signal_source/adapters/file_signal_source.cc b/src/algorithms/signal_source/adapters/file_signal_source.cc
index 59ad90f50..b478b6363 100644
--- a/src/algorithms/signal_source/adapters/file_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/file_signal_source.cc
@@ -44,7 +44,7 @@
FileSignalSource::FileSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_streams, unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(std::move(queue))
{
std::string default_filename = "./example_capture.dat";
std::string default_item_type = "short";
diff --git a/src/algorithms/signal_source/adapters/file_signal_source.h b/src/algorithms/signal_source/adapters/file_signal_source.h
index bfded2ce8..86d87798a 100644
--- a/src/algorithms/signal_source/adapters/file_signal_source.h
+++ b/src/algorithms/signal_source/adapters/file_signal_source.h
@@ -35,13 +35,15 @@
#ifndef GNSS_SDR_FILE_SIGNAL_SOURCE_H_
#define GNSS_SDR_FILE_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/throttle.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <cstdint>
+#include <memory>
#include <string>
class ConfigurationInterface;
@@ -55,7 +57,7 @@ class FileSignalSource : public GNSSBlockInterface
public:
FileSignalSource(ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~FileSignalSource();
@@ -122,7 +124,7 @@ private:
boost::shared_ptr<gr::block> valve_;
gr::blocks::file_sink::sptr sink_;
gr::blocks::throttle::sptr throttle_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
size_t item_size_;
// Throttle control
bool enable_throttle_control_;
diff --git a/src/algorithms/signal_source/adapters/flexiband_signal_source.cc b/src/algorithms/signal_source/adapters/flexiband_signal_source.cc
index ff3f3f9a0..478a6973d 100644
--- a/src/algorithms/signal_source/adapters/flexiband_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/flexiband_signal_source.cc
@@ -34,7 +34,6 @@
#include "configuration_interface.h"
#include <glog/logging.h>
#include <gnuradio/blocks/file_sink.h>
-#include <gnuradio/msg_queue.h>
#include <teleorbit/frontend.h>
#include <utility>
@@ -43,10 +42,10 @@ FlexibandSignalSource::FlexibandSignalSource(ConfigurationInterface* configurati
const std::string& role,
unsigned int in_stream,
unsigned int out_stream,
- gr::msg_queue::sptr queue) : role_(role),
- in_stream_(in_stream),
- out_stream_(out_stream),
- queue_(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role),
+ in_stream_(in_stream),
+ out_stream_(out_stream),
+ queue_(std::move(queue))
{
std::string default_item_type = "byte";
item_type_ = configuration->property(role + ".item_type", default_item_type);
diff --git a/src/algorithms/signal_source/adapters/flexiband_signal_source.h b/src/algorithms/signal_source/adapters/flexiband_signal_source.h
index 7da5839a8..56c2aff09 100644
--- a/src/algorithms/signal_source/adapters/flexiband_signal_source.h
+++ b/src/algorithms/signal_source/adapters/flexiband_signal_source.h
@@ -34,13 +34,14 @@
#ifndef GNSS_SDR_FLEXIBAND_SIGNAL_SOURCE_H_
#define GNSS_SDR_FLEXIBAND_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include <gnuradio/blocks/char_to_float.h>
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <string>
#include <vector>
@@ -56,7 +57,7 @@ class FlexibandSignalSource : public GNSSBlockInterface
public:
FlexibandSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream,
- unsigned int out_stream, gr::msg_queue::sptr queue);
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~FlexibandSignalSource();
@@ -109,7 +110,7 @@ private:
std::vector<boost::shared_ptr<gr::block>> float_to_complex_;
std::vector<gr::blocks::null_sink::sptr> null_sinks_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
};
#endif // GNSS_SDR_FLEXIBAND_SIGNAL_SOURCE_H_
diff --git a/src/algorithms/signal_source/adapters/fmcomms2_signal_source.cc b/src/algorithms/signal_source/adapters/fmcomms2_signal_source.cc
index 704c5b01e..bfc470dbc 100644
--- a/src/algorithms/signal_source/adapters/fmcomms2_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/fmcomms2_signal_source.cc
@@ -43,7 +43,7 @@
Fmcomms2SignalSource::Fmcomms2SignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream, unsigned int out_stream,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/signal_source.dat";
diff --git a/src/algorithms/signal_source/adapters/fmcomms2_signal_source.h b/src/algorithms/signal_source/adapters/fmcomms2_signal_source.h
index 1388a514d..44870c182 100644
--- a/src/algorithms/signal_source/adapters/fmcomms2_signal_source.h
+++ b/src/algorithms/signal_source/adapters/fmcomms2_signal_source.h
@@ -41,7 +41,8 @@
#else
#include <iio/fmcomms2_source.h>
#endif
-#include <gnuradio/msg_queue.h>
+#include "concurrent_queue.h"
+#include <pmt/pmt.h>
#include <string>
class ConfigurationInterface;
@@ -51,7 +52,7 @@ class Fmcomms2SignalSource : public GNSSBlockInterface
public:
Fmcomms2SignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream,
- unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~Fmcomms2SignalSource();
@@ -122,7 +123,7 @@ private:
boost::shared_ptr<gr::block> valve_;
gr::blocks::file_sink::sptr file_sink_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
};
#endif /*GNSS_SDR_FMCOMMS2_SIGNAL_SOURCE_H_*/
diff --git a/src/algorithms/signal_source/adapters/gen_signal_source.cc b/src/algorithms/signal_source/adapters/gen_signal_source.cc
index ef8441853..057650ac0 100644
--- a/src/algorithms/signal_source/adapters/gen_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/gen_signal_source.cc
@@ -42,7 +42,7 @@
// Constructor
GenSignalSource::GenSignalSource(GNSSBlockInterface *signal_generator, GNSSBlockInterface *filter,
- std::string role, boost::shared_ptr<gr::msg_queue> queue) : signal_generator_(signal_generator),
+ std::string role, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : signal_generator_(signal_generator),
filter_(filter),
role_(std::move(role)),
queue_(std::move(queue))
diff --git a/src/algorithms/signal_source/adapters/gen_signal_source.h b/src/algorithms/signal_source/adapters/gen_signal_source.h
index 49fb25293..d30f8935b 100644
--- a/src/algorithms/signal_source/adapters/gen_signal_source.h
+++ b/src/algorithms/signal_source/adapters/gen_signal_source.h
@@ -34,8 +34,9 @@
#define GNSS_SDR_GEN_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <string>
/*!
@@ -47,7 +48,7 @@ class GenSignalSource : public GNSSBlockInterface
public:
//! Constructor
GenSignalSource(GNSSBlockInterface *signal_generator, GNSSBlockInterface *filter,
- std::string role, boost::shared_ptr<gr::msg_queue> queue);
+ std::string role, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
//! Virtual destructor
virtual ~GenSignalSource();
@@ -58,20 +59,17 @@ public:
gr::basic_block_sptr get_right_block() override;
inline std::string role() override { return role_; }
-
//! Returns "Signal Source"
inline std::string implementation() override { return "Signal Source"; }
inline size_t item_size() override { return 0; }
-
inline GNSSBlockInterface *signal_generator() const { return signal_generator_; }
-
private:
GNSSBlockInterface *signal_generator_;
GNSSBlockInterface *filter_;
std::string role_;
std::string implementation_;
bool connected_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
};
#endif /*GNSS_SDR_GEN_SIGNAL_SOURCE_H*/
diff --git a/src/algorithms/signal_source/adapters/gn3s_signal_source.cc b/src/algorithms/signal_source/adapters/gn3s_signal_source.cc
index 3f66591e9..4a699d09d 100644
--- a/src/algorithms/signal_source/adapters/gn3s_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/gn3s_signal_source.cc
@@ -32,12 +32,11 @@
#include "configuration_interface.h"
#include <glog/logging.h>
#include <gnuradio/blocks/file_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gn3s/gn3s_source_cc.h>
Gn3sSignalSource::Gn3sSignalSource(ConfigurationInterface* configuration,
- std::string role, unsigned int in_stream, unsigned int out_stream, gr::msg_queue::sptr queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
+ std::string role, unsigned int in_stream, unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
{
std::string default_item_type = "short";
std::string default_dump_file = "./data/gn3s_source.dat";
diff --git a/src/algorithms/signal_source/adapters/gn3s_signal_source.h b/src/algorithms/signal_source/adapters/gn3s_signal_source.h
index df799f019..e34b91afe 100644
--- a/src/algorithms/signal_source/adapters/gn3s_signal_source.h
+++ b/src/algorithms/signal_source/adapters/gn3s_signal_source.h
@@ -32,10 +32,11 @@
#ifndef GNSS_SDR_GN3S_SIGNAL_SOURCE_H_
#define GNSS_SDR_GN3S_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <string>
@@ -49,7 +50,7 @@ class Gn3sSignalSource : public GNSSBlockInterface
public:
Gn3sSignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream,
- unsigned int out_stream, gr::msg_queue::sptr queue);
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~Gn3sSignalSource();
@@ -87,7 +88,7 @@ private:
std::string dump_filename_;
gr::block_sptr gn3s_source_;
gr::blocks::file_sink::sptr file_sink_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
};
#endif /*GNSS_SDR_GN3S_SIGNAL_SOURCE_H_*/
diff --git a/src/algorithms/signal_source/adapters/labsat_signal_source.cc b/src/algorithms/signal_source/adapters/labsat_signal_source.cc
index 2fb8ba3b7..e6366261a 100644
--- a/src/algorithms/signal_source/adapters/labsat_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/labsat_signal_source.cc
@@ -37,7 +37,7 @@
LabsatSignalSource::LabsatSignalSource(ConfigurationInterface* configuration,
- const std::string& role, unsigned int in_stream, unsigned int out_stream, gr::msg_queue::sptr queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
+ const std::string& role, unsigned int in_stream, unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./labsat_output.dat";
diff --git a/src/algorithms/signal_source/adapters/labsat_signal_source.h b/src/algorithms/signal_source/adapters/labsat_signal_source.h
index 1d9e333bf..9bf5d2057 100644
--- a/src/algorithms/signal_source/adapters/labsat_signal_source.h
+++ b/src/algorithms/signal_source/adapters/labsat_signal_source.h
@@ -32,10 +32,11 @@
#ifndef GNSS_SDR_LABSAT_SIGNAL_SOURCE_H_
#define GNSS_SDR_LABSAT_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <string>
class ConfigurationInterface;
@@ -48,7 +49,7 @@ class LabsatSignalSource : public GNSSBlockInterface
public:
LabsatSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream,
- unsigned int out_stream, gr::msg_queue::sptr queue);
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~LabsatSignalSource();
@@ -86,7 +87,7 @@ private:
std::string dump_filename_;
gr::block_sptr labsat23_source_;
gr::blocks::file_sink::sptr file_sink_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
};
#endif /*GNSS_SDR_LABSAT_SIGNAL_SOURCE_H_*/
diff --git a/src/algorithms/signal_source/adapters/multichannel_file_signal_source.cc b/src/algorithms/signal_source/adapters/multichannel_file_signal_source.cc
index 11efe4fd9..330b3e43c 100644
--- a/src/algorithms/signal_source/adapters/multichannel_file_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/multichannel_file_signal_source.cc
@@ -43,7 +43,7 @@
MultichannelFileSignalSource::MultichannelFileSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_streams, unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(std::move(queue))
{
std::string default_filename = "./example_capture.dat";
std::string default_item_type = "short";
diff --git a/src/algorithms/signal_source/adapters/multichannel_file_signal_source.h b/src/algorithms/signal_source/adapters/multichannel_file_signal_source.h
index b248073dd..db3a9c57c 100644
--- a/src/algorithms/signal_source/adapters/multichannel_file_signal_source.h
+++ b/src/algorithms/signal_source/adapters/multichannel_file_signal_source.h
@@ -35,12 +35,13 @@
#ifndef GNSS_SDR_MULTICHANNEL_FILE_SIGNAL_SOURCE_H_
#define GNSS_SDR_MULTICHANNEL_FILE_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/throttle.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <cstdint>
#include <string>
#include <vector>
@@ -56,7 +57,7 @@ class MultichannelFileSignalSource : public GNSSBlockInterface
public:
MultichannelFileSignalSource(ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~MultichannelFileSignalSource();
@@ -122,7 +123,7 @@ private:
boost::shared_ptr<gr::block> valve_;
gr::blocks::file_sink::sptr sink_;
std::vector<gr::blocks::throttle::sptr> throttle_vec_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
size_t item_size_;
// Throttle control
bool enable_throttle_control_;
diff --git a/src/algorithms/signal_source/adapters/nsr_file_signal_source.cc b/src/algorithms/signal_source/adapters/nsr_file_signal_source.cc
index aa31e75a6..dc00bcecb 100644
--- a/src/algorithms/signal_source/adapters/nsr_file_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/nsr_file_signal_source.cc
@@ -44,7 +44,7 @@
NsrFileSignalSource::NsrFileSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_streams, unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(std::move(queue))
{
std::string default_filename = "../data/my_capture.dat";
std::string default_item_type = "byte";
diff --git a/src/algorithms/signal_source/adapters/nsr_file_signal_source.h b/src/algorithms/signal_source/adapters/nsr_file_signal_source.h
index a2b3ee547..2efaa09b3 100644
--- a/src/algorithms/signal_source/adapters/nsr_file_signal_source.h
+++ b/src/algorithms/signal_source/adapters/nsr_file_signal_source.h
@@ -35,13 +35,14 @@
#ifndef GNSS_SDR_NSR_FILE_SIGNAL_SOURCE_H_
#define GNSS_SDR_NSR_FILE_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include "unpack_byte_2bit_samples.h"
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/throttle.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <string>
class ConfigurationInterface;
@@ -55,7 +56,7 @@ class NsrFileSignalSource : public GNSSBlockInterface
public:
NsrFileSignalSource(ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~NsrFileSignalSource();
inline std::string role() override
@@ -122,7 +123,7 @@ private:
boost::shared_ptr<gr::block> valve_;
gr::blocks::file_sink::sptr sink_;
gr::blocks::throttle::sptr throttle_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
size_t item_size_;
// Throttle control
bool enable_throttle_control_;
diff --git a/src/algorithms/signal_source/adapters/osmosdr_signal_source.cc b/src/algorithms/signal_source/adapters/osmosdr_signal_source.cc
index 32ea28cf0..38f823248 100644
--- a/src/algorithms/signal_source/adapters/osmosdr_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/osmosdr_signal_source.cc
@@ -42,7 +42,7 @@
OsmosdrSignalSource::OsmosdrSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream, unsigned int out_stream,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
// DUMP PARAMETERS
std::string empty = "";
diff --git a/src/algorithms/signal_source/adapters/osmosdr_signal_source.h b/src/algorithms/signal_source/adapters/osmosdr_signal_source.h
index 15f38b2a3..8a96f32d6 100644
--- a/src/algorithms/signal_source/adapters/osmosdr_signal_source.h
+++ b/src/algorithms/signal_source/adapters/osmosdr_signal_source.h
@@ -33,10 +33,11 @@
#ifndef GNSS_SDR_OSMOSDR_SIGNAL_SOURCE_H_
#define GNSS_SDR_OSMOSDR_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include <boost/shared_ptr.hpp>
#include <gnuradio/blocks/file_sink.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <cstdint>
#include <osmosdr/source.h>
#include <stdexcept>
@@ -54,7 +55,7 @@ class OsmosdrSignalSource : public GNSSBlockInterface
public:
OsmosdrSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream,
- unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~OsmosdrSignalSource();
@@ -110,7 +111,7 @@ private:
boost::shared_ptr<gr::block> valve_;
gr::blocks::file_sink::sptr file_sink_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
};
#endif /*GNSS_SDR_OSMOSDR_SIGNAL_SOURCE_H_*/
diff --git a/src/algorithms/signal_source/adapters/plutosdr_signal_source.cc b/src/algorithms/signal_source/adapters/plutosdr_signal_source.cc
index fc41bd3a9..ba6af1fd6 100644
--- a/src/algorithms/signal_source/adapters/plutosdr_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/plutosdr_signal_source.cc
@@ -39,7 +39,7 @@
PlutosdrSignalSource::PlutosdrSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream, unsigned int out_stream,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/signal_source.dat";
diff --git a/src/algorithms/signal_source/adapters/plutosdr_signal_source.h b/src/algorithms/signal_source/adapters/plutosdr_signal_source.h
index e765ff7c4..bc105d171 100644
--- a/src/algorithms/signal_source/adapters/plutosdr_signal_source.h
+++ b/src/algorithms/signal_source/adapters/plutosdr_signal_source.h
@@ -40,7 +40,8 @@
#else
#include <iio/pluto_source.h>
#endif
-#include <gnuradio/msg_queue.h>
+#include "concurrent_queue.h"
+#include <pmt/pmt.h>
#include <string>
@@ -53,7 +54,7 @@ class PlutosdrSignalSource : public GNSSBlockInterface
public:
PlutosdrSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream,
- unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~PlutosdrSignalSource();
@@ -109,7 +110,7 @@ private:
boost::shared_ptr<gr::block> valve_;
gr::blocks::file_sink::sptr file_sink_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
};
#endif /*GNSS_SDR_PLUTOSDR_SIGNAL_SOURCE_H_*/
diff --git a/src/algorithms/signal_source/adapters/raw_array_signal_source.cc b/src/algorithms/signal_source/adapters/raw_array_signal_source.cc
index f9aab0987..d54a7cb19 100644
--- a/src/algorithms/signal_source/adapters/raw_array_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/raw_array_signal_source.cc
@@ -29,15 +29,16 @@
*/
#include "raw_array_signal_source.h"
+#include "concurrent_queue.h"
#include "configuration_interface.h"
#include <glog/logging.h>
#include <gnuradio/blocks/file_sink.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <dbfcttc/raw_array.h>
RawArraySignalSource::RawArraySignalSource(ConfigurationInterface* configuration,
- std::string role, unsigned int in_stream, unsigned int out_stream, gr::msg_queue::sptr queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
+ std::string role, unsigned int in_stream, unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
{
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/raw_array_source.dat";
diff --git a/src/algorithms/signal_source/adapters/raw_array_signal_source.h b/src/algorithms/signal_source/adapters/raw_array_signal_source.h
index 321895cef..750efb3fe 100644
--- a/src/algorithms/signal_source/adapters/raw_array_signal_source.h
+++ b/src/algorithms/signal_source/adapters/raw_array_signal_source.h
@@ -32,10 +32,11 @@
#ifndef GNSS_SDR_RAW_ARRAY_SIGNAL_SOURCE_H_
#define GNSS_SDR_RAW_ARRAY_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <string>
class ConfigurationInterface;
@@ -48,7 +49,7 @@ class RawArraySignalSource : public GNSSBlockInterface
public:
RawArraySignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream,
- unsigned int out_stream, gr::msg_queue::sptr queue);
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~RawArraySignalSource();
@@ -87,7 +88,7 @@ private:
std::string eth_device_;
gr::block_sptr raw_array_source_;
gr::blocks::file_sink::sptr file_sink_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
};
#endif /*GNSS_SDR_RAW_ARRAY_SIGNAL_SOURCE_H_*/
diff --git a/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.cc b/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.cc
index 2b9574708..478e6b1c7 100644
--- a/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.cc
@@ -45,7 +45,7 @@ RtlTcpSignalSource::RtlTcpSignalSource(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_stream,
unsigned int out_stream,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role),
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role),
in_stream_(in_stream),
out_stream_(out_stream),
queue_(std::move(queue))
diff --git a/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.h b/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.h
index 74f2b02d5..2fcb9d871 100644
--- a/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.h
+++ b/src/algorithms/signal_source/adapters/rtl_tcp_signal_source.h
@@ -32,13 +32,14 @@
#ifndef GNSS_SDR_RTL_TCP_SIGNAL_SOURCE_H
#define GNSS_SDR_RTL_TCP_SIGNAL_SOURCE_H
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include "rtl_tcp_signal_source_c.h"
#include <boost/shared_ptr.hpp>
#include <gnuradio/blocks/deinterleave.h>
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/blocks/float_to_complex.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <stdexcept>
#include <string>
@@ -57,7 +58,7 @@ public:
const std::string& role,
unsigned int in_stream,
unsigned int out_stream,
- boost::shared_ptr<gr::msg_queue> queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~RtlTcpSignalSource();
@@ -113,7 +114,7 @@ private:
boost::shared_ptr<gr::block> valve_;
gr::blocks::file_sink::sptr file_sink_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
};
#endif /*GNSS_SDR_RTL_TCP_SIGNAL_SOURCE_H */
diff --git a/src/algorithms/signal_source/adapters/spir_file_signal_source.cc b/src/algorithms/signal_source/adapters/spir_file_signal_source.cc
index 52964abba..91287020c 100644
--- a/src/algorithms/signal_source/adapters/spir_file_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/spir_file_signal_source.cc
@@ -43,7 +43,7 @@
SpirFileSignalSource::SpirFileSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_streams, unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(std::move(queue))
{
std::string default_filename = "../data/my_capture.dat";
std::string default_item_type = "int";
diff --git a/src/algorithms/signal_source/adapters/spir_file_signal_source.h b/src/algorithms/signal_source/adapters/spir_file_signal_source.h
index ad76ce23b..09aff8c09 100644
--- a/src/algorithms/signal_source/adapters/spir_file_signal_source.h
+++ b/src/algorithms/signal_source/adapters/spir_file_signal_source.h
@@ -32,13 +32,14 @@
#ifndef GNSS_SDR_SPIR_FILE_SIGNAL_SOURCE_H_
#define GNSS_SDR_SPIR_FILE_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include "unpack_intspir_1bit_samples.h"
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/throttle.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <cstdint>
#include <string>
@@ -53,7 +54,7 @@ class SpirFileSignalSource : public GNSSBlockInterface
public:
SpirFileSignalSource(ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~SpirFileSignalSource();
inline std::string role() override
@@ -120,7 +121,7 @@ private:
boost::shared_ptr<gr::block> valve_;
gr::blocks::file_sink::sptr sink_;
gr::blocks::throttle::sptr throttle_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
size_t item_size_;
// Throttle control
bool enable_throttle_control_;
diff --git a/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.cc b/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.cc
index 7e1c3f1ce..1ba2d5bf0 100644
--- a/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.cc
@@ -40,7 +40,7 @@
SpirGSS6450FileSignalSource::SpirGSS6450FileSignalSource(ConfigurationInterface* configuration,
- const std::string& role, uint32_t in_streams, uint32_t out_streams, gr::msg_queue::sptr queue) : role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(std::move(queue))
+ const std::string& role, uint32_t in_streams, uint32_t out_streams, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(std::move(queue))
{
std::string default_filename = "../data/my_capture.dat";
std::string default_dump_filename = "../data/my_capture_dump.dat";
diff --git a/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.h b/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.h
index 0757c24af..61edd479c 100644
--- a/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.h
+++ b/src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.h
@@ -32,6 +32,7 @@
#ifndef GNSS_SDR_SPIR_GSS6450_FILE_SIGNAL_SOURCE_H_
#define GNSS_SDR_SPIR_GSS6450_FILE_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "unpack_spir_gss6450_samples.h"
@@ -42,7 +43,7 @@
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/throttle.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <cstdint>
#include <string>
#include <vector>
@@ -58,7 +59,7 @@ class SpirGSS6450FileSignalSource : public GNSSBlockInterface
{
public:
SpirGSS6450FileSignalSource(ConfigurationInterface* configuration, const std::string& role,
- uint32_t in_streams, uint32_t out_streams, gr::msg_queue::sptr queue);
+ uint32_t in_streams, uint32_t out_streams, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~SpirGSS6450FileSignalSource();
inline std::string role() override
@@ -131,7 +132,7 @@ private:
std::vector<boost::shared_ptr<gr::block>> valve_vec_;
std::vector<gr::blocks::file_sink::sptr> sink_vec_;
std::vector<gr::blocks::throttle::sptr> throttle_vec_;
- gr::msg_queue::sptr queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
size_t item_size_;
};
diff --git a/src/algorithms/signal_source/adapters/two_bit_cpx_file_signal_source.cc b/src/algorithms/signal_source/adapters/two_bit_cpx_file_signal_source.cc
index 604f9c536..9e0b802d4 100644
--- a/src/algorithms/signal_source/adapters/two_bit_cpx_file_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/two_bit_cpx_file_signal_source.cc
@@ -45,7 +45,7 @@ TwoBitCpxFileSignalSource::TwoBitCpxFileSignalSource(ConfigurationInterface* con
const std::string& role,
unsigned int in_streams,
unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role),
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams),
queue_(std::move(queue))
diff --git a/src/algorithms/signal_source/adapters/two_bit_cpx_file_signal_source.h b/src/algorithms/signal_source/adapters/two_bit_cpx_file_signal_source.h
index a66a87965..dea315cec 100644
--- a/src/algorithms/signal_source/adapters/two_bit_cpx_file_signal_source.h
+++ b/src/algorithms/signal_source/adapters/two_bit_cpx_file_signal_source.h
@@ -34,6 +34,7 @@
#ifndef GNSS_SDR_TWO_BIT_CPX_FILE_SIGNAL_SOURCE_H_
#define GNSS_SDR_TWO_BIT_CPX_FILE_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include "unpack_byte_2bit_cpx_samples.h"
#include <gnuradio/blocks/file_sink.h>
@@ -41,7 +42,7 @@
#include <gnuradio/blocks/interleaved_short_to_complex.h>
#include <gnuradio/blocks/throttle.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <cstdint>
#include <string>
@@ -59,7 +60,7 @@ public:
const std::string& role,
unsigned int in_streams,
unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~TwoBitCpxFileSignalSource();
inline std::string role() override
@@ -127,7 +128,7 @@ private:
boost::shared_ptr<gr::block> valve_;
gr::blocks::file_sink::sptr sink_;
gr::blocks::throttle::sptr throttle_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
size_t item_size_;
// Throttle control
bool enable_throttle_control_;
diff --git a/src/algorithms/signal_source/adapters/two_bit_packed_file_signal_source.cc b/src/algorithms/signal_source/adapters/two_bit_packed_file_signal_source.cc
index 684cb5b86..4b0c00345 100644
--- a/src/algorithms/signal_source/adapters/two_bit_packed_file_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/two_bit_packed_file_signal_source.cc
@@ -47,7 +47,7 @@ TwoBitPackedFileSignalSource::TwoBitPackedFileSignalSource(ConfigurationInterfac
const std::string& role,
unsigned int in_streams,
unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role),
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams),
queue_(std::move(queue))
diff --git a/src/algorithms/signal_source/adapters/two_bit_packed_file_signal_source.h b/src/algorithms/signal_source/adapters/two_bit_packed_file_signal_source.h
index 1e98d737b..ea2bb2d5a 100644
--- a/src/algorithms/signal_source/adapters/two_bit_packed_file_signal_source.h
+++ b/src/algorithms/signal_source/adapters/two_bit_packed_file_signal_source.h
@@ -35,6 +35,7 @@
#ifndef GNSS_SDR_TWO_BIT_PACKED_FILE_SIGNAL_SOURCE_H_
#define GNSS_SDR_TWO_BIT_PACKED_FILE_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include "unpack_2bit_samples.h"
#include <gnuradio/blocks/file_sink.h>
@@ -42,7 +43,7 @@
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/throttle.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <cstdint>
#include <string>
@@ -58,7 +59,7 @@ class TwoBitPackedFileSignalSource : public GNSSBlockInterface
public:
TwoBitPackedFileSignalSource(ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams,
- boost::shared_ptr<gr::msg_queue> queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~TwoBitPackedFileSignalSource();
inline std::string role() override
@@ -146,7 +147,7 @@ private:
boost::shared_ptr<gr::block> valve_;
gr::blocks::file_sink::sptr sink_;
gr::blocks::throttle::sptr throttle_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
size_t item_size_;
bool big_endian_items_;
bool big_endian_bytes_;
diff --git a/src/algorithms/signal_source/adapters/uhd_signal_source.cc b/src/algorithms/signal_source/adapters/uhd_signal_source.cc
index ee58eb551..646d2ad00 100644
--- a/src/algorithms/signal_source/adapters/uhd_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/uhd_signal_source.cc
@@ -42,7 +42,7 @@
UhdSignalSource::UhdSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream, unsigned int out_stream,
- boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
// DUMP PARAMETERS
std::string empty = "";
diff --git a/src/algorithms/signal_source/adapters/uhd_signal_source.h b/src/algorithms/signal_source/adapters/uhd_signal_source.h
index 50d233c2e..232f6934f 100644
--- a/src/algorithms/signal_source/adapters/uhd_signal_source.h
+++ b/src/algorithms/signal_source/adapters/uhd_signal_source.h
@@ -31,12 +31,13 @@
#ifndef GNSS_SDR_UHD_SIGNAL_SOURCE_H_
#define GNSS_SDR_UHD_SIGNAL_SOURCE_H_
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include <boost/shared_ptr.hpp>
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/hier_block2.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/uhd/usrp_source.h>
+#include <pmt/pmt.h>
#include <cstdint>
#include <string>
#include <vector>
@@ -52,7 +53,7 @@ class UhdSignalSource : public GNSSBlockInterface
public:
UhdSignalSource(ConfigurationInterface* configuration,
const std::string& role, unsigned int in_stream,
- unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
+ unsigned int out_stream, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~UhdSignalSource();
@@ -107,7 +108,7 @@ private:
std::vector<boost::shared_ptr<gr::block>> valve_;
std::vector<gr::blocks::file_sink::sptr> file_sink_;
- boost::shared_ptr<gr::msg_queue> queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
};
#endif /*GNSS_SDR_UHD_SIGNAL_SOURCE_H_*/
diff --git a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
index 06972a25a..366eb558f 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc
@@ -30,7 +30,8 @@
#include "labsat23_source.h"
-#include "control_message_factory.h"
+#include "command_event.h"
+#include <boost/any.hpp>
#include <gnuradio/io_signature.h>
#include <array>
#include <exception>
@@ -39,7 +40,7 @@
#include <utility>
-labsat23_source_sptr labsat23_make_source_sptr(const char *signal_file_basename, int channel_selector, gr::msg_queue::sptr queue)
+labsat23_source_sptr labsat23_make_source_sptr(const char *signal_file_basename, int channel_selector, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
return labsat23_source_sptr(new labsat23_source(signal_file_basename, channel_selector, std::move(queue)));
}
@@ -47,10 +48,10 @@ labsat23_source_sptr labsat23_make_source_sptr(const char *signal_file_basename,
labsat23_source::labsat23_source(const char *signal_file_basename,
int channel_selector,
- gr::msg_queue::sptr queue) : gr::block("labsat23_source",
- gr::io_signature::make(0, 0, 0),
- gr::io_signature::make(1, 1, sizeof(gr_complex))),
- d_queue(std::move(queue))
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) : gr::block("labsat23_source",
+ gr::io_signature::make(0, 0, 0),
+ gr::io_signature::make(1, 1, sizeof(gr_complex))),
+ d_queue(std::move(queue))
{
if (channel_selector < 1 or channel_selector > 2)
{
@@ -467,9 +468,8 @@ int labsat23_source::general_work(int noutput_items,
{
std::cout << "End of file reached, LabSat source stop" << std::endl;
}
- auto *cmf = new ControlMessageFactory();
- d_queue->handle(cmf->GetQueueMessage(200, 0));
- delete cmf;
+
+ d_queue->push(pmt::make_any(command_event_make(200, 0)));
return -1;
}
}
@@ -528,9 +528,7 @@ int labsat23_source::general_work(int noutput_items,
{
std::cout << "End of file reached, LabSat source stop" << std::endl;
}
- auto *cmf = new ControlMessageFactory();
- d_queue->handle(cmf->GetQueueMessage(200, 0));
- delete cmf;
+ d_queue->push(pmt::make_any(command_event_make(200, 0)));
return -1;
}
}
diff --git a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h
index a09c0f3a8..49c74bc61 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h
+++ b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.h
@@ -31,8 +31,9 @@
#ifndef GNSS_SDR_LABSAT23_SOURCE_H
#define GNSS_SDR_LABSAT23_SOURCE_H
+#include "concurrent_queue.h"
#include <gnuradio/block.h>
-#include <gnuradio/msg_queue.h> // for msg_queue, msg_queue::sptr
+#include <pmt/pmt.h>
#include <cstdint>
#include <fstream>
#include <string>
@@ -45,7 +46,7 @@ using labsat23_source_sptr = boost::shared_ptr<labsat23_source>;
labsat23_source_sptr labsat23_make_source_sptr(
const char *signal_file_basename,
int channel_selector,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
/*!
* \brief This class implements conversion between Labsat2 and 3 format byte packet samples to gr_complex
@@ -64,11 +65,11 @@ private:
friend labsat23_source_sptr labsat23_make_source_sptr(
const char *signal_file_basename,
int channel_selector,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
labsat23_source(const char *signal_file_basename,
int channel_selector,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
std::string generate_filename();
void decode_samples_one_channel(int16_t input_short, gr_complex *out, int type);
@@ -82,7 +83,7 @@ private:
std::ifstream *binary_input_file;
uint8_t d_ref_clock;
uint8_t d_bits_per_sample;
- gr::msg_queue::sptr d_queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> d_queue;
};
#endif
diff --git a/src/algorithms/signal_source/libs/CMakeLists.txt b/src/algorithms/signal_source/libs/CMakeLists.txt
index f6015ec59..1045967b4 100644
--- a/src/algorithms/signal_source/libs/CMakeLists.txt
+++ b/src/algorithms/signal_source/libs/CMakeLists.txt
@@ -71,10 +71,10 @@ target_link_libraries(signal_source_libs
PUBLIC
Boost::boost
Gnuradio::runtime
+ core_receiver
PRIVATE
Gflags::gflags
Glog::glog
- core_receiver
)
if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
diff --git a/src/algorithms/signal_source/libs/gnss_sdr_valve.cc b/src/algorithms/signal_source/libs/gnss_sdr_valve.cc
index 615cb65b7..7a5fc18a9 100644
--- a/src/algorithms/signal_source/libs/gnss_sdr_valve.cc
+++ b/src/algorithms/signal_source/libs/gnss_sdr_valve.cc
@@ -32,17 +32,17 @@
*/
#include "gnss_sdr_valve.h"
-#include "control_message_factory.h" // for ControlMessageFactory
-#include <glog/logging.h> // for LOG
-#include <gnuradio/io_signature.h> // for io_signature
-#include <algorithm> // for min
-#include <cstring> // for memcpy
-#include <unistd.h> // for usleep
+#include "command_event.h"
+#include <glog/logging.h> // for LOG
+#include <gnuradio/io_signature.h> // for io_signature
+#include <algorithm> // for min
+#include <cstring> // for memcpy
+#include <unistd.h> // for usleep
#include <utility>
Gnss_Sdr_Valve::Gnss_Sdr_Valve(size_t sizeof_stream_item,
uint64_t nitems,
- gr::msg_queue::sptr queue,
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue,
bool stop_flowgraph) : gr::sync_block("valve",
gr::io_signature::make(1, 20, sizeof_stream_item),
gr::io_signature::make(1, 20, sizeof_stream_item)),
@@ -55,14 +55,14 @@ Gnss_Sdr_Valve::Gnss_Sdr_Valve(size_t sizeof_stream_item,
}
-boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(size_t sizeof_stream_item, uint64_t nitems, gr::msg_queue::sptr queue, bool stop_flowgraph)
+boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(size_t sizeof_stream_item, uint64_t nitems, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue, bool stop_flowgraph)
{
boost::shared_ptr<Gnss_Sdr_Valve> valve_(new Gnss_Sdr_Valve(sizeof_stream_item, nitems, std::move(queue), stop_flowgraph));
return valve_;
}
-boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(size_t sizeof_stream_item, uint64_t nitems, gr::msg_queue::sptr queue)
+boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(size_t sizeof_stream_item, uint64_t nitems, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
boost::shared_ptr<Gnss_Sdr_Valve> valve_(new Gnss_Sdr_Valve(sizeof_stream_item, nitems, std::move(queue), true));
return valve_;
@@ -83,10 +83,8 @@ int Gnss_Sdr_Valve::work(int noutput_items,
{
if (d_ncopied_items >= d_nitems)
{
- auto *cmf = new ControlMessageFactory();
- d_queue->handle(cmf->GetQueueMessage(200, 0));
LOG(INFO) << "Stopping receiver, " << d_ncopied_items << " samples processed";
- delete cmf;
+ d_queue->push(pmt::make_any(command_event_make(200, 0)));
if (d_stop_flowgraph)
{
return -1; // Done!
diff --git a/src/algorithms/signal_source/libs/gnss_sdr_valve.h b/src/algorithms/signal_source/libs/gnss_sdr_valve.h
index b56807c2b..6c28f28f5 100644
--- a/src/algorithms/signal_source/libs/gnss_sdr_valve.h
+++ b/src/algorithms/signal_source/libs/gnss_sdr_valve.h
@@ -34,11 +34,12 @@
#ifndef GNSS_SDR_GNSS_SDR_VALVE_H_
#define GNSS_SDR_GNSS_SDR_VALVE_H_
+#include "concurrent_queue.h"
#include <boost/shared_ptr.hpp>
-#include <gnuradio/msg_queue.h> // for msg_queue, msg_queue::sptr
#include <gnuradio/sync_block.h> // for sync_block
#include <gnuradio/types.h> // for gr_vector_const_void_star
-#include <cstddef> // for size_t
+#include <pmt/pmt.h>
+#include <cstddef> // for size_t
#include <cstdint>
class Gnss_Sdr_Valve;
@@ -46,12 +47,12 @@ class Gnss_Sdr_Valve;
boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(
size_t sizeof_stream_item,
uint64_t nitems,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(
size_t sizeof_stream_item,
uint64_t nitems,
- gr::msg_queue::sptr queue,
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue,
bool stop_flowgraph);
/*!
@@ -71,21 +72,21 @@ private:
friend boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(
size_t sizeof_stream_item,
uint64_t nitems,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
friend boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(
size_t sizeof_stream_item,
uint64_t nitems,
- gr::msg_queue::sptr queue,
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue,
bool stop_flowgraph);
Gnss_Sdr_Valve(size_t sizeof_stream_item,
uint64_t nitems,
- gr::msg_queue::sptr queue, bool stop_flowgraph);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue, bool stop_flowgraph);
uint64_t d_nitems;
uint64_t d_ncopied_items;
- gr::msg_queue::sptr d_queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> d_queue;
bool d_stop_flowgraph;
bool d_open_valve;
};
diff --git a/src/core/libs/CMakeLists.txt b/src/core/libs/CMakeLists.txt
index a61dd6e2b..6a074d5a7 100644
--- a/src/core/libs/CMakeLists.txt
+++ b/src/core/libs/CMakeLists.txt
@@ -24,6 +24,8 @@ set(CORE_LIBS_SOURCES
string_converter.cc
gnss_sdr_supl_client.cc
gnss_sdr_sample_counter.cc
+ channel_status_msg_receiver.cc
+ channel_event.cc
)
set(CORE_LIBS_HEADERS
@@ -32,6 +34,8 @@ set(CORE_LIBS_HEADERS
string_converter.h
gnss_sdr_supl_client.h
gnss_sdr_sample_counter.h
+ channel_status_msg_receiver.h
+ channel_event.h
)
if(ENABLE_FPGA)
@@ -60,6 +64,7 @@ target_link_libraries(core_libs
Gnuradio::runtime
core_libs_supl
core_system_parameters
+ pvt_libs
PRIVATE
Boost::serialization
Gflags::gflags
diff --git a/src/core/libs/channel_event.cc b/src/core/libs/channel_event.cc
new file mode 100644
index 000000000..7c6862d76
--- /dev/null
+++ b/src/core/libs/channel_event.cc
@@ -0,0 +1,42 @@
+/*!
+ * \file channel_event.cc
+ * \brief Class that defines a channel event
+ * \author Javier Arribas, 2019. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * 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/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "channel_event.h"
+
+channel_event_sptr channel_event_make(int channel_id, int event_type)
+{
+ return channel_event_sptr(new channel_event(channel_id, event_type));
+}
+
+channel_event::channel_event(int channel_id_, int event_type_)
+{
+ channel_id = channel_id_;
+ event_type = event_type_;
+}
diff --git a/src/core/libs/channel_event.h b/src/core/libs/channel_event.h
new file mode 100644
index 000000000..51c1a3a8f
--- /dev/null
+++ b/src/core/libs/channel_event.h
@@ -0,0 +1,53 @@
+/*!
+ * \file channel_event.h
+ * \brief Class that defines a channel event
+ * \author Javier Arribas, 2019. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * 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/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_CHANNEL_EVENT_H
+#define GNSS_SDR_CHANNEL_EVENT_H
+
+#include <memory>
+
+class channel_event;
+
+using channel_event_sptr = std::shared_ptr<channel_event>;
+
+channel_event_sptr channel_event_make(int channel_id, int event_type);
+
+class channel_event
+{
+public:
+ int channel_id;
+ int event_type;
+private:
+ friend channel_event_sptr channel_event_make(int channel_id, int event_type);
+ channel_event(int channel_id_, int event_type_);
+
+};
+
+#endif
diff --git a/src/core/libs/channel_status_msg_receiver.cc b/src/core/libs/channel_status_msg_receiver.cc
new file mode 100644
index 000000000..965a99a46
--- /dev/null
+++ b/src/core/libs/channel_status_msg_receiver.cc
@@ -0,0 +1,116 @@
+/*!
+ * \file channel_status_msg_receiver.cc
+ * \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
+ * \author Javier Arribas, 2016. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * 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/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include "channel_status_msg_receiver.h"
+#include <boost/any.hpp>
+#include <boost/bind.hpp>
+#include <glog/logging.h>
+#include <gnuradio/gr_complex.h>
+#include <gnuradio/io_signature.h>
+#include <cstdint>
+#include <utility>
+
+
+channel_status_msg_receiver_sptr channel_status_msg_receiver_make()
+{
+ return channel_status_msg_receiver_sptr(new channel_status_msg_receiver());
+}
+
+
+channel_status_msg_receiver::channel_status_msg_receiver() : gr::block("channel_status_msg_receiver", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+ this->message_port_register_in(pmt::mp("status"));
+ this->set_msg_handler(pmt::mp("status"), boost::bind(&channel_status_msg_receiver::msg_handler_events, this, _1));
+ d_pvt_status.RX_time = -1; // to indicate that the PVT is not available
+}
+
+
+channel_status_msg_receiver::~channel_status_msg_receiver() = default;
+
+
+void channel_status_msg_receiver::msg_handler_events(pmt::pmt_t msg)
+{
+ gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_events function called by the scheduler
+ try
+ {
+ // ************* Gnss_Synchro received *****************
+ if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gnss_Synchro>))
+ {
+ std::shared_ptr<Gnss_Synchro> gnss_synchro_obj;
+ gnss_synchro_obj = boost::any_cast<std::shared_ptr<Gnss_Synchro>>(pmt::any_ref(msg));
+ if (gnss_synchro_obj->Flag_valid_pseudorange == true)
+ {
+ d_channel_status_map[gnss_synchro_obj->Channel_ID] = gnss_synchro_obj;
+ }
+ else
+ {
+ d_channel_status_map.erase(gnss_synchro_obj->Channel_ID);
+ }
+
+ // std::cout << "-------- \n\n";
+ // for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = d_channel_status_map.begin(); it != d_channel_status_map.end(); ++it)
+ // {
+ // std::cout << " Channel: " << it->first << " => Doppler: " << it->second->Carrier_Doppler_hz << "[Hz] \n";
+ // }
+ // std::cout << "-------- \n\n";
+ }
+ else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Monitor_Pvt>))
+ {
+ // ************* Monitor_Pvt received *****************
+ std::shared_ptr<Monitor_Pvt> monitor_pvt_obj;
+ monitor_pvt_obj = boost::any_cast<std::shared_ptr<Monitor_Pvt>>(pmt::any_ref(msg));
+ d_pvt_status = *monitor_pvt_obj.get();
+ //
+ // std::cout << "-------- \n\n";
+ // std::cout << "PVT TOW: " << d_pvt_status->TOW_at_current_symbol_ms << std::endl;
+ // std::cout << "-------- \n\n";
+ }
+ else
+ {
+ LOG(WARNING) << "channel_status_msg_receiver unknown object type!";
+ }
+ }
+ catch (boost::bad_any_cast& e)
+ {
+ LOG(WARNING) << "channel_status_msg_receiver Bad any cast!";
+ }
+}
+
+std::map<int, std::shared_ptr<Gnss_Synchro>> channel_status_msg_receiver::get_current_status_map()
+{
+ gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_events function called by the scheduler
+ return d_channel_status_map;
+}
+Monitor_Pvt channel_status_msg_receiver::get_current_status_pvt()
+{
+ gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_events function called by the scheduler
+ return d_pvt_status;
+}
diff --git a/src/core/libs/channel_status_msg_receiver.h b/src/core/libs/channel_status_msg_receiver.h
new file mode 100644
index 000000000..283fc6f0e
--- /dev/null
+++ b/src/core/libs/channel_status_msg_receiver.h
@@ -0,0 +1,71 @@
+/*!
+ * \file channel_msg_receiver_cc.h
+ * \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
+ * \author Javier Arribas, 2016. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * 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/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_CHANNEL_STATUS_MSG_RECEIVER_CC_H
+#define GNSS_SDR_CHANNEL_STATUS_MSG_RECEIVER_CC_H
+
+#include "gnss_synchro.h"
+#include "monitor_pvt.h"
+#include <gnuradio/block.h>
+#include <pmt/pmt.h>
+#include <memory>
+
+class channel_status_msg_receiver;
+
+using channel_status_msg_receiver_sptr = boost::shared_ptr<channel_status_msg_receiver>;
+
+channel_status_msg_receiver_sptr channel_status_msg_receiver_make();
+
+/*!
+ * \brief GNU Radio block that receives asynchronous channel messages from tlm blocks
+ */
+class channel_status_msg_receiver : public gr::block
+{
+public:
+ ~channel_status_msg_receiver(); //!< Default destructor
+ /*!
+ * \brief return the current status map of all channels with valid telemetry
+ */
+ std::map<int, std::shared_ptr<Gnss_Synchro>> get_current_status_map();
+ /*!
+ * \brief return the current receiver PVT
+ */
+ Monitor_Pvt get_current_status_pvt();
+
+private:
+ friend channel_status_msg_receiver_sptr channel_status_msg_receiver_make();
+ channel_status_msg_receiver();
+ std::map<int, std::shared_ptr<Gnss_Synchro>> d_channel_status_map;
+
+ Monitor_Pvt d_pvt_status;
+ void msg_handler_events(pmt::pmt_t msg);
+};
+
+#endif
diff --git a/src/core/receiver/CMakeLists.txt b/src/core/receiver/CMakeLists.txt
index 83d684906..20c8b7ea0 100644
--- a/src/core/receiver/CMakeLists.txt
+++ b/src/core/receiver/CMakeLists.txt
@@ -19,17 +19,16 @@
set(GNSS_RECEIVER_SOURCES
control_thread.cc
- control_message_factory.cc
file_configuration.cc
gnss_block_factory.cc
gnss_flowgraph.cc
in_memory_configuration.cc
tcp_cmd_interface.cc
+ command_event.cc
)
set(GNSS_RECEIVER_HEADERS
control_thread.h
- control_message_factory.h
file_configuration.h
gnss_block_factory.h
gnss_flowgraph.h
@@ -38,6 +37,7 @@ set(GNSS_RECEIVER_HEADERS
concurrent_map.h
concurrent_queue.h
control_message.h
+ command_event.h
)
list(SORT GNSS_RECEIVER_HEADERS)
diff --git a/src/core/receiver/command_event.cc b/src/core/receiver/command_event.cc
new file mode 100644
index 000000000..771061255
--- /dev/null
+++ b/src/core/receiver/command_event.cc
@@ -0,0 +1,42 @@
+/*!
+ * \file command_event.cc
+ * \brief Class that defines a receiver command event
+ * \author Javier Arribas, 2019. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * 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/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "command_event.h"
+
+command_event_sptr command_event_make(int command_id, int event_type)
+{
+ return command_event_sptr(new command_event(command_id, event_type));
+}
+
+command_event::command_event(int command_id_, int event_type_)
+{
+ command_id = command_id_;
+ event_type = event_type_;
+}
diff --git a/src/core/receiver/command_event.h b/src/core/receiver/command_event.h
new file mode 100644
index 000000000..094281578
--- /dev/null
+++ b/src/core/receiver/command_event.h
@@ -0,0 +1,53 @@
+/*!
+ * \file command_event.h
+ * \brief Class that defines a receiver command event
+ * \author Javier Arribas, 2019. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * 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/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_command_EVENT_H
+#define GNSS_SDR_command_EVENT_H
+
+#include <memory>
+
+class command_event;
+
+using command_event_sptr = std::shared_ptr<command_event>;
+
+command_event_sptr command_event_make(int command_id, int event_type);
+
+class command_event
+{
+public:
+ int command_id;
+ int event_type;
+
+private:
+ friend command_event_sptr command_event_make(int command_id, int event_type);
+ command_event(int command_id_, int event_type_);
+};
+
+#endif
diff --git a/src/core/receiver/control_message_factory.cc b/src/core/receiver/control_message_factory.cc
deleted file mode 100644
index 566f884a4..000000000
--- a/src/core/receiver/control_message_factory.cc
+++ /dev/null
@@ -1,72 +0,0 @@
-/*!
- * \file control_message_factory.cc
- * \brief Implementation of a Control Message Factory
- * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- * Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * 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/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#include "control_message_factory.h"
-#include <glog/logging.h>
-#include <cstring> // for memcpy
-#include <ostream> // for operator<<, basic_ostream
-
-// Constructor
-ControlMessageFactory::ControlMessageFactory() = default;
-
-
-// Destructor
-ControlMessageFactory::~ControlMessageFactory() = default;
-
-
-gr::message::sptr ControlMessageFactory::GetQueueMessage(unsigned int who, unsigned int what)
-{
- std::shared_ptr<ControlMessage> control_message = std::make_shared<ControlMessage>();
- control_message->who = who;
- control_message->what = what;
- gr::message::sptr queue_message = gr::message::make(0, 0, 0, sizeof(ControlMessage));
- memcpy(queue_message->msg(), control_message.get(), sizeof(ControlMessage));
- return queue_message;
-}
-
-
-std::shared_ptr<std::vector<std::shared_ptr<ControlMessage>>> ControlMessageFactory::GetControlMessages(const gr::message::sptr queue_message) // NOLINT(performance-unnecessary-value-param)
-{
- std::shared_ptr<std::vector<std::shared_ptr<ControlMessage>>> control_messages = std::make_shared<std::vector<std::shared_ptr<ControlMessage>>>();
- unsigned int control_messages_count = queue_message->length() / sizeof(ControlMessage);
- if (queue_message->length() % sizeof(ControlMessage) != 0)
- {
- LOG(WARNING) << "Queue message has size " << queue_message->length() << ", which is not"
- << " multiple of control message size " << sizeof(ControlMessage);
- LOG(WARNING) << "Ignoring this queue message to prevent unexpected results.";
- return control_messages;
- }
- for (unsigned int i = 0; i < control_messages_count; i++)
- {
- control_messages->push_back(std::make_shared<ControlMessage>());
- memcpy(control_messages->at(i).get(), queue_message->msg() + (i * sizeof(ControlMessage)), sizeof(ControlMessage));
- }
- return control_messages;
-}
diff --git a/src/core/receiver/control_message_factory.h b/src/core/receiver/control_message_factory.h
deleted file mode 100644
index f8a4666f6..000000000
--- a/src/core/receiver/control_message_factory.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/*!
- * \file control_message_factory.h
- * \brief Interface of a factory for control messages.
- * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- * Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * 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/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#ifndef GNSS_SDR_CONTROL_MESSAGE_FACTORY_H_
-#define GNSS_SDR_CONTROL_MESSAGE_FACTORY_H_
-
-#include <gnuradio/message.h>
-#include <memory>
-#include <vector>
-
-//! Message described by who sent it and what it says
-typedef struct control_message
-{
- unsigned int who;
- unsigned int what;
-} ControlMessage;
-
-
-/*!
- * \brief This class implements a factory for Control Messages.
- *
- * It encapsulates the complexity behind getting Queue Messages and associated Control Messages
- */
-class ControlMessageFactory
-{
-public:
- //! Constructor
- ControlMessageFactory();
-
- //! Virtual destructor
- virtual ~ControlMessageFactory();
-
- gr::message::sptr GetQueueMessage(unsigned int who, unsigned int what);
- std::shared_ptr<std::vector<std::shared_ptr<ControlMessage>>> GetControlMessages(const gr::message::sptr queue_message); // NOLINT(performance-unnecessary-value-param)
-};
-
-#endif /*GNSS_SDR_CONTROL_MESSAGE_FACTORY_H_*/
diff --git a/src/core/receiver/control_thread.cc b/src/core/receiver/control_thread.cc
index 384d6f041..8b4a7ffc9 100644
--- a/src/core/receiver/control_thread.cc
+++ b/src/core/receiver/control_thread.cc
@@ -33,10 +33,10 @@
*/
#include "control_thread.h"
+#include "channel_event.h"
+#include "command_event.h"
#include "concurrent_map.h"
-#include "concurrent_queue.h"
#include "configuration_interface.h"
-#include "control_message_factory.h"
#include "file_configuration.h"
#include "galileo_almanac.h"
#include "galileo_ephemeris.h"
@@ -62,7 +62,6 @@
#include "rtklib_rtkcmn.h" // for utc2gpst
#include <boost/lexical_cast.hpp> // for bad_lexical_cast
#include <glog/logging.h> // for LOG
-#include <gnuradio/message.h> // for message::sptr
#include <pmt/pmt.h> // for make_any
#include <algorithm> // for find, min
#include <chrono> // for milliseconds
@@ -110,7 +109,7 @@ ControlThread::ControlThread(std::shared_ptr<ConfigurationInterface> configurati
void ControlThread::init()
{
// Instantiates a control queue, a GNSS flowgraph, and a control message factory
- control_queue_ = gr::msg_queue::make(0);
+ control_queue_ = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
cmd_interface_.set_msg_queue(control_queue_); //set also the queue pointer for the telecommand thread
try
{
@@ -120,7 +119,6 @@ void ControlThread::init()
{
std::cout << "Caught bad lexical cast with error " << e.what() << std::endl;
}
- control_message_factory_ = std::make_shared<ControlMessageFactory>();
stop_ = false;
processed_control_messages_ = 0;
applied_actions_ = 0;
@@ -226,6 +224,49 @@ void ControlThread::telecommand_listener()
}
}
+void ControlThread::event_dispatcher(bool &valid_event, pmt::pmt_t &msg)
+{
+ if (valid_event)
+ {
+ if (pmt::any_ref(msg).type() == typeid(channel_event_sptr))
+ {
+ channel_event_sptr new_event;
+ new_event = boost::any_cast<channel_event_sptr>(pmt::any_ref(msg));
+ DLOG(INFO) << "New channel event rx from ch id: " << new_event->channel_id
+ << " what: " << new_event->event_type;
+ flowgraph_->apply_action(new_event->channel_id, new_event->event_type);
+ }
+ else if (pmt::any_ref(msg).type() == typeid(command_event_sptr))
+ {
+ command_event_sptr new_event;
+ new_event = boost::any_cast<command_event_sptr>(pmt::any_ref(msg));
+ DLOG(INFO) << "New command event rx from ch id: " << new_event->command_id
+ << " what: " << new_event->event_type;
+
+ if (new_event->command_id == 200)
+ {
+ apply_action(new_event->event_type);
+ }
+ else
+ {
+ if (new_event->command_id == 300) // some TC commands require also actions from control_thread
+ {
+ apply_action(new_event->event_type);
+ }
+ flowgraph_->apply_action(new_event->command_id, new_event->event_type);
+ }
+ }
+ else
+ {
+ DLOG(INFO) << "Control Queue: unknown object type!\n";
+ }
+ }
+ else
+ {
+ //perform non-priority tasks
+ flowgraph_->acquisition_manager(0); //start acquisition of untracked satellites
+ }
+}
/*
* Runs the control thread that manages the receiver control plane
@@ -285,14 +326,13 @@ int ControlThread::run()
flowgraph_);
#endif
// Main loop to read and process the control messages
+ pmt::pmt_t msg;
while (flowgraph_->running() && !stop_)
{
- //TODO re-enable the blocking read messages functions and fork the process
- read_control_messages();
- if (control_messages_ != nullptr)
- {
- process_control_messages();
- }
+ //read event messages, triggered by event signaling with a 100 ms timeout to perform low priority receiver management tasks
+ bool valid_event = control_queue_->timed_wait_and_pop(msg, 100);
+ //call the new sat dispatcher and receiver controller
+ event_dispatcher(valid_event, msg);
}
std::cout << "Stopping GNSS-SDR, please wait!" << std::endl;
flowgraph_->stop();
@@ -325,7 +365,7 @@ int ControlThread::run()
}
-void ControlThread::set_control_queue(const gr::msg_queue::sptr control_queue) // NOLINT(performance-unnecessary-value-param)
+void ControlThread::set_control_queue(const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue) // NOLINT(performance-unnecessary-value-param)
{
if (flowgraph_->running())
{
@@ -790,50 +830,6 @@ void ControlThread::assist_GNSS()
}
}
-
-void ControlThread::read_control_messages()
-{
- DLOG(INFO) << "Reading control messages from queue";
- gr::message::sptr queue_message = control_queue_->delete_head();
- if (queue_message != nullptr)
- {
- control_messages_ = control_message_factory_->GetControlMessages(queue_message);
- }
- else
- {
- control_messages_->clear();
- }
-}
-
-
-// Apply the corresponding control actions
-void ControlThread::process_control_messages()
-{
- for (auto &i : *control_messages_)
- {
- if (stop_)
- {
- break;
- }
- if (i->who == 200)
- {
- apply_action(i->what);
- }
- else
- {
- if (i->who == 300) // some TC commands require also actions from control_thread
- {
- apply_action(i->what);
- }
- flowgraph_->apply_action(i->who, i->what);
- }
- processed_control_messages_++;
- }
- control_messages_->clear();
- DLOG(INFO) << "Processed all control messages";
-}
-
-
void ControlThread::apply_action(unsigned int what)
{
std::shared_ptr<PvtInterface> pvt_ptr;
@@ -1092,11 +1088,7 @@ void ControlThread::sysv_queue_listener()
if ((std::abs(received_message - (-200.0)) < 10 * std::numeric_limits<double>::epsilon()))
{
std::cout << "Quit order received, stopping GNSS-SDR !!" << std::endl;
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
- if (control_queue_ != gr::msg_queue::sptr())
- {
- control_queue_->handle(cmf->GetQueueMessage(200, 0));
- }
+ control_queue_->push(pmt::make_any(command_event_make(200, 0)));
read_queue = false;
}
}
@@ -1114,11 +1106,7 @@ void ControlThread::keyboard_listener()
if (c == 'q')
{
std::cout << "Quit keystroke order received, stopping GNSS-SDR !!" << std::endl;
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
- if (control_queue_ != gr::msg_queue::sptr())
- {
- control_queue_->handle(cmf->GetQueueMessage(200, 0));
- }
+ control_queue_->push(pmt::make_any(command_event_make(200, 0)));
read_keys = false;
}
std::this_thread::sleep_for(std::chrono::milliseconds(100));
diff --git a/src/core/receiver/control_thread.h b/src/core/receiver/control_thread.h
index 7d58226e9..5fa84f791 100644
--- a/src/core/receiver/control_thread.h
+++ b/src/core/receiver/control_thread.h
@@ -35,20 +35,20 @@
#ifndef GNSS_SDR_CONTROL_THREAD_H_
#define GNSS_SDR_CONTROL_THREAD_H_
-#include "agnss_ref_location.h" // for Agnss_Ref_Location
-#include "agnss_ref_time.h" // for Agnss_Ref_Time
-#include "control_message_factory.h" // for ControlMessage
-#include "gnss_sdr_supl_client.h" // for Gnss_Sdr_Supl_Client
-#include "tcp_cmd_interface.h" // for TcpCmdInterface
-#include <armadillo> // for arma::vec
-#include <boost/thread.hpp> // for boost::thread
-#include <gnuradio/msg_queue.h> // for msg_queue, msg_queue::sptr
-#include <ctime> // for time_t
-#include <memory> // for shared_ptr
-#include <string> // for string
-#include <thread> // for std::thread
-#include <utility> // for pair
-#include <vector> // for vector
+#include "agnss_ref_location.h" // for Agnss_Ref_Location
+#include "agnss_ref_time.h" // for Agnss_Ref_Time
+#include "concurrent_queue.h"
+#include "gnss_sdr_supl_client.h" // for Gnss_Sdr_Supl_Client
+#include "tcp_cmd_interface.h" // for TcpCmdInterface
+#include <armadillo> // for arma::vec
+#include <boost/thread.hpp> // for boost::thread
+#include <pmt/pmt.h>
+#include <ctime> // for time_t
+#include <memory> // for shared_ptr
+#include <string> // for string
+#include <thread> // for std::thread
+#include <utility> // for pair
+#include <vector> // for vector
class ConfigurationInterface;
class GNSSFlowgraph;
@@ -95,9 +95,9 @@ public:
/*!
* \brief Sets the control_queue
*
- * \param[in] boost::shared_ptr<gr::msg_queue> control_queue
+ * \param[in] std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue
*/
- void set_control_queue(const gr::msg_queue::sptr control_queue); // NOLINT(performance-unnecessary-value-param)
+ void set_control_queue(const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue); // NOLINT(performance-unnecessary-value-param)
unsigned int processed_control_messages()
{
@@ -123,6 +123,10 @@ private:
//Telecommand TCP interface
TcpCmdInterface cmd_interface_;
void telecommand_listener();
+ /*
+ * New receiver event dispatcher
+ */
+ void event_dispatcher(bool &valid_event, pmt::pmt_t &msg);
std::thread cmd_interface_thread_;
//SUPL assistance classes
Gnss_Sdr_Supl_Client supl_client_acquisition_;
@@ -140,10 +144,6 @@ private:
// Save {ephemeris, iono, utc, ref loc, ref time} assistance to a local XML file
//bool save_assistance_to_XML();
- void read_control_messages();
-
- void process_control_messages();
-
/*
* Blocking function that reads the GPS assistance queue
*/
@@ -153,7 +153,7 @@ private:
* Compute elevations for the specified time and position for all the available satellites in ephemeris and almanac queues
* returns a vector filled with the available satellites ordered from high elevation to low elevation angle.
*/
- std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, const arma::vec& LLH);
+ std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, const arma::vec &LLH);
/*
* Read initial GNSS assistance from SUPL server or local XML files
@@ -163,9 +163,7 @@ private:
void apply_action(unsigned int what);
std::shared_ptr<GNSSFlowgraph> flowgraph_;
std::shared_ptr<ConfigurationInterface> configuration_;
- gr::msg_queue::sptr control_queue_;
- std::shared_ptr<ControlMessageFactory> control_message_factory_;
- std::shared_ptr<std::vector<std::shared_ptr<ControlMessage>>> control_messages_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue_;
bool stop_;
bool restart_;
bool delete_configuration_;
diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 7976d99da..f7574a986 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -182,7 +182,7 @@ GNSSBlockFactory::~GNSSBlockFactory() = default;
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetSignalSource(
- const std::shared_ptr<ConfigurationInterface>& configuration, const gr::msg_queue::sptr queue, int ID) // NOLINT(performance-unnecessary-value-param)
+ const std::shared_ptr<ConfigurationInterface>& configuration, const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue, int ID) // NOLINT(performance-unnecessary-value-param)
{
std::string default_implementation = "File_Signal_Source";
std::string role = "SignalSource"; //backwards compatibility for old conf files
@@ -321,7 +321,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetPVT(const std::shared_p
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1C(
const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue)
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
//"appendix" is added to the "role" with the aim of Acquisition, Tracking and Telemetry Decoder adapters
//can find their specific configurations when they read the config
@@ -389,7 +389,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1C(
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2S(
const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue)
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
<< acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm;
@@ -453,7 +453,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2S(
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1B(
const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue)
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
std::stringstream stream;
stream << channel;
@@ -520,7 +520,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1B(
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue)
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
std::stringstream stream;
stream << channel;
@@ -587,7 +587,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue)
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
std::stringstream stream;
stream << channel;
@@ -655,7 +655,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2G(
const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue)
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
std::stringstream stream;
stream << channel;
@@ -723,7 +723,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2G(
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_L5(
const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue)
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
std::stringstream stream;
stream << channel;
@@ -790,7 +790,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_L5(
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_B1(
const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue)
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
std::stringstream stream;
stream << channel;
@@ -857,7 +857,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_B1(
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_B3(
const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue)
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
std::stringstream stream;
stream << channel;
@@ -921,7 +921,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_B3(
std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFactory::GetChannels(
- const std::shared_ptr<ConfigurationInterface>& configuration, const gr::msg_queue::sptr queue) // NOLINT(performance-unnecessary-value-param)
+ const std::shared_ptr<ConfigurationInterface>& configuration, const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) // NOLINT(performance-unnecessary-value-param)
{
std::string default_implementation = "Pass_Through";
std::string tracking_implementation;
@@ -1241,7 +1241,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& role,
const std::string& implementation, unsigned int in_streams,
- unsigned int out_streams, const gr::msg_queue::sptr queue) // NOLINT(performance-unnecessary-value-param)
+ unsigned int out_streams, const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) // NOLINT(performance-unnecessary-value-param)
{
std::unique_ptr<GNSSBlockInterface> block;
diff --git a/src/core/receiver/gnss_block_factory.h b/src/core/receiver/gnss_block_factory.h
index 3076c879d..af9889c89 100644
--- a/src/core/receiver/gnss_block_factory.h
+++ b/src/core/receiver/gnss_block_factory.h
@@ -37,10 +37,11 @@
#ifndef GNSS_SDR_BLOCK_FACTORY_H_
#define GNSS_SDR_BLOCK_FACTORY_H_
-#include <gnuradio/msg_queue.h> // for msg_queue::sptr
-#include <memory> // for unique_ptr, shared_ptr
-#include <string> // for string
-#include <vector> // for vector
+#include "concurrent_queue.h"
+#include <pmt/pmt.h>
+#include <memory> // for unique_ptr, shared_ptr
+#include <string> // for string
+#include <vector> // for vector
class ConfigurationInterface;
@@ -59,12 +60,12 @@ public:
virtual ~GNSSBlockFactory();
std::unique_ptr<GNSSBlockInterface> GetSignalSource(const std::shared_ptr<ConfigurationInterface>& configuration,
- const gr::msg_queue::sptr queue, int ID = -1); // NOLINT(performance-unnecessary-value-param)
+ const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue, int ID = -1); // NOLINT(performance-unnecessary-value-param)
std::unique_ptr<GNSSBlockInterface> GetSignalConditioner(const std::shared_ptr<ConfigurationInterface>& configuration, int ID = -1);
std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GetChannels(const std::shared_ptr<ConfigurationInterface>& configuration,
- const gr::msg_queue::sptr queue); // NOLINT(performance-unnecessary-value-param)
+ const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue); // NOLINT(performance-unnecessary-value-param)
std::unique_ptr<GNSSBlockInterface> GetObservables(const std::shared_ptr<ConfigurationInterface>& configuration);
@@ -76,44 +77,44 @@ public:
std::unique_ptr<GNSSBlockInterface> GetBlock(const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& role, const std::string& implementation,
unsigned int in_streams, unsigned int out_streams,
- const gr::msg_queue::sptr queue = nullptr); // NOLINT(performance-unnecessary-value-param)
+ const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = nullptr); // NOLINT(performance-unnecessary-value-param)
private:
std::unique_ptr<GNSSBlockInterface> GetChannel_1C(const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
std::unique_ptr<GNSSBlockInterface> GetChannel_2S(const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
std::unique_ptr<GNSSBlockInterface> GetChannel_1B(const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
std::unique_ptr<GNSSBlockInterface> GetChannel_5X(const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
std::unique_ptr<GNSSBlockInterface> GetChannel_L5(const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
std::unique_ptr<GNSSBlockInterface> GetChannel_1G(const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
std::unique_ptr<GNSSBlockInterface> GetChannel_2G(const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
std::unique_ptr<GNSSBlockInterface> GetChannel_B1(const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- gr::msg_queue::sptr queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
std::unique_ptr<GNSSBlockInterface> GetChannel_B3(const std::shared_ptr<ConfigurationInterface>& configuration,
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
- boost::shared_ptr<gr::msg_queue> queue);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
std::unique_ptr<AcquisitionInterface> GetAcqBlock(
const std::shared_ptr<ConfigurationInterface>& configuration,
diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index 4d11c4193..fd142761a 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -75,7 +75,7 @@
#define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS 8
-GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, const gr::msg_queue::sptr queue) // NOLINT(performance-unnecessary-value-param)
+GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) // NOLINT(performance-unnecessary-value-param)
{
connected_ = false;
running_ = false;
@@ -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)
{
@@ -1053,7 +1061,184 @@ bool GNSSFlowgraph::send_telemetry_msg(const pmt::pmt_t& msg)
return true;
}
+void GNSSFlowgraph::push_back_signal(Gnss_Signal gs)
+{
+ switch (mapStringValues_[gs.get_signal_str()])
+ {
+ case evGPS_1C:
+ available_GPS_1C_signals_.remove(gs);
+ available_GPS_1C_signals_.push_back(gs);
+ break;
+ case evGPS_2S:
+ available_GPS_2S_signals_.remove(gs);
+ available_GPS_2S_signals_.push_back(gs);
+ break;
+
+ case evGPS_L5:
+ available_GPS_L5_signals_.remove(gs);
+ available_GPS_L5_signals_.push_back(gs);
+ break;
+
+ case evGAL_1B:
+ available_GAL_1B_signals_.remove(gs);
+ available_GAL_1B_signals_.push_back(gs);
+ break;
+
+ case evGAL_5X:
+ available_GAL_5X_signals_.remove(gs);
+ available_GAL_5X_signals_.push_back(gs);
+ break;
+
+ case evGLO_1G:
+ available_GLO_1G_signals_.remove(gs);
+ available_GLO_1G_signals_.push_back(gs);
+ break;
+
+ case evGLO_2G:
+ available_GLO_2G_signals_.remove(gs);
+ available_GLO_2G_signals_.push_back(gs);
+ break;
+
+ case evBDS_B1:
+ available_BDS_B1_signals_.remove(gs);
+ available_BDS_B1_signals_.push_back(gs);
+ break;
+
+ case evBDS_B3:
+ available_BDS_B3_signals_.remove(gs);
+ available_BDS_B3_signals_.push_back(gs);
+ break;
+
+ default:
+ LOG(ERROR) << "This should not happen :-(";
+ break;
+ }
+}
+
+void GNSSFlowgraph::remove_signal(Gnss_Signal gs)
+{
+ switch (mapStringValues_[gs.get_signal_str()])
+ {
+ case evGPS_1C:
+ available_GPS_1C_signals_.remove(gs);
+ break;
+
+ case evGPS_2S:
+ available_GPS_2S_signals_.remove(gs);
+ break;
+
+ case evGPS_L5:
+ available_GPS_L5_signals_.remove(gs);
+ break;
+
+ case evGAL_1B:
+ available_GAL_1B_signals_.remove(gs);
+ break;
+
+ case evGAL_5X:
+ available_GAL_5X_signals_.remove(gs);
+ break;
+
+ case evGLO_1G:
+ available_GLO_1G_signals_.remove(gs);
+ break;
+
+ case evGLO_2G:
+ available_GLO_2G_signals_.remove(gs);
+ break;
+
+ case evBDS_B1:
+ available_BDS_B1_signals_.remove(gs);
+ break;
+
+ case evBDS_B3:
+ available_BDS_B3_signals_.remove(gs);
+ break;
+
+ default:
+ LOG(ERROR) << "This should not happen :-(";
+ break;
+ }
+}
+
+void GNSSFlowgraph::acquisition_manager(unsigned int who)
+{
+ unsigned int current_channel;
+ for (unsigned int i = 0; i < channels_count_; i++)
+ {
+ current_channel = (i + who + 1) % channels_count_;
+ unsigned int sat_ = 0;
+ try
+ {
+ sat_ = configuration_->property("Channel" + std::to_string(current_channel) + ".satellite", 0);
+ }
+ catch (const std::exception& e)
+ {
+ LOG(WARNING) << e.what();
+ }
+ if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[current_channel] == 0))
+ {
+ bool is_primary_freq = true;
+ bool assistance_available = false;
+ bool start_acquisition = false;
+ Gnss_Signal gnss_signal;
+ if (sat_ == 0)
+ {
+ float estimated_doppler;
+ double RX_time;
+ gnss_signal = search_next_signal(channels_[current_channel]->get_signal().get_signal_str(),
+ true,
+ is_primary_freq,
+ assistance_available,
+ estimated_doppler,
+ RX_time);
+ channels_[current_channel]->set_signal(gnss_signal);
+ start_acquisition = is_primary_freq or assistance_available or !configuration_->property("GNSS-SDR.assist_dual_frequency_acq", false);
+ // if (assistance_available)
+ // {
+ // std::cout << "Channel " << current_channel
+ // << " assistance available for " << channels_[current_channel]->get_signal().get_satellite()
+ // << ", Signal " << channels_[current_channel]->get_signal().get_signal_str() << "\n";
+ // }
+ }
+ else
+ {
+ start_acquisition = true;
+ }
+
+ if (start_acquisition == true)
+ {
+ channels_state_[current_channel] = 1;
+ acq_channels_count_++;
+ DLOG(INFO) << "Channel " << current_channel
+ << " Starting acquisition " << channels_[current_channel]->get_signal().get_satellite()
+ << ", Signal " << channels_[current_channel]->get_signal().get_signal_str();
+#ifndef ENABLE_FPGA
+ channels_[current_channel]->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_[current_channel]);
+ tmp_thread.detach();
+#endif
+ }
+ else
+ {
+ push_back_signal(gnss_signal);
+ DLOG(INFO) << "Channel " << current_channel
+ << " secondary frequency acquisition assistance not available in "
+ << channels_[current_channel]->get_signal().get_satellite()
+ << ", Signal " << channels_[current_channel]->get_signal().get_signal_str();
+
+ // std::cout << "Channel " << current_channel
+ // << " secondary frequency acquisition assistance not available in "
+ // << channels_[current_channel]->get_signal().get_satellite()
+ // << ", Signal " << channels_[current_channel]->get_signal().get_signal_str() << "\n";
+ }
+ }
+ DLOG(INFO) << "Channel " << current_channel << " in state " << channels_state_[current_channel];
+ }
+}
/*
* Applies an action to the flow graph
*
@@ -1065,7 +1250,7 @@ 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
@@ -1078,8 +1263,10 @@ 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_;
+ DLOG(INFO) << "Received " << what << " from " << who;
unsigned int sat = 0;
if (who < 200)
{
@@ -1099,183 +1286,32 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
if (sat == 0)
{
Gnss_Signal gs = channels_[who]->get_signal();
- switch (mapStringValues_[gs.get_signal_str()])
- {
- case evGPS_1C:
- available_GPS_1C_signals_.remove(gs);
- available_GPS_1C_signals_.push_back(gs);
- break;
-
- case evGPS_2S:
- available_GPS_2S_signals_.remove(gs);
- available_GPS_2S_signals_.push_back(gs);
- break;
-
- case evGPS_L5:
- available_GPS_L5_signals_.remove(gs);
- available_GPS_L5_signals_.push_back(gs);
- break;
-
- case evGAL_1B:
- available_GAL_1B_signals_.remove(gs);
- available_GAL_1B_signals_.push_back(gs);
- break;
-
- case evGAL_5X:
- available_GAL_5X_signals_.remove(gs);
- available_GAL_5X_signals_.push_back(gs);
- break;
-
- case evGLO_1G:
- available_GLO_1G_signals_.remove(gs);
- available_GLO_1G_signals_.push_back(gs);
- break;
-
- case evGLO_2G:
- available_GLO_2G_signals_.remove(gs);
- available_GLO_2G_signals_.push_back(gs);
- break;
-
- case evBDS_B1:
- available_BDS_B1_signals_.remove(gs);
- available_BDS_B1_signals_.push_back(gs);
- break;
-
- case evBDS_B3:
- available_BDS_B3_signals_.remove(gs);
- available_BDS_B3_signals_.push_back(gs);
- break;
-
- default:
- LOG(ERROR) << "This should not happen :-(";
- break;
- }
+ push_back_signal(gs);
}
channels_state_[who] = 0;
- acq_channels_count_--;
- for (unsigned int i = 0; i < channels_count_; i++)
- {
- unsigned int ch_index = (who + i + 1) % channels_count_;
- unsigned int sat_ = 0;
- try
- {
- sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
- }
- catch (const std::exception& e)
- {
- LOG(WARNING) << e.what();
- }
- if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
- {
- 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));
- }
- 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();
-#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();
-#endif
- }
- DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
- }
+ if (acq_channels_count_ > 0) acq_channels_count_--;
+ //call the acquisition manager to assign new satellite and start next acquisition (if required)
+ acquisition_manager(who);
break;
-
case 1:
- LOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_[who]->get_signal().get_satellite();
-
+ DLOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_[who]->get_signal().get_satellite();
// If the satellite is in the list of available ones, remove it.
- switch (mapStringValues_[channels_[who]->get_signal().get_signal_str()])
- {
- case evGPS_1C:
- available_GPS_1C_signals_.remove(channels_[who]->get_signal());
- break;
-
- case evGPS_2S:
- available_GPS_2S_signals_.remove(channels_[who]->get_signal());
- break;
-
- case evGPS_L5:
- available_GPS_L5_signals_.remove(channels_[who]->get_signal());
- break;
-
- case evGAL_1B:
- available_GAL_1B_signals_.remove(channels_[who]->get_signal());
- break;
-
- case evGAL_5X:
- available_GAL_5X_signals_.remove(channels_[who]->get_signal());
- break;
-
- case evGLO_1G:
- available_GLO_1G_signals_.remove(channels_[who]->get_signal());
- break;
-
- case evGLO_2G:
- available_GLO_2G_signals_.remove(channels_[who]->get_signal());
- break;
-
- case evBDS_B1:
- available_BDS_B1_signals_.remove(channels_[who]->get_signal());
- break;
-
- case evBDS_B3:
- available_BDS_B3_signals_.remove(channels_[who]->get_signal());
- break;
-
- default:
- LOG(ERROR) << "This should not happen :-(";
- break;
- }
+ remove_signal(channels_[who]->get_signal());
channels_state_[who] = 2;
- acq_channels_count_--;
- for (unsigned int i = 0; i < channels_count_; i++)
- {
- unsigned int sat_ = 0;
- try
- {
- sat_ = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0);
- }
- catch (const std::exception& e)
- {
- LOG(WARNING) << e.what();
- }
- if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
- {
- channels_state_[i] = 1;
- if (sat_ == 0)
- {
- channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true, true));
- }
- 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();
-#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();
-#endif
- }
- DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
- }
+ if (acq_channels_count_ > 0) acq_channels_count_--;
+ //call the acquisition manager to assign new satellite and start next acquisition (if required)
+ acquisition_manager(who);
break;
case 2:
- LOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_[who]->get_signal().get_satellite();
- DLOG(INFO) << "Number of channels in acquisition = " << acq_channels_count_;
-
+ DLOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_[who]->get_signal().get_satellite();
if (acq_channels_count_ < max_acq_channels_)
{
+ //try to acquire the same satellite
channels_state_[who] = 1;
acq_channels_count_++;
- LOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
+ DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[who]->start_acquisition();
#else
@@ -1290,48 +1326,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
LOG(INFO) << "Channel " << who << " Idle state";
if (sat == 0)
{
- switch (mapStringValues_[channels_[who]->get_signal().get_signal_str()])
- {
- case evGPS_1C:
- available_GPS_1C_signals_.push_back(channels_[who]->get_signal());
- break;
-
- case evGPS_2S:
- available_GPS_2S_signals_.push_back(channels_[who]->get_signal());
- break;
-
- case evGPS_L5:
- available_GPS_L5_signals_.push_back(channels_[who]->get_signal());
- break;
-
- case evGAL_1B:
- available_GAL_1B_signals_.push_back(channels_[who]->get_signal());
- break;
-
- case evGAL_5X:
- available_GAL_5X_signals_.push_back(channels_[who]->get_signal());
- break;
-
- case evGLO_1G:
- available_GLO_1G_signals_.push_back(channels_[who]->get_signal());
- break;
-
- case evGLO_2G:
- available_GLO_2G_signals_.push_back(channels_[who]->get_signal());
- break;
-
- case evBDS_B1:
- available_BDS_B1_signals_.push_back(channels_[who]->get_signal());
- break;
-
- case evBDS_B3:
- available_BDS_B3_signals_.push_back(channels_[who]->get_signal());
- break;
-
- default:
- LOG(ERROR) << "This should not happen :-(";
- break;
- }
+ push_back_signal(channels_[who]->get_signal());
}
}
break;
@@ -1343,57 +1338,8 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
//recover the satellite assigned
Gnss_Signal gs = channels_[n]->get_signal();
- switch (mapStringValues_[gs.get_signal_str()])
- {
- case evGPS_1C:
- available_GPS_1C_signals_.remove(gs);
- available_GPS_1C_signals_.push_back(gs);
- break;
+ push_back_signal(gs);
- case evGPS_2S:
- available_GPS_2S_signals_.remove(gs);
- available_GPS_2S_signals_.push_back(gs);
- break;
-
- case evGPS_L5:
- available_GPS_L5_signals_.remove(gs);
- available_GPS_L5_signals_.push_back(gs);
- break;
-
- case evGAL_1B:
- available_GAL_1B_signals_.remove(gs);
- available_GAL_1B_signals_.push_back(gs);
- break;
-
- case evGAL_5X:
- available_GAL_5X_signals_.remove(gs);
- available_GAL_5X_signals_.push_back(gs);
- break;
-
- case evGLO_1G:
- available_GLO_1G_signals_.remove(gs);
- available_GLO_1G_signals_.push_back(gs);
- break;
-
- case evGLO_2G:
- available_GLO_2G_signals_.remove(gs);
- available_GLO_2G_signals_.push_back(gs);
- break;
-
- case evBDS_B1:
- available_BDS_B1_signals_.remove(gs);
- available_BDS_B1_signals_.push_back(gs);
- break;
-
- case evBDS_B3:
- available_BDS_B3_signals_.remove(gs);
- available_BDS_B3_signals_.push_back(gs);
- break;
-
- default:
- LOG(ERROR) << "This should not happen :-(";
- break;
- }
channels_[n]->stop_channel(); // stop the acquisition or tracking operation
channels_state_[n] = 0;
}
@@ -1402,112 +1348,22 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
break;
case 11: // request coldstart mode
LOG(INFO) << "TC request flowgraph coldstart";
- // start again the satellite acquisitions
- for (unsigned int i = 0; i < channels_count_; i++)
- {
- unsigned int ch_index = (who + i + 1) % channels_count_;
- unsigned int sat_ = 0;
- try
- {
- sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
- }
- catch (const std::exception& e)
- {
- LOG(WARNING) << e.what();
- }
- if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
- {
- 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));
- }
- 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();
-#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();
-#endif
- }
- DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
- }
+ //call the acquisition manager to assign new satellite and start next acquisition (if required)
+ acquisition_manager(who);
break;
case 12: // request hotstart mode
LOG(INFO) << "TC request flowgraph hotstart";
- for (unsigned int i = 0; i < channels_count_; i++)
- {
- unsigned int ch_index = (who + i + 1) % channels_count_;
- unsigned int sat_ = 0;
- try
- {
- sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
- }
- catch (const std::exception& e)
- {
- LOG(WARNING) << e.what();
- }
- if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
- {
- 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));
- }
- 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();
-#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();
-#endif
- }
- DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
- }
+ //call the acquisition manager to assign new satellite and start next acquisition (if required)
+ acquisition_manager(who);
break;
case 13: // request warmstart mode
LOG(INFO) << "TC request flowgraph warmstart";
- // start again the satellite acquisitions
- for (unsigned int i = 0; i < channels_count_; i++)
- {
- unsigned int ch_index = (who + i + 1) % channels_count_;
- unsigned int sat_ = 0;
- try
- {
- sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
- }
- catch (const std::exception& e)
- {
- LOG(WARNING) << e.what();
- }
- if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
- {
- 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));
- }
- 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();
-#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();
-#endif
- }
- DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
- }
+ //call the acquisition manager to assign new satellite and start next acquisition (if required)
+ acquisition_manager(who);
break;
default:
break;
}
- applied_actions_++;
}
@@ -1610,6 +1466,8 @@ 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);
@@ -1701,7 +1559,6 @@ void GNSSFlowgraph::init()
// fill the signals queue with the satellites ID's to be searched by the acquisition
set_signals_list();
set_channels_state();
- applied_actions_ = 0;
DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
/*
@@ -2010,110 +1867,124 @@ 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;
+ assistance_available = false;
Gnss_Signal result;
- bool untracked_satellite = true;
+ bool found_signal = false;
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
+ bool found_signal = false;
+ 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;
+ estimated_doppler = it->second->Carrier_Doppler_hz;
+ RX_time = it->second->RX_time;
+ //std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
+ //3. return the GPS L2 satellite and remove it from list
+ result = *it2;
+ if (pop)
+ {
+ available_GPS_2S_signals_.erase(it2);
+ }
+ found_signal = true;
+ assistance_available = true;
+ break;
}
}
- if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
+ }
+ //fallback: pick the front satellite because there is no tracked satellites in L1 to assist L2
+ if (found_signal == false)
+ {
+ result = available_GPS_2S_signals_.front();
+ available_GPS_2S_signals_.pop_front();
+ if (!pop)
{
- 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);
+ 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;
+ estimated_doppler = it->second->Carrier_Doppler_hz;
+ RX_time = it->second->RX_time;
+ //std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
+ //3. return the GPS L5 satellite and remove it from list
+ result = *it2;
+ if (pop)
+ {
+ available_GPS_L5_signals_.erase(it2);
+ }
+ found_signal = true;
+ assistance_available = true;
+ 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
+ if (found_signal == false)
+ {
+ result = available_GPS_L5_signals_.front();
+ available_GPS_L5_signals_.pop_front();
+ if (!pop)
+ {
+ available_GPS_L5_signals_.push_back(result);
}
}
break;
@@ -2125,51 +1996,50 @@ 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:
- result = available_GAL_5X_signals_.front();
- available_GAL_5X_signals_.pop_front();
- if (!pop)
+
+ if (configuration_->property("Channels_1B.count", 0) > 0)
{
- available_GAL_5X_signals_.push_back(result);
- }
- if (tracked)
- {
- if (configuration_->property("Channels_1B.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 Galileo E1 satellites and assist the Galileo E5 acquisition if the satellite is not tracked on E5
+ 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) == "1B")
{
- if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str() != "5X"))
+ std::list<Gnss_Signal>::iterator it2;
+ it2 = std::find_if(std::begin(available_GAL_5X_signals_), std::end(available_GAL_5X_signals_),
+ [&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == it->second->PRN; });
+
+ if (it2 != available_GAL_5X_signals_.end())
{
- untracked_satellite = false;
+ estimated_doppler = it->second->Carrier_Doppler_hz;
+ RX_time = it->second->RX_time;
+ //std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
+ //3. return the Gal 5X satellite and remove it from list
+ result = *it2;
+ if (pop)
+ {
+ available_GAL_5X_signals_.erase(it2);
+ }
+ found_signal = true;
+ assistance_available = true;
+ break;
}
}
- 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);
- }
+ }
+ }
+ //fallback: pick the front satellite because there is no tracked satellites in E1 to assist E5
+ if (found_signal == false)
+ {
+ result = available_GAL_5X_signals_.front();
+ available_GAL_5X_signals_.pop_front();
+ if (!pop)
+ {
+ available_GAL_5X_signals_.push_back(result);
}
}
break;
@@ -2181,25 +2051,7 @@ 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 +2061,6 @@ 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 +2070,7 @@ 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 +2080,6 @@ 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:
diff --git a/src/core/receiver/gnss_flowgraph.h b/src/core/receiver/gnss_flowgraph.h
index 7552c46a7..8d3c3fa58 100644
--- a/src/core/receiver/gnss_flowgraph.h
+++ b/src/core/receiver/gnss_flowgraph.h
@@ -37,11 +37,12 @@
#ifndef GNSS_SDR_GNSS_FLOWGRAPH_H_
#define GNSS_SDR_GNSS_FLOWGRAPH_H_
+#include "channel_status_msg_receiver.h"
+#include "concurrent_queue.h"
#include "gnss_sdr_sample_counter.h"
#include "gnss_signal.h"
#include "pvt_interface.h"
#include <gnuradio/blocks/null_sink.h> //for null_sink
-#include <gnuradio/msg_queue.h> // for msg_queue, msg_queue::sptr
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <pmt/pmt.h> // for pmt_t
#include <list> // for list
@@ -71,7 +72,7 @@ public:
/*!
* \brief Constructor that initializes the receiver flow graph
*/
- GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, const gr::msg_queue::sptr queue); // NOLINT(performance-unnecessary-value-param)
+ GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue); // NOLINT(performance-unnecessary-value-param)
/*!
* \brief Destructor
@@ -99,6 +100,8 @@ public:
void perform_hw_reset();
#endif
+
+ void acquisition_manager(unsigned int who);
/*!
* \brief Applies an action to the flow graph
*
@@ -107,12 +110,11 @@ public:
*/
void apply_action(unsigned int who, unsigned int what);
- void set_configuration(std::shared_ptr<ConfigurationInterface> configuration);
- unsigned int applied_actions() const
- {
- return applied_actions_;
- }
+ void push_back_signal(Gnss_Signal gs);
+ void remove_signal(Gnss_Signal gs);
+
+ void set_configuration(std::shared_ptr<ConfigurationInterface> configuration);
bool connected() const
{
@@ -149,7 +151,12 @@ private:
void set_signals_list();
void set_channels_state(); // Initializes the channels state (start acquisition or keep standby)
// using the configuration parameters (number of channels and max channels in acquisition)
- Gnss_Signal search_next_signal(const std::string& searched_signal, bool pop, bool tracked = false);
+ Gnss_Signal search_next_signal(const std::string& searched_signal,
+ const bool pop,
+ bool& is_primary_frequency,
+ bool& assistance_available,
+ float& estimated_doppler,
+ double& RX_time);
bool connected_;
bool running_;
int sources_count_;
@@ -157,7 +164,6 @@ private:
unsigned int channels_count_;
unsigned int acq_channels_count_;
unsigned int max_acq_channels_;
- unsigned int applied_actions_;
std::string config_file_;
std::shared_ptr<ConfigurationInterface> configuration_;
@@ -175,7 +181,7 @@ private:
gnss_sdr_fpga_sample_counter_sptr ch_out_fpga_sample_counter;
#endif
gr::top_block_sptr top_block_;
- gr::msg_queue::sptr queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
std::list<Gnss_Signal> available_GPS_1C_signals_;
std::list<Gnss_Signal> available_GPS_2S_signals_;
@@ -203,6 +209,7 @@ private:
std::map<std::string, StringValue> mapStringValues_;
std::vector<unsigned int> channels_state_;
+ channel_status_msg_receiver_sptr channels_status_; //class that receives and stores the current status of the receiver channels
std::mutex signal_list_mutex;
bool enable_monitor_;
diff --git a/src/core/receiver/tcp_cmd_interface.cc b/src/core/receiver/tcp_cmd_interface.cc
index 5cac461ad..f274c82dc 100644
--- a/src/core/receiver/tcp_cmd_interface.cc
+++ b/src/core/receiver/tcp_cmd_interface.cc
@@ -30,7 +30,7 @@
*/
#include "tcp_cmd_interface.h"
-#include "control_message_factory.h"
+#include "command_event.h"
#include "pvt_interface.h"
#include <boost/asio.hpp>
#include <array>
@@ -94,17 +94,16 @@ arma::vec TcpCmdInterface::get_LLH()
std::string TcpCmdInterface::reset(const std::vector<std::string> &commandLine __attribute__((unused)))
{
std::string response;
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (control_queue_ != nullptr)
{
- control_queue_->handle(cmf->GetQueueMessage(200, 1)); //send the restart message (who=200,what=1)
+ command_event_sptr new_evnt = command_event_make(200, 1); //send the restart message (who=200,what=1)
+ control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
else
{
response = "ERROR\n";
}
-
return response;
}
@@ -112,10 +111,10 @@ std::string TcpCmdInterface::reset(const std::vector<std::string> &commandLine _
std::string TcpCmdInterface::standby(const std::vector<std::string> &commandLine __attribute__((unused)))
{
std::string response;
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (control_queue_ != nullptr)
{
- control_queue_->handle(cmf->GetQueueMessage(300, 10)); //send the standby message (who=300,what=10)
+ command_event_sptr new_evnt = command_event_make(300, 10); //send the standby message (who=300,what=10)
+ control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
else
@@ -203,10 +202,10 @@ std::string TcpCmdInterface::hotstart(const std::vector<std::string> &commandLin
}
else
{
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (control_queue_ != nullptr)
{
- control_queue_->handle(cmf->GetQueueMessage(300, 12)); //send the standby message (who=300,what=12)
+ command_event_sptr new_evnt = command_event_make(300, 12); //send the standby message (who=300,what=12)
+ control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
else
@@ -250,10 +249,10 @@ std::string TcpCmdInterface::warmstart(const std::vector<std::string> &commandLi
}
else
{
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (control_queue_ != nullptr)
{
- control_queue_->handle(cmf->GetQueueMessage(300, 13)); // send the warmstart message (who=300,what=13)
+ command_event_sptr new_evnt = command_event_make(300, 13); // send the warmstart message (who=300,what=13)
+ control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
else
@@ -273,16 +272,17 @@ std::string TcpCmdInterface::warmstart(const std::vector<std::string> &commandLi
std::string TcpCmdInterface::coldstart(const std::vector<std::string> &commandLine __attribute__((unused)))
{
std::string response;
- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (control_queue_ != nullptr)
{
- control_queue_->handle(cmf->GetQueueMessage(300, 11)); // send the coldstart message (who=300,what=11)
+ command_event_sptr new_evnt = command_event_make(300, 11); // send the coldstart message (who=300,what=11)
+ control_queue_->push(pmt::make_any(new_evnt));
response = "OK\n";
}
else
{
response = "ERROR\n";
}
+
return response;
}
@@ -296,7 +296,7 @@ std::string TcpCmdInterface::set_ch_satellite(const std::vector<std::string> &co
}
-void TcpCmdInterface::set_msg_queue(gr::msg_queue::sptr control_queue)
+void TcpCmdInterface::set_msg_queue(std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue)
{
control_queue_ = std::move(control_queue);
}
diff --git a/src/core/receiver/tcp_cmd_interface.h b/src/core/receiver/tcp_cmd_interface.h
index e5658a6d9..0b6276e92 100644
--- a/src/core/receiver/tcp_cmd_interface.h
+++ b/src/core/receiver/tcp_cmd_interface.h
@@ -32,8 +32,9 @@
#define GNSS_SDR_TCP_CMD_INTERFACE_H_
+#include "concurrent_queue.h"
#include <armadillo>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
#include <cstdint>
#include <ctime>
#include <functional>
@@ -50,7 +51,7 @@ public:
TcpCmdInterface();
virtual ~TcpCmdInterface();
void run_cmd_server(int tcp_port);
- void set_msg_queue(gr::msg_queue::sptr control_queue);
+ void set_msg_queue(std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue);
/*!
* \brief gets the UTC time parsed from the last TC command issued
@@ -77,7 +78,7 @@ private:
void register_functions();
- gr::msg_queue::sptr control_queue_;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue_;
bool keep_running_;
time_t receiver_utc_time_;
diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt
index 8a4fb8943..021966a1a 100644
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -869,7 +869,6 @@ endif()
if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
add_executable(control_thread_test
${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
- ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/control-plane/control_message_factory_test.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/control-plane/control_thread_test.cc
)
if(${FILESYSTEM_FOUND})
diff --git a/src/tests/data/high_dynamics_signal.bin b/src/tests/data/high_dynamics_signal.bin
new file mode 100644
index 000000000..ba463e31c
Binary files /dev/null and b/src/tests/data/high_dynamics_signal.bin differ
diff --git a/src/tests/data/high_dynamics_signal.mat b/src/tests/data/high_dynamics_signal.mat
new file mode 100644
index 000000000..39c1312d5
Binary files /dev/null and b/src/tests/data/high_dynamics_signal.mat differ
diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index e20338cfa..748df14a1 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -60,7 +60,6 @@ DECLARE_string(log_dir);
#include "unit-tests/arithmetic/fft_speed_test.cc"
#include "unit-tests/arithmetic/magnitude_squared_test.cc"
#include "unit-tests/arithmetic/multiply_test.cc"
-#include "unit-tests/control-plane/control_message_factory_test.cc"
#include "unit-tests/control-plane/control_thread_test.cc"
#include "unit-tests/control-plane/file_configuration_test.cc"
#include "unit-tests/control-plane/gnss_block_factory_test.cc"
diff --git a/src/tests/unit-tests/control-plane/control_message_factory_test.cc b/src/tests/unit-tests/control-plane/control_message_factory_test.cc
deleted file mode 100644
index 7440d37f4..000000000
--- a/src/tests/unit-tests/control-plane/control_message_factory_test.cc
+++ /dev/null
@@ -1,90 +0,0 @@
-/*!
- * \file control message_factory_test.cc
- * \brief This file implements tests for the ControlMessageFactory.
- * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
- * Carles Fernandez-Prades, 2012. cfernandez(at)cttc.es
- *
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- * Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * 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/>.
- *
- * -------------------------------------------------------------------------
- */
-
-
-#include "control_message_factory.h"
-#include <gtest/gtest.h>
-#include <string>
-
-
-TEST(ControlMessageFactoryTest, GetQueueMessage)
-{
- std::shared_ptr<ControlMessageFactory> factory = std::make_shared<ControlMessageFactory>();
- gr::message::sptr queue_message = factory->GetQueueMessage(0, 2);
- auto control_messages = factory->GetControlMessages(queue_message);
- unsigned int expected0 = 0;
- unsigned int expected2 = 2;
- EXPECT_EQ(expected0, control_messages->at(0)->who);
- EXPECT_EQ(expected2, control_messages->at(0)->what);
- EXPECT_EQ(sizeof(ControlMessage), queue_message->length());
-}
-
-
-TEST(ControlMessageFactoryTest, GetControlMessages)
-{
- std::shared_ptr<ControlMessageFactory> factory = std::make_shared<ControlMessageFactory>();
- gr::message::sptr queue_message = gr::message::make(0, 0, 0, sizeof(ControlMessage));
- std::shared_ptr<ControlMessage> control_message = std::make_shared<ControlMessage>();
-
- control_message->who = 1;
- control_message->what = 4;
-
- memcpy(queue_message->msg(), control_message.get(), sizeof(ControlMessage));
- std::shared_ptr<std::vector<std::shared_ptr<ControlMessage>>> control_messages = factory->GetControlMessages(queue_message);
-
- unsigned int expected1 = 1;
- unsigned int expected4 = 4;
- EXPECT_EQ(expected1, control_messages->size());
- EXPECT_EQ(expected1, control_messages->at(0)->who);
- EXPECT_EQ(expected4, control_messages->at(0)->what);
-}
-
-/*
-
-TEST(ControlMessageFactoryTest, GetControlMessagesWrongSize)
-{
-
- std::shared_ptr<ControlMessageFactory> factory = std::make_shared<ControlMessageFactory>();
- std::shared_ptr<ControlMessage> control_message = std::make_shared<ControlMessage>();
-
- control_message->who = 1;
- control_message->what = 4;
- int another_int = 10;
-
- gr::message::sptr queue_message = gr::message::make(0, 0, 0, sizeof(ControlMessage) + sizeof(int));
- memcpy(queue_message->msg(), control_message.get(), sizeof(ControlMessage));
- memcpy(queue_message->msg() + sizeof(ControlMessage), &another_int, sizeof(int));
- std::shared_ptr<std::vector<std::shared_ptr<ControlMessage>>> control_messages = factory->GetControlMessages(queue_message);
-
- unsigned int expected0 = 0;
- EXPECT_EQ(expected0, control_messages->size());
-} */
diff --git a/src/tests/unit-tests/control-plane/control_thread_test.cc b/src/tests/unit-tests/control-plane/control_thread_test.cc
index 781a5af76..4a0ffa18e 100644
--- a/src/tests/unit-tests/control-plane/control_thread_test.cc
+++ b/src/tests/unit-tests/control-plane/control_thread_test.cc
@@ -32,16 +32,17 @@
#include "control_thread.h"
-#include "control_message_factory.h"
+#include "channel_event.h"
+#include "command_event.h"
+#include "concurrent_queue.h"
#include "in_memory_configuration.h"
#include <boost/exception/diagnostic_information.hpp>
#include <boost/exception_ptr.hpp>
#include <boost/lexical_cast.hpp>
#include <gflags/gflags.h>
#include <glog/logging.h>
-#include <gnuradio/message.h>
-#include <gnuradio/msg_queue.h>
#include <gtest/gtest.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <exception>
#include <memory>
@@ -121,13 +122,10 @@ TEST_F(ControlThreadTest /*unused*/, InstantiateRunControlMessages /*unused*/)
std::shared_ptr<ControlThread> control_thread = std::make_shared<ControlThread>(config);
- gr::msg_queue::sptr control_queue = gr::msg_queue::make(0);
-
- std::unique_ptr<ControlMessageFactory> control_msg_factory(new ControlMessageFactory());
-
- control_queue->handle(control_msg_factory->GetQueueMessage(0, 0));
- control_queue->handle(control_msg_factory->GetQueueMessage(1, 0));
- control_queue->handle(control_msg_factory->GetQueueMessage(200, 0));
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
+ control_queue->push(pmt::make_any(channel_event_make(0, 0)));
+ control_queue->push(pmt::make_any(channel_event_make(1, 0)));
+ control_queue->push(pmt::make_any(command_event_make(200, 0)));
control_thread->set_control_queue(control_queue);
try
@@ -181,16 +179,14 @@ TEST_F(ControlThreadTest /*unused*/, InstantiateRunControlMessages2 /*unused*/)
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
std::unique_ptr<ControlThread> control_thread2(new ControlThread(config));
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue2 = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
- gr::msg_queue::sptr control_queue2 = gr::msg_queue::make(0);
+ control_queue2->push(pmt::make_any(channel_event_make(0, 0)));
+ control_queue2->push(pmt::make_any(channel_event_make(2, 0)));
+ control_queue2->push(pmt::make_any(channel_event_make(1, 0)));
+ control_queue2->push(pmt::make_any(channel_event_make(3, 0)));
+ control_queue2->push(pmt::make_any(command_event_make(200, 0)));
- std::unique_ptr<ControlMessageFactory> control_msg_factory2(new ControlMessageFactory());
-
- control_queue2->handle(control_msg_factory2->GetQueueMessage(0, 0));
- control_queue2->handle(control_msg_factory2->GetQueueMessage(2, 0));
- control_queue2->handle(control_msg_factory2->GetQueueMessage(1, 0));
- control_queue2->handle(control_msg_factory2->GetQueueMessage(3, 0));
- control_queue2->handle(control_msg_factory2->GetQueueMessage(200, 0));
control_thread2->set_control_queue(control_queue2);
@@ -245,7 +241,7 @@ TEST_F(ControlThreadTest /*unused*/, StopReceiverProgrammatically /*unused*/)
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
std::shared_ptr<ControlThread> control_thread = std::make_shared<ControlThread>(config);
- gr::msg_queue::sptr control_queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
control_thread->set_control_queue(control_queue);
std::thread stop_receiver_thread(stop_receiver);
diff --git a/src/tests/unit-tests/control-plane/gnss_block_factory_test.cc b/src/tests/unit-tests/control-plane/gnss_block_factory_test.cc
index 0af18c4e1..7fd850f73 100644
--- a/src/tests/unit-tests/control-plane/gnss_block_factory_test.cc
+++ b/src/tests/unit-tests/control-plane/gnss_block_factory_test.cc
@@ -36,14 +36,15 @@
#include "gnss_block_factory.h"
#include "acquisition_interface.h"
#include "channel.h"
+#include "concurrent_queue.h"
#include "gnss_block_interface.h"
#include "in_memory_configuration.h"
#include "observables_interface.h"
#include "pvt_interface.h"
#include "telemetry_decoder_interface.h"
#include "tracking_interface.h"
-#include <gnuradio/msg_queue.h>
#include <gtest/gtest.h>
+#include <pmt/pmt.h>
#include <vector>
TEST(GNSSBlockFactoryTest, InstantiateFileSignalSource)
@@ -53,7 +54,7 @@ TEST(GNSSBlockFactoryTest, InstantiateFileSignalSource)
std::string path = std::string(TEST_PATH);
std::string filename = path + "signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat";
configuration->set_property("SignalSource.filename", filename);
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
// Example of a factory as a shared_ptr
std::shared_ptr<GNSSBlockFactory> factory = std::make_shared<GNSSBlockFactory>();
// Example of a block as a shared_ptr
@@ -67,7 +68,7 @@ TEST(GNSSBlockFactoryTest, InstantiateWrongSignalSource)
{
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
configuration->set_property("SignalSource.implementation", "Pepito");
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
// Example of a factory as a unique_ptr
std::unique_ptr<GNSSBlockFactory> factory;
// Example of a block as a unique_ptr
@@ -90,7 +91,7 @@ TEST(GNSSBlockFactoryTest, InstantiateSignalConditioner)
TEST(GNSSBlockFactoryTest, InstantiateFIRFilter)
{
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
configuration->set_property("InputFilter.implementation", "Fir_Filter");
@@ -123,7 +124,7 @@ TEST(GNSSBlockFactoryTest, InstantiateFIRFilter)
TEST(GNSSBlockFactoryTest, InstantiateFreqXlatingFIRFilter)
{
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
configuration->set_property("InputFilter.implementation", "Freq_Xlating_Fir_Filter");
@@ -158,7 +159,7 @@ TEST(GNSSBlockFactoryTest, InstantiateFreqXlatingFIRFilter)
TEST(GNSSBlockFactoryTest, InstantiatePulseBlankingFilter)
{
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
configuration->set_property("InputFilter.implementation", "Pulse_Blanking_Filter");
std::unique_ptr<GNSSBlockFactory> factory;
@@ -171,7 +172,7 @@ TEST(GNSSBlockFactoryTest, InstantiatePulseBlankingFilter)
TEST(GNSSBlockFactoryTest, InstantiateNotchFilter)
{
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
configuration->set_property("InputFilter.implementation", "Notch_Filter");
std::unique_ptr<GNSSBlockFactory> factory;
@@ -184,7 +185,7 @@ TEST(GNSSBlockFactoryTest, InstantiateNotchFilter)
TEST(GNSSBlockFactoryTest, InstantiateNotchFilterLite)
{
std::shared_ptr<InMemoryConfiguration> configuration = std::make_shared<InMemoryConfiguration>();
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
configuration->set_property("InputFilter.implementation", "Notch_Filter_Lite");
std::unique_ptr<GNSSBlockFactory> factory;
@@ -309,7 +310,7 @@ TEST(GNSSBlockFactoryTest, InstantiateChannels)
configuration->set_property("Channel0.item_type", "gr_complex");
configuration->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Acquisition");
configuration->set_property("Channel1.item_type", "gr_complex");
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::unique_ptr<GNSSBlockFactory> factory;
std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels = factory->GetChannels(configuration, queue);
EXPECT_EQ(static_cast<unsigned int>(2), channels->size());
diff --git a/src/tests/unit-tests/control-plane/gnss_flowgraph_test.cc b/src/tests/unit-tests/control-plane/gnss_flowgraph_test.cc
index 711b49d5f..56a7671d1 100644
--- a/src/tests/unit-tests/control-plane/gnss_flowgraph_test.cc
+++ b/src/tests/unit-tests/control-plane/gnss_flowgraph_test.cc
@@ -30,17 +30,17 @@
* -------------------------------------------------------------------------
*/
+#include "gnss_flowgraph.h"
#include "acquisition_interface.h"
#include "channel.h"
#include "channel_interface.h"
+#include "concurrent_queue.h"
#include "file_configuration.h"
#include "file_signal_source.h"
#include "gnss_block_interface.h"
-#include "gnss_flowgraph.h"
#include "in_memory_configuration.h"
#include "pass_through.h"
#include "tracking_interface.h"
-#include <gnuradio/msg_queue.h>
#include <gtest/gtest.h>
@@ -68,7 +68,7 @@ TEST(GNSSFlowgraph /*unused*/, InstantiateConnectStartStopOldNotation /*unused*/
config->set_property("Observables.implementation", "Hybrid_Observables");
config->set_property("PVT.implementation", "RTKLIB_PVT");
- std::shared_ptr<GNSSFlowgraph> flowgraph = std::make_shared<GNSSFlowgraph>(config, gr::msg_queue::make(0));
+ std::shared_ptr<GNSSFlowgraph> flowgraph = std::make_shared<GNSSFlowgraph>(config, std::make_shared<Concurrent_Queue<pmt::pmt_t>>());
EXPECT_NO_THROW(flowgraph->connect());
EXPECT_TRUE(flowgraph->connected());
@@ -103,7 +103,7 @@ TEST(GNSSFlowgraph /*unused*/, InstantiateConnectStartStop /*unused*/)
config->set_property("Observables.implementation", "Hybrid_Observables");
config->set_property("PVT.implementation", "RTKLIB_PVT");
- std::shared_ptr<GNSSFlowgraph> flowgraph = std::make_shared<GNSSFlowgraph>(config, gr::msg_queue::make(0));
+ std::shared_ptr<GNSSFlowgraph> flowgraph = std::make_shared<GNSSFlowgraph>(config, std::make_shared<Concurrent_Queue<pmt::pmt_t>>());
EXPECT_NO_THROW(flowgraph->connect());
EXPECT_TRUE(flowgraph->connected());
@@ -137,7 +137,7 @@ TEST(GNSSFlowgraph /*unused*/, InstantiateConnectStartStopGalileoE1B /*unused*/)
config->set_property("Observables.implementation", "Hybrid_Observables");
config->set_property("PVT.implementation", "RTKLIB_PVT");
- std::shared_ptr<GNSSFlowgraph> flowgraph = std::make_shared<GNSSFlowgraph>(config, gr::msg_queue::make(0));
+ std::shared_ptr<GNSSFlowgraph> flowgraph = std::make_shared<GNSSFlowgraph>(config, std::make_shared<Concurrent_Queue<pmt::pmt_t>>());
EXPECT_NO_THROW(flowgraph->connect());
EXPECT_TRUE(flowgraph->connected());
@@ -253,7 +253,7 @@ TEST(GNSSFlowgraph /*unused*/, InstantiateConnectStartStopHybrid /*unused*/)
config->set_property("Observables.implementation", "Hybrid_Observables");
config->set_property("PVT.implementation", "RTKLIB_PVT");
- std::shared_ptr<GNSSFlowgraph> flowgraph = std::make_shared<GNSSFlowgraph>(config, gr::msg_queue::make(0));
+ std::shared_ptr<GNSSFlowgraph> flowgraph = std::make_shared<GNSSFlowgraph>(config, std::make_shared<Concurrent_Queue<pmt::pmt_t>>());
EXPECT_NO_THROW(flowgraph->connect());
EXPECT_TRUE(flowgraph->connected());
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
index 8c9c87779..94f96e4a6 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
@@ -51,6 +51,7 @@
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/skiphead.h>
#include <gnuradio/top_block.h>
+#include <pmt/pmt.h>
#include <thread>
#include <utility>
@@ -342,7 +343,7 @@ protected:
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<AcquisitionInterface> acquisition;
std::shared_ptr<InMemoryConfiguration> config;
@@ -598,7 +599,7 @@ int AcquisitionPerformanceTest::run_receiver()
boost::shared_ptr<AcqPerfTest_msg_rx> msg_rx = AcqPerfTest_msg_rx_make(channel_internal_queue);
gr::blocks::skiphead::sptr skiphead = gr::blocks::skiphead::make(sizeof(gr_complex), FLAGS_acq_test_skiphead);
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
gnss_synchro = Gnss_Synchro();
init();
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc
index c2658889a..8278d3e42 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b1i_pcps_acquisition_test.cc
@@ -31,9 +31,10 @@
*/
+#include "beidou_b1i_pcps_acquisition.h"
#include "Beidou_B1I.h"
#include "acquisition_dump_reader.h"
-#include "beidou_b1i_pcps_acquisition.h"
+#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -46,9 +47,9 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <utility>
@@ -198,7 +199,7 @@ void BeidouB1iPcpsAcquisitionTest::plot_grid()
std::vector<int> *doppler = &acq_dump.doppler;
std::vector<unsigned int> *samples = &acq_dump.samples;
- std::vector<std::vector<float> > *mag = &acq_dump.mag;
+ std::vector<std::vector<float>> *mag = &acq_dump.mag;
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if (gnuplot_executable.empty())
@@ -261,7 +262,7 @@ TEST_F(BeidouB1iPcpsAcquisitionTest, ConnectAndRun)
int nsamples = 25000;
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
init();
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b3i_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b3i_pcps_acquisition_test.cc
index 725135d5b..6415b44cc 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b3i_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/beidou_b3i_pcps_acquisition_test.cc
@@ -31,9 +31,10 @@
*/
+#include "beidou_b3i_pcps_acquisition.h"
#include "Beidou_B3I.h"
#include "acquisition_dump_reader.h"
-#include "beidou_b3i_pcps_acquisition.h"
+#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -46,9 +47,9 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <utility>
@@ -197,7 +198,7 @@ void BeidouB3iPcpsAcquisitionTest::plot_grid()
std::vector<int> *doppler = &acq_dump.doppler;
std::vector<unsigned int> *samples = &acq_dump.samples;
- std::vector<std::vector<float> > *mag = &acq_dump.mag;
+ std::vector<std::vector<float>> *mag = &acq_dump.mag;
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if (gnuplot_executable.empty())
@@ -260,7 +261,7 @@ TEST_F(BeidouB3iPcpsAcquisitionTest, ConnectAndRun)
int nsamples = 50000;
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
init();
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc
index a1517dd8f..37c8396e0 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc
@@ -30,8 +30,9 @@
*/
-#include "fir_filter.h"
#include "galileo_e1_pcps_8ms_ambiguous_acquisition.h"
+#include "concurrent_queue.h"
+#include "fir_filter.h"
#include "gen_signal_source.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -43,8 +44,8 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <thread>
#include <utility>
@@ -134,7 +135,7 @@ protected:
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GalileoE1Pcps8msAmbiguousAcquisition> acquisition;
std::shared_ptr<GNSSBlockFactory> factory;
@@ -433,7 +434,7 @@ TEST_F(GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test, ConnectAndRun)
std::chrono::duration<double> elapsed_seconds(0.0);
config_1();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_8ms_Ambiguous_Acquisition", 1, 0);
@@ -483,7 +484,7 @@ TEST_F(GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test, ConnectAndRun)
TEST_F(GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test, ValidationOfResults)
{
config_1();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_8ms_Ambiguous_Acquisition", 1, 0, queue);
@@ -572,7 +573,7 @@ TEST_F(GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test, ValidationOfResults)
TEST_F(GalileoE1Pcps8msAmbiguousAcquisitionGSoC2013Test, ValidationOfResultsProbabilities)
{
config_2();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_8ms_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1Pcps8msAmbiguousAcquisition>(acq_);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc
index b9c692c4b..fc90be2ed 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc
@@ -31,8 +31,9 @@
*/
-#include "fir_filter.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
+#include "concurrent_queue.h"
+#include "fir_filter.h"
#include "gen_signal_source.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -43,7 +44,6 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <chrono>
#include <utility>
@@ -134,7 +134,7 @@ protected:
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisition> acquisition;
std::shared_ptr<GNSSBlockFactory> factory;
@@ -435,7 +435,7 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test, ConnectAndRun)
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
config_1();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 0);
@@ -466,7 +466,7 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test, ValidationOfResults)
{
config_1();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsAmbiguousAcquisition>(acq_);
boost::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test_msg_rx> msg_rx = GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test_msg_rx_make(channel_internal_queue);
@@ -551,7 +551,7 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test, ValidationOfResultsProbabi
{
config_2();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsAmbiguousAcquisition>(acq_);
boost::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test_msg_rx> msg_rx = GalileoE1PcpsAmbiguousAcquisitionGSoC2013Test_msg_rx_make(channel_internal_queue);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc
index 591f7bf25..850367401 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc
@@ -42,6 +42,7 @@
#include "galileo_e1_pcps_ambiguous_acquisition.h"
+#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -52,8 +53,8 @@
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <utility>
#ifdef GR_GREATER_38
@@ -140,7 +141,7 @@ protected:
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
@@ -217,7 +218,7 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionGSoCTest, ConnectAndRun)
int nsamples = 4 * fs_in;
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
init();
@@ -248,7 +249,7 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionGSoCTest, ValidationOfResults)
{
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
init();
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test.cc
index 58fa9b8e6..7b4815f34 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test.cc
@@ -31,9 +31,10 @@
*/
+#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "Galileo_E1.h"
#include "acquisition_dump_reader.h"
-#include "galileo_e1_pcps_ambiguous_acquisition.h"
+#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -47,9 +48,9 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <utility>
@@ -200,7 +201,7 @@ void GalileoE1PcpsAmbiguousAcquisitionTest::plot_grid()
std::vector<int>* doppler = &acq_dump.doppler;
std::vector<unsigned int>* samples = &acq_dump.samples;
- std::vector<std::vector<float> >* mag = &acq_dump.mag;
+ std::vector<std::vector<float>>* mag = &acq_dump.mag;
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if (gnuplot_executable.empty())
@@ -265,7 +266,7 @@ TEST_F(GalileoE1PcpsAmbiguousAcquisitionTest, ConnectAndRun)
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
top_block = gr::make_top_block("Acquisition test");
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
init();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Ambiguous_Acquisition", 1, 0);
std::shared_ptr<AcquisitionInterface> acquisition = std::dynamic_pointer_cast<AcquisitionInterface>(acq_);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc
index 60d23b6ba..d69972648 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc
@@ -31,8 +31,9 @@
*/
-#include "fir_filter.h"
#include "galileo_e1_pcps_cccwsr_ambiguous_acquisition.h"
+#include "concurrent_queue.h"
+#include "fir_filter.h"
#include "gen_signal_source.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -44,8 +45,8 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <thread>
#include <utility>
@@ -135,7 +136,7 @@ protected:
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GalileoE1PcpsCccwsrAmbiguousAcquisition> acquisition;
std::shared_ptr<GNSSBlockFactory> factory;
@@ -438,7 +439,7 @@ TEST_F(GalileoE1PcpsCccwsrAmbiguousAcquisitionTest, ConnectAndRun)
config_1();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_CCCWSR_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsCccwsrAmbiguousAcquisition>(acq_);
@@ -468,7 +469,7 @@ TEST_F(GalileoE1PcpsCccwsrAmbiguousAcquisitionTest, ValidationOfResults)
{
config_1();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_CCCWSR_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsCccwsrAmbiguousAcquisition>(acq_);
boost::shared_ptr<GalileoE1PcpsCccwsrAmbiguousAcquisitionTest_msg_rx> msg_rx = GalileoE1PcpsCccwsrAmbiguousAcquisitionTest_msg_rx_make(channel_internal_queue);
@@ -561,7 +562,7 @@ TEST_F(GalileoE1PcpsCccwsrAmbiguousAcquisitionTest, ValidationOfResultsProbabili
{
config_2();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_CCCWSR_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsCccwsrAmbiguousAcquisition>(acq_);
boost::shared_ptr<GalileoE1PcpsCccwsrAmbiguousAcquisitionTest_msg_rx> msg_rx = GalileoE1PcpsCccwsrAmbiguousAcquisitionTest_msg_rx_make(channel_internal_queue);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
index 8c06a3419..45287515c 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc
@@ -31,8 +31,8 @@
*/
-#include "fir_filter.h"
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
+#include "fir_filter.h"
#include "gen_signal_source.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -46,6 +46,7 @@
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/top_block.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <fstream>
#include <stdexcept>
@@ -142,7 +143,7 @@ protected:
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GalileoE1PcpsQuickSyncAmbiguousAcquisition> acquisition;
std::shared_ptr<GNSSBlockFactory> factory;
@@ -560,7 +561,7 @@ TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ConnectAndRun)
std::chrono::time_point<std::chrono::system_clock> begin, end;
std::chrono::duration<double> elapsed_seconds(0);
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
config_1();
@@ -597,7 +598,7 @@ TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ValidationOfResul
LOG(INFO) << "Start validation of results test";
config_1();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
@@ -688,7 +689,7 @@ TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ValidationOfResul
LOG(INFO) << "Start validation of results with noise+interference test";
config_3();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
@@ -776,7 +777,7 @@ TEST_F(GalileoE1PcpsQuickSyncAmbiguousAcquisitionGSoC2014Test, ValidationOfResul
{
config_2();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsQuickSyncAmbiguousAcquisition>(acq_);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc
index a021e5196..d7c414fcf 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc
@@ -30,9 +30,10 @@
* -------------------------------------------------------------------------
*/
+#include "galileo_e1_pcps_tong_ambiguous_acquisition.h"
+#include "concurrent_queue.h"
#include "configuration_interface.h"
#include "fir_filter.h"
-#include "galileo_e1_pcps_tong_ambiguous_acquisition.h"
#include "gen_signal_source.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -44,9 +45,9 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <thread>
#include <utility>
@@ -135,7 +136,7 @@ protected:
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GalileoE1PcpsTongAmbiguousAcquisition> acquisition;
std::shared_ptr<GNSSBlockFactory> factory;
@@ -438,7 +439,7 @@ TEST_F(GalileoE1PcpsTongAmbiguousAcquisitionGSoC2013Test, ConnectAndRun)
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0.0);
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
config_1();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Tong_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsTongAmbiguousAcquisition>(acq_);
@@ -466,7 +467,7 @@ TEST_F(GalileoE1PcpsTongAmbiguousAcquisitionGSoC2013Test, ValidationOfResults)
{
config_1();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Tong_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsTongAmbiguousAcquisition>(acq_);
boost::shared_ptr<GalileoE1PcpsTongAmbiguousAcquisitionGSoC2013Test_msg_rx> msg_rx = GalileoE1PcpsTongAmbiguousAcquisitionGSoC2013Test_msg_rx_make(channel_internal_queue);
@@ -555,7 +556,7 @@ TEST_F(GalileoE1PcpsTongAmbiguousAcquisitionGSoC2013Test, ValidationOfResultsPro
{
config_2();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<GNSSBlockInterface> acq_ = factory->GetBlock(config, "Acquisition_1B", "Galileo_E1_PCPS_Tong_Ambiguous_Acquisition", 1, 0);
acquisition = std::dynamic_pointer_cast<GalileoE1PcpsTongAmbiguousAcquisition>(acq_);
boost::shared_ptr<GalileoE1PcpsTongAmbiguousAcquisitionGSoC2013Test_msg_rx> msg_rx = GalileoE1PcpsTongAmbiguousAcquisitionGSoC2013Test_msg_rx_make(channel_internal_queue);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc
index 652384472..cdf5ca0c0 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc
@@ -29,6 +29,7 @@
* -------------------------------------------------------------------------
*/
+#include "concurrent_queue.h"
#include "fir_filter.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "gen_signal_source.h"
@@ -42,8 +43,8 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <utility>
#ifdef GR_GREATER_38
@@ -131,7 +132,7 @@ protected:
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GalileoE5aNoncoherentIQAcquisitionCaf> acquisition;
@@ -540,7 +541,7 @@ TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ConnectAndRun)
std::chrono::duration<double> elapsed_seconds(0);
acquisition = std::make_shared<GalileoE5aNoncoherentIQAcquisitionCaf>(config.get(), "Acquisition_5X", 1, 0);
boost::shared_ptr<GalileoE5aPcpsAcquisitionGSoC2014GensourceTest_msg_rx> msg_rx = GalileoE5aPcpsAcquisitionGSoC2014GensourceTest_msg_rx_make(channel_internal_queue);
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
ASSERT_NO_THROW({
@@ -566,7 +567,7 @@ TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ConnectAndRun)
TEST_F(GalileoE5aPcpsAcquisitionGSoC2014GensourceTest, ValidationOfSIM)
{
config_1();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
acquisition = std::make_shared<GalileoE5aNoncoherentIQAcquisitionCaf>(config.get(), "Acquisition_5X", 1, 0);
boost::shared_ptr<GalileoE5aPcpsAcquisitionGSoC2014GensourceTest_msg_rx> msg_rx = GalileoE5aPcpsAcquisitionGSoC2014GensourceTest_msg_rx_make(channel_internal_queue);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
index dbee4f413..6972e356b 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc
@@ -31,10 +31,11 @@
*/
+#include "glonass_l1_ca_pcps_acquisition.h"
+#include "concurrent_queue.h"
#include "configuration_interface.h"
#include "freq_xlating_fir_filter.h"
#include "gen_signal_source.h"
-#include "glonass_l1_ca_pcps_acquisition.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
@@ -46,9 +47,9 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <thread>
#include <utility>
@@ -140,7 +141,7 @@ protected:
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
GlonassL1CaPcpsAcquisition* acquisition;
std::shared_ptr<InMemoryConfiguration> config;
@@ -442,7 +443,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
int nsamples = floor(fs_in * integration_time_ms * 1e-3);
std::chrono::time_point<std::chrono::system_clock> begin, end;
std::chrono::duration<double> elapsed_seconds(0);
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
config_1();
@@ -474,7 +475,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ConnectAndRun)
TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
{
config_1();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 0);
@@ -563,7 +564,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResults)
TEST_F(GlonassL1CaPcpsAcquisitionGSoC2017Test, ValidationOfResultsProbabilities)
{
config_2();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
acquisition = new GlonassL1CaPcpsAcquisition(config.get(), "Acquisition", 1, 0);
boost::shared_ptr<GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx> msg_rx = GlonassL1CaPcpsAcquisitionGSoC2017Test_msg_rx_make(channel_internal_queue);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
index 86602ec9c..e339018a4 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc
@@ -30,8 +30,9 @@
* -------------------------------------------------------------------------
*/
-#include "freq_xlating_fir_filter.h"
#include "glonass_l1_ca_pcps_acquisition.h"
+#include "concurrent_queue.h"
+#include "freq_xlating_fir_filter.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -41,9 +42,9 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <cstdlib>
#include <utility>
@@ -184,7 +185,7 @@ TEST_F(GlonassL1CaPcpsAcquisitionTest, ConnectAndRun)
int nsamples = 62314;
std::chrono::time_point<std::chrono::system_clock> begin, end;
std::chrono::duration<double> elapsed_seconds(0);
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
init();
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l2_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l2_ca_pcps_acquisition_test.cc
index ba0611f90..1086d3119 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l2_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l2_ca_pcps_acquisition_test.cc
@@ -30,10 +30,11 @@
*/
+#include "glonass_l2_ca_pcps_acquisition.h"
+#include "concurrent_queue.h"
#include "configuration_interface.h"
#include "fir_filter.h"
#include "gen_signal_source.h"
-#include "glonass_l2_ca_pcps_acquisition.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
@@ -45,9 +46,9 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <thread>
#ifdef GR_GREATER_38
@@ -140,9 +141,9 @@ protected:
void process_message();
void stop_queue();
- concurrent_queue<int> channel_internal_queue;
+ Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
GlonassL2CaPcpsAcquisition* acquisition;
std::shared_ptr<InMemoryConfiguration> config;
@@ -440,7 +441,7 @@ TEST_F(GlonassL2CaPcpsAcquisitionTest, ConnectAndRun)
int nsamples = floor(fs_in * integration_time_ms * 1e-3);
std::chrono::time_point<std::chrono::system_clock> begin, end;
std::chrono::duration<double> elapsed_seconds(0);
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
config_1();
@@ -472,7 +473,7 @@ TEST_F(GlonassL2CaPcpsAcquisitionTest, ConnectAndRun)
TEST_F(GlonassL2CaPcpsAcquisitionTest, ValidationOfResults)
{
config_1();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
acquisition = new GlonassL2CaPcpsAcquisition(config.get(), "Acquisition_2G", 1, 0);
@@ -562,7 +563,7 @@ TEST_F(GlonassL2CaPcpsAcquisitionTest, ValidationOfResults)
TEST_F(GlonassL2CaPcpsAcquisitionTest, ValidationOfResultsProbabilities)
{
config_2();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
acquisition = new GlonassL2CaPcpsAcquisition(config.get(), "Acquisition_2G", 1, 0);
boost::shared_ptr<GlonassL2CaPcpsAcquisitionTest_msg_rx> msg_rx = GlonassL2CaPcpsAcquisitionTest_msg_rx_make(channel_internal_queue);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc
index e4ef9974b..b6223065b 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc
@@ -31,13 +31,14 @@
*/
+#include "gps_l1_ca_pcps_acquisition.h"
+#include "concurrent_queue.h"
#include "configuration_interface.h"
#include "fir_filter.h"
#include "gen_signal_source.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
-#include "gps_l1_ca_pcps_acquisition.h"
#include "in_memory_configuration.h"
#include "pass_through.h"
#include "signal_generator.h"
@@ -46,9 +47,9 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <thread>
#include <utility>
@@ -140,7 +141,7 @@ protected:
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
GpsL1CaPcpsAcquisition* acquisition;
std::shared_ptr<InMemoryConfiguration> config;
@@ -435,7 +436,7 @@ TEST_F(GpsL1CaPcpsAcquisitionGSoC2013Test, ConnectAndRun)
int nsamples = floor(fs_in * integration_time_ms * 1e-3);
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
config_1();
@@ -467,7 +468,7 @@ TEST_F(GpsL1CaPcpsAcquisitionGSoC2013Test, ConnectAndRun)
TEST_F(GpsL1CaPcpsAcquisitionGSoC2013Test, ValidationOfResults)
{
config_1();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
acquisition = new GpsL1CaPcpsAcquisition(config.get(), "Acquisition_1C", 1, 0);
@@ -557,7 +558,7 @@ TEST_F(GpsL1CaPcpsAcquisitionGSoC2013Test, ValidationOfResults)
TEST_F(GpsL1CaPcpsAcquisitionGSoC2013Test, ValidationOfResultsProbabilities)
{
config_2();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
acquisition = new GpsL1CaPcpsAcquisition(config.get(), "Acquisition_1C", 1, 0);
boost::shared_ptr<GpsL1CaPcpsAcquisitionGSoC2013Test_msg_rx> msg_rx = GpsL1CaPcpsAcquisitionGSoC2013Test_msg_rx_make(channel_internal_queue);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc
index 0ec417ee0..541a2a3b8 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc
@@ -31,14 +31,15 @@
*/
+#include "gps_l1_ca_pcps_acquisition.h"
#include "GPS_L1_CA.h"
#include "acquisition_dump_reader.h"
+#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
#include "gnuplot_i.h"
-#include "gps_l1_ca_pcps_acquisition.h"
#include "in_memory_configuration.h"
#include "test_flags.h"
#include <boost/make_shared.hpp>
@@ -46,7 +47,6 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
@@ -199,7 +199,7 @@ void GpsL1CaPcpsAcquisitionTest::plot_grid()
std::vector<int> *doppler = &acq_dump.doppler;
std::vector<unsigned int> *samples = &acq_dump.samples;
- std::vector<std::vector<float> > *mag = &acq_dump.mag;
+ std::vector<std::vector<float>> *mag = &acq_dump.mag;
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if (gnuplot_executable.empty())
@@ -262,7 +262,7 @@ TEST_F(GpsL1CaPcpsAcquisitionTest, ConnectAndRun)
int nsamples = 4000;
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
init();
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc
index 58dd36719..dcc07a9e5 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc
@@ -41,7 +41,7 @@
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/throttle.h>
-#include <gnuradio/msg_queue.h>
+#include "concurrent_queue.h"
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc
index 702b89f31..5a6bb87aa 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc
@@ -31,13 +31,14 @@
*/
+#include "gps_l1_ca_pcps_opencl_acquisition.h"
+#include "concurrent_queue.h"
#include "configuration_interface.h"
#include "fir_filter.h"
#include "gen_signal_source.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
-#include "gps_l1_ca_pcps_opencl_acquisition.h"
#include "in_memory_configuration.h"
#include "signal_generator.h"
#include "signal_generator_c.h"
@@ -45,7 +46,6 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <chrono>
#include <thread>
@@ -118,7 +118,7 @@ class GpsL1CaPcpsOpenClAcquisitionGSoC2013Test : public ::testing::Test
protected:
GpsL1CaPcpsOpenClAcquisitionGSoC2013Test()
{
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
item_size = sizeof(gr_complex);
stop = false;
@@ -140,7 +140,7 @@ protected:
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GpsL1CaPcpsOpenClAcquisition> acquisition;
std::shared_ptr<InMemoryConfiguration> config;
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc
index 7dfcc5ea1..3f471fa44 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc
@@ -31,11 +31,12 @@
*/
+#include "gps_l1_ca_pcps_quicksync_acquisition.h"
+#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
-#include "gps_l1_ca_pcps_quicksync_acquisition.h"
#include "in_memory_configuration.h"
#include "signal_generator.h"
#include "signal_generator_c.h"
@@ -43,7 +44,6 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
@@ -141,7 +141,7 @@ protected:
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<GpsL1CaPcpsQuickSyncAcquisition> acquisition;
@@ -545,7 +545,7 @@ TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, ConnectAndRun)
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0.0);
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
boost::shared_ptr<GpsL1CaPcpsAcquisitionGSoC2013Test_msg_rx> msg_rx = GpsL1CaPcpsAcquisitionGSoC2013Test_msg_rx_make(channel_internal_queue);
config_1();
@@ -575,7 +575,7 @@ TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, ValidationOfResults)
{
config_1();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition_1C", 1, 0);
boost::shared_ptr<GpsL1CaPcpsAcquisitionGSoC2013Test_msg_rx> msg_rx = GpsL1CaPcpsAcquisitionGSoC2013Test_msg_rx_make(channel_internal_queue);
@@ -669,7 +669,7 @@ TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, ValidationOfResultsWithNoise
//config_3();
config_1();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition_1C", 1, 0);
boost::shared_ptr<GpsL1CaPcpsAcquisitionGSoC2013Test_msg_rx> msg_rx = GpsL1CaPcpsAcquisitionGSoC2013Test_msg_rx_make(channel_internal_queue);
@@ -760,7 +760,7 @@ TEST_F(GpsL1CaPcpsQuickSyncAcquisitionGSoC2014Test, ValidationOfResultsProbabili
{
config_2();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
acquisition = std::make_shared<GpsL1CaPcpsQuickSyncAcquisition>(config.get(), "Acquisition_1C", 1, 0);
boost::shared_ptr<GpsL1CaPcpsAcquisitionGSoC2013Test_msg_rx> msg_rx = GpsL1CaPcpsAcquisitionGSoC2013Test_msg_rx_make(channel_internal_queue);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc
index b5977ff39..fd1a57464 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc
@@ -31,13 +31,14 @@
*/
+#include "gps_l1_ca_pcps_tong_acquisition.h"
+#include "concurrent_queue.h"
#include "configuration_interface.h"
#include "fir_filter.h"
#include "gen_signal_source.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
-#include "gps_l1_ca_pcps_tong_acquisition.h"
#include "in_memory_configuration.h"
#include "signal_generator.h"
#include "signal_generator_c.h"
@@ -45,7 +46,6 @@
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
@@ -135,7 +135,7 @@ protected:
void stop_queue();
Concurrent_Queue<int> channel_internal_queue;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GpsL1CaPcpsTongAcquisition> acquisition;
std::shared_ptr<InMemoryConfiguration> config;
@@ -431,7 +431,7 @@ TEST_F(GpsL1CaPcpsTongAcquisitionGSoC2013Test, ConnectAndRun)
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
config_1();
acquisition = std::make_shared<GpsL1CaPcpsTongAcquisition>(config.get(), "Acquisition_1C", 1, 0);
@@ -461,7 +461,7 @@ TEST_F(GpsL1CaPcpsTongAcquisitionGSoC2013Test, ValidationOfResults)
{
config_1();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
acquisition = std::make_shared<GpsL1CaPcpsTongAcquisition>(config.get(), "Acquisition_1C", 1, 0);
boost::shared_ptr<GpsL1CaPcpsTongAcquisitionGSoC2013Test_msg_rx> msg_rx = GpsL1CaPcpsTongAcquisitionGSoC2013Test_msg_rx_make(channel_internal_queue);
@@ -550,7 +550,7 @@ TEST_F(GpsL1CaPcpsTongAcquisitionGSoC2013Test, ValidationOfResultsProbabilities)
{
config_2();
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
acquisition = std::make_shared<GpsL1CaPcpsTongAcquisition>(config.get(), "Acquisition_1C", 1, 0);
boost::shared_ptr<GpsL1CaPcpsTongAcquisitionGSoC2013Test_msg_rx> msg_rx = GpsL1CaPcpsTongAcquisitionGSoC2013Test_msg_rx_make(channel_internal_queue);
diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc
index de7bc4e27..d810a3a12 100644
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc
@@ -31,14 +31,15 @@
*/
+#include "gps_l2_m_pcps_acquisition.h"
#include "GPS_L2C.h"
#include "acquisition_dump_reader.h"
+#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
#include "gnuplot_i.h"
-#include "gps_l2_m_pcps_acquisition.h"
#include "in_memory_configuration.h"
#include "test_flags.h"
#include <boost/make_shared.hpp>
@@ -47,7 +48,6 @@
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/interleaved_short_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
@@ -143,7 +143,7 @@ protected:
void init();
void plot_grid();
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
@@ -202,7 +202,7 @@ void GpsL2MPcpsAcquisitionTest::plot_grid()
std::vector<int> *doppler = &acq_dump.doppler;
std::vector<unsigned int> *samples = &acq_dump.samples;
- std::vector<std::vector<float> > *mag = &acq_dump.mag;
+ std::vector<std::vector<float>> *mag = &acq_dump.mag;
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if (gnuplot_executable.empty())
@@ -255,7 +255,7 @@ void GpsL2MPcpsAcquisitionTest::plot_grid()
TEST_F(GpsL2MPcpsAcquisitionTest, Instantiate)
{
init();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<GpsL2MPcpsAcquisition> acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition_2S", 1, 0);
}
@@ -265,7 +265,7 @@ TEST_F(GpsL2MPcpsAcquisitionTest, ConnectAndRun)
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
init();
std::shared_ptr<GpsL2MPcpsAcquisition> acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition_2S", 1, 0);
@@ -295,7 +295,7 @@ TEST_F(GpsL2MPcpsAcquisitionTest, ValidationOfResults)
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
top_block = gr::make_top_block("Acquisition test");
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
double expected_delay_samples = 1; //2004;
double expected_doppler_hz = 1200; //3000;
diff --git a/src/tests/unit-tests/signal-processing-blocks/filter/fir_filter_test.cc b/src/tests/unit-tests/signal-processing-blocks/filter/fir_filter_test.cc
index 03d055fac..32173ef44 100644
--- a/src/tests/unit-tests/signal-processing-blocks/filter/fir_filter_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/filter/fir_filter_test.cc
@@ -39,6 +39,7 @@
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
+#include "concurrent_queue.h"
#include "file_signal_source.h"
#include "fir_filter.h"
#include "gnss_block_factory.h"
@@ -48,7 +49,6 @@
#include "interleaved_byte_to_complex_byte.h"
#include "interleaved_short_to_complex_short.h"
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gtest/gtest.h>
@@ -59,7 +59,7 @@ class FirFilterTest : public ::testing::Test
protected:
FirFilterTest()
{
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
item_size = sizeof(gr_complex);
config = std::make_shared<InMemoryConfiguration>();
}
@@ -70,7 +70,7 @@ protected:
void configure_cbyte_gr_complex();
void configure_gr_complex_gr_complex();
void configure_cshort_cshort();
- boost::shared_ptr<gr::msg_queue> queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<InMemoryConfiguration> config;
size_t item_size;
diff --git a/src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_lite_test.cc b/src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_lite_test.cc
index 69c1dddf9..6aa42dafd 100644
--- a/src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_lite_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_lite_test.cc
@@ -39,6 +39,7 @@
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
+#include "concurrent_queue.h"
#include "file_signal_source.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
@@ -46,7 +47,6 @@
#include "in_memory_configuration.h"
#include "notch_filter_lite.h"
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gtest/gtest.h>
@@ -57,7 +57,7 @@ class NotchFilterLiteTest : public ::testing::Test
protected:
NotchFilterLiteTest()
{
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
item_size = sizeof(gr_complex);
config = std::make_shared<InMemoryConfiguration>();
nsamples = FLAGS_notch_filter_lite_test_nsamples;
@@ -66,7 +66,7 @@ protected:
void init();
void configure_gr_complex_gr_complex();
- boost::shared_ptr<gr::msg_queue> queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<InMemoryConfiguration> config;
size_t item_size;
diff --git a/src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_test.cc b/src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_test.cc
index 8fb783b5f..c20c894c6 100644
--- a/src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_test.cc
@@ -39,6 +39,7 @@
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
+#include "concurrent_queue.h"
#include "file_signal_source.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
@@ -46,7 +47,6 @@
#include "in_memory_configuration.h"
#include "notch_filter.h"
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gtest/gtest.h>
@@ -57,7 +57,7 @@ class NotchFilterTest : public ::testing::Test
protected:
NotchFilterTest()
{
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
item_size = sizeof(gr_complex);
config = std::make_shared<InMemoryConfiguration>();
nsamples = FLAGS_notch_filter_test_nsamples;
@@ -66,7 +66,7 @@ protected:
void init();
void configure_gr_complex_gr_complex();
- boost::shared_ptr<gr::msg_queue> queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<InMemoryConfiguration> config;
size_t item_size;
diff --git a/src/tests/unit-tests/signal-processing-blocks/filter/pulse_blanking_filter_test.cc b/src/tests/unit-tests/signal-processing-blocks/filter/pulse_blanking_filter_test.cc
index d31b971fb..dab090737 100644
--- a/src/tests/unit-tests/signal-processing-blocks/filter/pulse_blanking_filter_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/filter/pulse_blanking_filter_test.cc
@@ -39,6 +39,7 @@
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
+#include "concurrent_queue.h"
#include "file_signal_source.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
@@ -46,7 +47,6 @@
#include "in_memory_configuration.h"
#include "pulse_blanking_filter.h"
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
#include <gtest/gtest.h>
@@ -57,7 +57,7 @@ class PulseBlankingFilterTest : public ::testing::Test
protected:
PulseBlankingFilterTest()
{
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
item_size = sizeof(gr_complex);
config = std::make_shared<InMemoryConfiguration>();
nsamples = FLAGS_pb_filter_test_nsamples;
@@ -66,7 +66,7 @@ protected:
void init();
void configure_gr_complex_gr_complex();
- boost::shared_ptr<gr::msg_queue> queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<InMemoryConfiguration> config;
size_t item_size;
diff --git a/src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc b/src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
index 497805de7..0e7774842 100644
--- a/src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
@@ -30,6 +30,7 @@
* -------------------------------------------------------------------------
*/
+#include "hybrid_observables.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
#include "GPS_L5.h"
@@ -51,7 +52,6 @@
#include "gps_l1_ca_pcps_acquisition.h"
#include "gps_l2_m_pcps_acquisition.h"
#include "gps_l5i_pcps_acquisition.h"
-#include "hybrid_observables.h"
#include "in_memory_configuration.h"
#include "observable_tests_flags.h"
#include "observables_dump_reader.h"
@@ -707,9 +707,9 @@ void HybridObservablesTest::configure_receiver(
std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3); // copy string into synchro char array: 2 char + null
config->set_property("Tracking.early_late_space_chips", "0.15");
- config->set_property("Tracking.very_early_late_space_chips", "0.6");
+ config->set_property("Tracking.very_early_late_space_chips", "0.5");
config->set_property("Tracking.early_late_space_narrow_chips", "0.15");
- config->set_property("Tracking.very_early_late_space_narrow_chips", "0.6");
+ config->set_property("Tracking.very_early_late_space_narrow_chips", "0.5");
config->set_property("Tracking.track_pilot", "true");
config->set_property("TelemetryDecoder.implementation", "Galileo_E1B_Telemetry_Decoder");
@@ -741,7 +741,8 @@ void HybridObservablesTest::configure_receiver(
}
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.track_pilot", "true");
- config->set_property("Tracking.order", "2");
+ config->set_property("Tracking.pll_filter_order", "2");
+ config->set_property("Tracking.dll_filter_order", "2");
config->set_property("TelemetryDecoder.implementation", "Galileo_E5a_Telemetry_Decoder");
}
@@ -755,7 +756,8 @@ void HybridObservablesTest::configure_receiver(
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.track_pilot", "true");
- config->set_property("Tracking.order", "2");
+ config->set_property("Tracking.pll_filter_order", "2");
+ config->set_property("Tracking.dll_filter_order", "2");
config->set_property("TelemetryDecoder.implementation", "GPS_L5_Telemetry_Decoder");
}
@@ -875,78 +877,81 @@ void HybridObservablesTest::check_results_carrier_phase_double_diff(
int size2 = measured_ch1.col(0).n_rows;
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
- arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
- //conversion between arma::vec and std:vector
- arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
- std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
-
-
- arma::vec true_ch0_carrier_phase_interp;
- arma::vec true_ch1_carrier_phase_interp;
- arma::interp1(true_tow_ch0_s, true_ch0.col(3), t, true_ch0_carrier_phase_interp);
- arma::interp1(true_tow_ch1_s, true_ch1.col(3), t, true_ch1_carrier_phase_interp);
-
- arma::vec meas_ch0_carrier_phase_interp;
- arma::vec meas_ch1_carrier_phase_interp;
- arma::interp1(measured_ch0.col(0), measured_ch0.col(3), t, meas_ch0_carrier_phase_interp);
- arma::interp1(measured_ch1.col(0), measured_ch1.col(3), t, meas_ch1_carrier_phase_interp);
-
- // generate double difference accumulated carrier phases
- //compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
- arma::vec delta_true_carrier_phase_cycles = (true_ch0_carrier_phase_interp - true_ch0_carrier_phase_interp(0)) - (true_ch1_carrier_phase_interp - true_ch1_carrier_phase_interp(0));
- arma::vec delta_measured_carrier_phase_cycles = (meas_ch0_carrier_phase_interp - meas_ch0_carrier_phase_interp(0)) - (meas_ch1_carrier_phase_interp - meas_ch1_carrier_phase_interp(0));
-
- //2. RMSE
- arma::vec err;
-
- err = delta_measured_carrier_phase_cycles - delta_true_carrier_phase_cycles;
- arma::vec err2 = arma::square(err);
- double rmse = sqrt(arma::mean(err2));
-
- //3. Mean err and variance
- double error_mean = arma::mean(err);
- double error_var = arma::var(err);
-
- // 4. Peaks
- double max_error = arma::max(err);
- double min_error = arma::min(err);
-
- //5. report
- std::streamsize ss = std::cout.precision();
- std::cout << std::setprecision(10) << data_title << "Double diff Carrier Phase RMSE = "
- << rmse << ", mean = " << error_mean
- << ", stdev = " << sqrt(error_var)
- << " (max,min) = " << max_error
- << "," << min_error
- << " [Cycles]" << std::endl;
- std::cout.precision(ss);
-
- //plots
- if (FLAGS_show_plots)
+ if ((t1 - t0) > 0)
{
- Gnuplot g3("linespoints");
- g3.set_title(data_title + "Double diff Carrier Phase error [Cycles]");
- g3.set_grid();
- g3.set_xlabel("Time [s]");
- g3.set_ylabel("Double diff Carrier Phase error [Cycles]");
+ arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
//conversion between arma::vec and std:vector
- std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
- g3.cmd("set key box opaque");
- g3.plot_xy(time_vector, range_error_m,
- "Double diff Carrier Phase error");
- g3.set_legend();
- g3.savetops(data_title + "double_diff_carrier_phase_error");
+ arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
+ std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
- g3.showonscreen(); // window output
+
+ arma::vec true_ch0_carrier_phase_interp;
+ arma::vec true_ch1_carrier_phase_interp;
+ arma::interp1(true_tow_ch0_s, true_ch0.col(3), t, true_ch0_carrier_phase_interp);
+ arma::interp1(true_tow_ch1_s, true_ch1.col(3), t, true_ch1_carrier_phase_interp);
+
+ arma::vec meas_ch0_carrier_phase_interp;
+ arma::vec meas_ch1_carrier_phase_interp;
+ arma::interp1(measured_ch0.col(0), measured_ch0.col(3), t, meas_ch0_carrier_phase_interp);
+ arma::interp1(measured_ch1.col(0), measured_ch1.col(3), t, meas_ch1_carrier_phase_interp);
+
+ // generate double difference accumulated carrier phases
+ //compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
+ arma::vec delta_true_carrier_phase_cycles = (true_ch0_carrier_phase_interp - true_ch0_carrier_phase_interp(0)) - (true_ch1_carrier_phase_interp - true_ch1_carrier_phase_interp(0));
+ arma::vec delta_measured_carrier_phase_cycles = (meas_ch0_carrier_phase_interp - meas_ch0_carrier_phase_interp(0)) - (meas_ch1_carrier_phase_interp - meas_ch1_carrier_phase_interp(0));
+
+ //2. RMSE
+ arma::vec err;
+
+ err = delta_measured_carrier_phase_cycles - delta_true_carrier_phase_cycles;
+ arma::vec err2 = arma::square(err);
+ double rmse = sqrt(arma::mean(err2));
+
+ //3. Mean err and variance
+ double error_mean = arma::mean(err);
+ double error_var = arma::var(err);
+
+ // 4. Peaks
+ double max_error = arma::max(err);
+ double min_error = arma::min(err);
+
+ //5. report
+ std::streamsize ss = std::cout.precision();
+ std::cout << std::setprecision(10) << data_title << "Double diff Carrier Phase RMSE = "
+ << rmse << ", mean = " << error_mean
+ << ", stdev = " << sqrt(error_var)
+ << " (max,min) = " << max_error
+ << "," << min_error
+ << " [Cycles]" << std::endl;
+ std::cout.precision(ss);
+
+ //plots
+ if (FLAGS_show_plots)
+ {
+ Gnuplot g3("linespoints");
+ g3.set_title(data_title + "Double diff Carrier Phase error [Cycles]");
+ g3.set_grid();
+ g3.set_xlabel("Time [s]");
+ g3.set_ylabel("Double diff Carrier Phase error [Cycles]");
+ //conversion between arma::vec and std:vector
+ std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
+ g3.cmd("set key box opaque");
+ g3.plot_xy(time_vector, range_error_m,
+ "Double diff Carrier Phase error");
+ g3.set_legend();
+ g3.savetops(data_title + "double_diff_carrier_phase_error");
+
+ g3.showonscreen(); // window output
+ }
+
+ //check results against the test tolerance
+ ASSERT_LT(rmse, 0.25);
+ ASSERT_LT(error_mean, 0.2);
+ ASSERT_GT(error_mean, -0.2);
+ ASSERT_LT(error_var, 0.5);
+ ASSERT_LT(max_error, 0.5);
+ ASSERT_GT(min_error, -0.5);
}
-
- //check results against the test tolerance
- ASSERT_LT(rmse, 0.25);
- ASSERT_LT(error_mean, 0.2);
- ASSERT_GT(error_mean, -0.2);
- ASSERT_LT(error_var, 0.5);
- ASSERT_LT(max_error, 0.5);
- ASSERT_GT(min_error, -0.5);
}
@@ -966,78 +971,81 @@ void HybridObservablesTest::check_results_carrier_doppler_double_diff(
int size2 = measured_ch1.col(0).n_rows;
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
- arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
- //conversion between arma::vec and std:vector
- arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
- std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
-
-
- arma::vec true_ch0_carrier_doppler_interp;
- arma::vec true_ch1_carrier_doppler_interp;
- arma::interp1(true_tow_ch0_s, true_ch0.col(2), t, true_ch0_carrier_doppler_interp);
- arma::interp1(true_tow_ch1_s, true_ch1.col(2), t, true_ch1_carrier_doppler_interp);
-
- arma::vec meas_ch0_carrier_doppler_interp;
- arma::vec meas_ch1_carrier_doppler_interp;
- arma::interp1(measured_ch0.col(0), measured_ch0.col(2), t, meas_ch0_carrier_doppler_interp);
- arma::interp1(measured_ch1.col(0), measured_ch1.col(2), t, meas_ch1_carrier_doppler_interp);
-
- // generate double difference carrier Doppler
- arma::vec delta_true_carrier_doppler_cycles = true_ch0_carrier_doppler_interp - true_ch1_carrier_doppler_interp;
- arma::vec delta_measured_carrier_doppler_cycles = meas_ch0_carrier_doppler_interp - meas_ch1_carrier_doppler_interp;
-
- //2. RMSE
- arma::vec err;
-
- err = delta_measured_carrier_doppler_cycles - delta_true_carrier_doppler_cycles;
- arma::vec err2 = arma::square(err);
- double rmse = sqrt(arma::mean(err2));
-
- //3. Mean err and variance
- double error_mean = arma::mean(err);
- double error_var = arma::var(err);
-
- // 4. Peaks
- double max_error = arma::max(err);
- double min_error = arma::min(err);
-
- //5. report
- std::streamsize ss = std::cout.precision();
- std::cout << std::setprecision(10) << data_title << "Double diff Carrier Doppler RMSE = "
- << rmse << ", mean = " << error_mean
- << ", stdev = " << sqrt(error_var)
- << " (max,min) = " << max_error
- << "," << min_error
- << " [Hz]" << std::endl;
- std::cout.precision(ss);
-
- //plots
- if (FLAGS_show_plots)
+ if ((t1 - t0) > 0)
{
- Gnuplot g3("linespoints");
- g3.set_title(data_title + "Double diff Carrier Doppler error [Hz]");
- g3.set_grid();
- g3.set_xlabel("Time [s]");
- g3.set_ylabel("Double diff Carrier Doppler error [Hz]");
+ arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
//conversion between arma::vec and std:vector
- std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
- g3.cmd("set key box opaque");
- g3.plot_xy(time_vector, range_error_m,
- "Double diff Carrier Doppler error");
- g3.set_legend();
- g3.savetops(data_title + "double_diff_carrier_doppler_error");
+ arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
+ std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
- g3.showonscreen(); // window output
+
+ arma::vec true_ch0_carrier_doppler_interp;
+ arma::vec true_ch1_carrier_doppler_interp;
+ arma::interp1(true_tow_ch0_s, true_ch0.col(2), t, true_ch0_carrier_doppler_interp);
+ arma::interp1(true_tow_ch1_s, true_ch1.col(2), t, true_ch1_carrier_doppler_interp);
+
+ arma::vec meas_ch0_carrier_doppler_interp;
+ arma::vec meas_ch1_carrier_doppler_interp;
+ arma::interp1(measured_ch0.col(0), measured_ch0.col(2), t, meas_ch0_carrier_doppler_interp);
+ arma::interp1(measured_ch1.col(0), measured_ch1.col(2), t, meas_ch1_carrier_doppler_interp);
+
+ // generate double difference carrier Doppler
+ arma::vec delta_true_carrier_doppler_cycles = true_ch0_carrier_doppler_interp - true_ch1_carrier_doppler_interp;
+ arma::vec delta_measured_carrier_doppler_cycles = meas_ch0_carrier_doppler_interp - meas_ch1_carrier_doppler_interp;
+
+ //2. RMSE
+ arma::vec err;
+
+ err = delta_measured_carrier_doppler_cycles - delta_true_carrier_doppler_cycles;
+ arma::vec err2 = arma::square(err);
+ double rmse = sqrt(arma::mean(err2));
+
+ //3. Mean err and variance
+ double error_mean = arma::mean(err);
+ double error_var = arma::var(err);
+
+ // 4. Peaks
+ double max_error = arma::max(err);
+ double min_error = arma::min(err);
+
+ //5. report
+ std::streamsize ss = std::cout.precision();
+ std::cout << std::setprecision(10) << data_title << "Double diff Carrier Doppler RMSE = "
+ << rmse << ", mean = " << error_mean
+ << ", stdev = " << sqrt(error_var)
+ << " (max,min) = " << max_error
+ << "," << min_error
+ << " [Hz]" << std::endl;
+ std::cout.precision(ss);
+
+ //plots
+ if (FLAGS_show_plots)
+ {
+ Gnuplot g3("linespoints");
+ g3.set_title(data_title + "Double diff Carrier Doppler error [Hz]");
+ g3.set_grid();
+ g3.set_xlabel("Time [s]");
+ g3.set_ylabel("Double diff Carrier Doppler error [Hz]");
+ //conversion between arma::vec and std:vector
+ std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
+ g3.cmd("set key box opaque");
+ g3.plot_xy(time_vector, range_error_m,
+ "Double diff Carrier Doppler error");
+ g3.set_legend();
+ g3.savetops(data_title + "double_diff_carrier_doppler_error");
+
+ g3.showonscreen(); // window output
+ }
+
+ //check results against the test tolerance
+ ASSERT_LT(error_mean, 5);
+ ASSERT_GT(error_mean, -5);
+ //assuming PLL BW=35
+ ASSERT_LT(error_var, 250);
+ ASSERT_LT(max_error, 100);
+ ASSERT_GT(min_error, -100);
+ ASSERT_LT(rmse, 30);
}
-
- //check results against the test tolerance
- ASSERT_LT(error_mean, 5);
- ASSERT_GT(error_mean, -5);
- //assuming PLL BW=35
- ASSERT_LT(error_var, 250);
- ASSERT_LT(max_error, 100);
- ASSERT_GT(min_error, -100);
- ASSERT_LT(rmse, 30);
}
@@ -1052,71 +1060,75 @@ void HybridObservablesTest::check_results_carrier_doppler(
double t0 = measured_ch0(0, 0);
int size1 = measured_ch0.col(0).n_rows;
double t1 = measured_ch0(size1 - 1, 0);
- arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
- //conversion between arma::vec and std:vector
- arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
- std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
- arma::vec true_ch0_doppler_interp;
- arma::interp1(true_tow_s, true_ch0.col(2), t, true_ch0_doppler_interp);
-
- arma::vec meas_ch0_doppler_interp;
- arma::interp1(measured_ch0.col(0), measured_ch0.col(2), t, meas_ch0_doppler_interp);
-
- //2. RMSE
- arma::vec err_ch0_hz;
-
- //compute error
- err_ch0_hz = meas_ch0_doppler_interp - true_ch0_doppler_interp;
-
- arma::vec err2_ch0 = arma::square(err_ch0_hz);
- double rmse_ch0 = sqrt(arma::mean(err2_ch0));
-
- //3. Mean err and variance
- double error_mean_ch0 = arma::mean(err_ch0_hz);
- double error_var_ch0 = arma::var(err_ch0_hz);
-
- // 4. Peaks
- double max_error_ch0 = arma::max(err_ch0_hz);
- double min_error_ch0 = arma::min(err_ch0_hz);
-
- //5. report
- std::streamsize ss = std::cout.precision();
- std::cout << std::setprecision(10) << data_title << "Carrier Doppler RMSE = "
- << rmse_ch0 << ", mean = " << error_mean_ch0
- << ", stdev = " << sqrt(error_var_ch0)
- << " (max,min) = " << max_error_ch0
- << "," << min_error_ch0
- << " [Hz]" << std::endl;
- std::cout.precision(ss);
-
- //plots
- if (FLAGS_show_plots)
+ if ((t1 - t0) > 0)
{
- Gnuplot g3("linespoints");
- g3.set_title(data_title + "Carrier Doppler error [Hz]");
- g3.set_grid();
- g3.set_xlabel("Time [s]");
- g3.set_ylabel("Carrier Doppler error [Hz]");
+ arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
//conversion between arma::vec and std:vector
- std::vector<double> error_vec(err_ch0_hz.colptr(0), err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
- g3.cmd("set key box opaque");
- g3.plot_xy(time_vector, error_vec,
- "Carrier Doppler error");
- g3.set_legend();
- g3.savetops(data_title + "Carrier_doppler_error");
+ arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
+ std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
- g3.showonscreen(); // window output
+ arma::vec true_ch0_doppler_interp;
+ arma::interp1(true_tow_s, true_ch0.col(2), t, true_ch0_doppler_interp);
+
+ arma::vec meas_ch0_doppler_interp;
+ arma::interp1(measured_ch0.col(0), measured_ch0.col(2), t, meas_ch0_doppler_interp);
+
+ //2. RMSE
+ arma::vec err_ch0_hz;
+
+ //compute error
+ err_ch0_hz = meas_ch0_doppler_interp - true_ch0_doppler_interp;
+
+ arma::vec err2_ch0 = arma::square(err_ch0_hz);
+ double rmse_ch0 = sqrt(arma::mean(err2_ch0));
+
+ //3. Mean err and variance
+ double error_mean_ch0 = arma::mean(err_ch0_hz);
+ double error_var_ch0 = arma::var(err_ch0_hz);
+
+ // 4. Peaks
+ double max_error_ch0 = arma::max(err_ch0_hz);
+ double min_error_ch0 = arma::min(err_ch0_hz);
+
+ //5. report
+ std::streamsize ss = std::cout.precision();
+ std::cout << std::setprecision(10) << data_title << "Carrier Doppler RMSE = "
+ << rmse_ch0 << ", mean = " << error_mean_ch0
+ << ", stdev = " << sqrt(error_var_ch0)
+ << " (max,min) = " << max_error_ch0
+ << "," << min_error_ch0
+ << " [Hz]" << std::endl;
+ std::cout.precision(ss);
+
+ //plots
+ if (FLAGS_show_plots)
+ {
+ Gnuplot g3("linespoints");
+ g3.set_title(data_title + "Carrier Doppler error [Hz]");
+ g3.set_grid();
+ g3.set_xlabel("Time [s]");
+ g3.set_ylabel("Carrier Doppler error [Hz]");
+ //conversion between arma::vec and std:vector
+ std::vector<double> error_vec(err_ch0_hz.colptr(0), err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
+ g3.cmd("set key box opaque");
+ g3.plot_xy(time_vector, error_vec,
+ "Carrier Doppler error");
+ g3.set_legend();
+ g3.savetops(data_title + "Carrier_doppler_error");
+
+ g3.showonscreen(); // window output
+ }
+
+ //check results against the test tolerance
+ ASSERT_LT(error_mean_ch0, 5);
+ ASSERT_GT(error_mean_ch0, -5);
+ //assuming PLL BW=35
+ ASSERT_LT(error_var_ch0, 250);
+ ASSERT_LT(max_error_ch0, 100);
+ ASSERT_GT(min_error_ch0, -100);
+ ASSERT_LT(rmse_ch0, 30);
}
-
- //check results against the test tolerance
- ASSERT_LT(error_mean_ch0, 5);
- ASSERT_GT(error_mean_ch0, -5);
- //assuming PLL BW=35
- ASSERT_LT(error_var_ch0, 250);
- ASSERT_LT(max_error_ch0, 100);
- ASSERT_GT(min_error_ch0, -100);
- ASSERT_LT(rmse_ch0, 30);
}
void HybridObservablesTest::check_results_duplicated_satellite(
@@ -1156,217 +1168,220 @@ void HybridObservablesTest::check_results_duplicated_satellite(
t1 = t1_sat1;
}
- arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
- //conversion between arma::vec and std:vector
- arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
- std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
- //Doppler
- arma::vec meas_sat1_doppler_interp;
- arma::interp1(measured_sat1.col(0), measured_sat1.col(2), t, meas_sat1_doppler_interp);
- arma::vec meas_sat2_doppler_interp;
- arma::interp1(measured_sat2.col(0), measured_sat2.col(2), t, meas_sat2_doppler_interp);
-
- //Carrier Phase
- arma::vec meas_sat1_carrier_phase_interp;
- arma::vec meas_sat2_carrier_phase_interp;
- arma::interp1(measured_sat1.col(0), measured_sat1.col(3), t, meas_sat1_carrier_phase_interp);
- arma::interp1(measured_sat2.col(0), measured_sat2.col(3), t, meas_sat2_carrier_phase_interp);
-
- // generate double difference accumulated carrier phases
- //compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
- arma::vec delta_measured_carrier_phase_cycles = (meas_sat1_carrier_phase_interp - meas_sat1_carrier_phase_interp(0)) - (meas_sat2_carrier_phase_interp - meas_sat2_carrier_phase_interp(0));
-
- //Pseudoranges
- arma::vec meas_sat1_dist_interp;
- arma::vec meas_sat2_dist_interp;
- arma::interp1(measured_sat1.col(0), measured_sat1.col(4), t, meas_sat1_dist_interp);
- arma::interp1(measured_sat2.col(0), measured_sat2.col(4), t, meas_sat2_dist_interp);
- // generate delta pseudoranges
- arma::vec delta_measured_dist_m = meas_sat1_dist_interp - meas_sat2_dist_interp;
-
- //Carrier Doppler error
- //2. RMSE
- arma::vec err_ch0_hz;
-
- //compute error
- err_ch0_hz = meas_sat1_doppler_interp - meas_sat2_doppler_interp;
-
- //save matlab file for further analysis
- std::vector<double> tmp_vector_common_time_s(t.colptr(0),
- t.colptr(0) + t.n_rows);
-
- std::vector<double> tmp_vector_err_ch0_hz(err_ch0_hz.colptr(0),
- err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
- save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_ch0_hz, std::string("measured_doppler_error_ch_" + std::to_string(ch_id)));
-
- //compute statistics
- arma::vec err2_ch0 = arma::square(err_ch0_hz);
- double rmse_ch0 = sqrt(arma::mean(err2_ch0));
-
- //3. Mean err and variance
- double error_mean_ch0 = arma::mean(err_ch0_hz);
- double error_var_ch0 = arma::var(err_ch0_hz);
-
- // 4. Peaks
- double max_error_ch0 = arma::max(err_ch0_hz);
- double min_error_ch0 = arma::min(err_ch0_hz);
-
- //5. report
- std::streamsize ss = std::cout.precision();
- std::cout << std::setprecision(10) << data_title << "Carrier Doppler RMSE = "
- << rmse_ch0 << ", mean = " << error_mean_ch0
- << ", stdev = " << sqrt(error_var_ch0)
- << " (max,min) = " << max_error_ch0
- << "," << min_error_ch0
- << " [Hz]" << std::endl;
- std::cout.precision(ss);
-
- //plots
- if (FLAGS_show_plots)
+ if ((t1 - t0) > 0)
{
- Gnuplot g3("linespoints");
- g3.set_title(data_title + "Carrier Doppler error [Hz]");
- g3.set_grid();
- g3.set_xlabel("Time [s]");
- g3.set_ylabel("Carrier Doppler error [Hz]");
+ arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
//conversion between arma::vec and std:vector
- std::vector<double> error_vec(err_ch0_hz.colptr(0), err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
- g3.cmd("set key box opaque");
- g3.plot_xy(time_vector, error_vec,
- "Carrier Doppler error");
- g3.set_legend();
- g3.savetops(data_title + "Carrier_doppler_error");
+ arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
+ std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
+ //Doppler
+ arma::vec meas_sat1_doppler_interp;
+ arma::interp1(measured_sat1.col(0), measured_sat1.col(2), t, meas_sat1_doppler_interp);
+ arma::vec meas_sat2_doppler_interp;
+ arma::interp1(measured_sat2.col(0), measured_sat2.col(2), t, meas_sat2_doppler_interp);
- g3.showonscreen(); // window output
+ //Carrier Phase
+ arma::vec meas_sat1_carrier_phase_interp;
+ arma::vec meas_sat2_carrier_phase_interp;
+ arma::interp1(measured_sat1.col(0), measured_sat1.col(3), t, meas_sat1_carrier_phase_interp);
+ arma::interp1(measured_sat2.col(0), measured_sat2.col(3), t, meas_sat2_carrier_phase_interp);
+
+ // generate double difference accumulated carrier phases
+ //compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
+ arma::vec delta_measured_carrier_phase_cycles = (meas_sat1_carrier_phase_interp - meas_sat1_carrier_phase_interp(0)) - (meas_sat2_carrier_phase_interp - meas_sat2_carrier_phase_interp(0));
+
+ //Pseudoranges
+ arma::vec meas_sat1_dist_interp;
+ arma::vec meas_sat2_dist_interp;
+ arma::interp1(measured_sat1.col(0), measured_sat1.col(4), t, meas_sat1_dist_interp);
+ arma::interp1(measured_sat2.col(0), measured_sat2.col(4), t, meas_sat2_dist_interp);
+ // generate delta pseudoranges
+ arma::vec delta_measured_dist_m = meas_sat1_dist_interp - meas_sat2_dist_interp;
+
+ //Carrier Doppler error
+ //2. RMSE
+ arma::vec err_ch0_hz;
+
+ //compute error
+ err_ch0_hz = meas_sat1_doppler_interp - meas_sat2_doppler_interp;
+
+ //save matlab file for further analysis
+ std::vector<double> tmp_vector_common_time_s(t.colptr(0),
+ t.colptr(0) + t.n_rows);
+
+ std::vector<double> tmp_vector_err_ch0_hz(err_ch0_hz.colptr(0),
+ err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
+ save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_ch0_hz, std::string("measured_doppler_error_ch_" + std::to_string(ch_id)));
+
+ //compute statistics
+ arma::vec err2_ch0 = arma::square(err_ch0_hz);
+ double rmse_ch0 = sqrt(arma::mean(err2_ch0));
+
+ //3. Mean err and variance
+ double error_mean_ch0 = arma::mean(err_ch0_hz);
+ double error_var_ch0 = arma::var(err_ch0_hz);
+
+ // 4. Peaks
+ double max_error_ch0 = arma::max(err_ch0_hz);
+ double min_error_ch0 = arma::min(err_ch0_hz);
+
+ //5. report
+ std::streamsize ss = std::cout.precision();
+ std::cout << std::setprecision(10) << data_title << "Carrier Doppler RMSE = "
+ << rmse_ch0 << ", mean = " << error_mean_ch0
+ << ", stdev = " << sqrt(error_var_ch0)
+ << " (max,min) = " << max_error_ch0
+ << "," << min_error_ch0
+ << " [Hz]" << std::endl;
+ std::cout.precision(ss);
+
+ //plots
+ if (FLAGS_show_plots)
+ {
+ Gnuplot g3("linespoints");
+ g3.set_title(data_title + "Carrier Doppler error [Hz]");
+ g3.set_grid();
+ g3.set_xlabel("Time [s]");
+ g3.set_ylabel("Carrier Doppler error [Hz]");
+ //conversion between arma::vec and std:vector
+ std::vector<double> error_vec(err_ch0_hz.colptr(0), err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
+ g3.cmd("set key box opaque");
+ g3.plot_xy(time_vector, error_vec,
+ "Carrier Doppler error");
+ g3.set_legend();
+ g3.savetops(data_title + "Carrier_doppler_error");
+
+ g3.showonscreen(); // window output
+ }
+
+ //check results against the test tolerance
+ EXPECT_LT(error_mean_ch0, 5);
+ EXPECT_GT(error_mean_ch0, -5);
+ //assuming PLL BW=35
+ EXPECT_LT(error_var_ch0, 250);
+ EXPECT_LT(max_error_ch0, 100);
+ EXPECT_GT(min_error_ch0, -100);
+ EXPECT_LT(rmse_ch0, 30);
+
+ //Carrier Phase error
+ //2. RMSE
+ arma::vec err_carrier_phase;
+
+ err_carrier_phase = delta_measured_carrier_phase_cycles;
+
+ //save matlab file for further analysis
+ std::vector<double> tmp_vector_err_carrier_phase(err_carrier_phase.colptr(0),
+ err_carrier_phase.colptr(0) + err_carrier_phase.n_rows);
+ save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_carrier_phase, std::string("measured_carrier_phase_error_ch_" + std::to_string(ch_id)));
+
+
+ arma::vec err2_carrier_phase = arma::square(err_carrier_phase);
+ double rmse_carrier_phase = sqrt(arma::mean(err2_carrier_phase));
+
+ //3. Mean err and variance
+ double error_mean_carrier_phase = arma::mean(err_carrier_phase);
+ double error_var_carrier_phase = arma::var(err_carrier_phase);
+
+ // 4. Peaks
+ double max_error_carrier_phase = arma::max(err_carrier_phase);
+ double min_error_carrier_phase = arma::min(err_carrier_phase);
+
+ //5. report
+ ss = std::cout.precision();
+ std::cout << std::setprecision(10) << data_title << "Carrier Phase RMSE = "
+ << rmse_carrier_phase << ", mean = " << error_mean_carrier_phase
+ << ", stdev = " << sqrt(error_var_carrier_phase)
+ << " (max,min) = " << max_error_carrier_phase
+ << "," << min_error_carrier_phase
+ << " [Cycles]" << std::endl;
+ std::cout.precision(ss);
+
+ //plots
+ if (FLAGS_show_plots)
+ {
+ Gnuplot g3("linespoints");
+ g3.set_title(data_title + "Carrier Phase error [Cycles]");
+ g3.set_grid();
+ g3.set_xlabel("Time [s]");
+ g3.set_ylabel("Carrier Phase error [Cycles]");
+ //conversion between arma::vec and std:vector
+ std::vector<double> range_error_m(err_carrier_phase.colptr(0), err_carrier_phase.colptr(0) + err_carrier_phase.n_rows);
+ g3.cmd("set key box opaque");
+ g3.plot_xy(time_vector, range_error_m,
+ "Carrier Phase error");
+ g3.set_legend();
+ g3.savetops(data_title + "duplicated_satellite_carrier_phase_error");
+
+ g3.showonscreen(); // window output
+ }
+
+ //check results against the test tolerance
+ EXPECT_LT(rmse_carrier_phase, 0.25);
+ EXPECT_LT(error_mean_carrier_phase, 0.2);
+ EXPECT_GT(error_mean_carrier_phase, -0.2);
+ EXPECT_LT(error_var_carrier_phase, 0.5);
+ EXPECT_LT(max_error_carrier_phase, 0.5);
+ EXPECT_GT(min_error_carrier_phase, -0.5);
+
+ //Pseudorange error
+ //2. RMSE
+ arma::vec err_pseudorange;
+
+ err_pseudorange = delta_measured_dist_m;
+
+ //save matlab file for further analysis
+ std::vector<double> tmp_vector_err_pseudorange(err_pseudorange.colptr(0),
+ err_pseudorange.colptr(0) + err_pseudorange.n_rows);
+ save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_pseudorange, std::string("measured_pr_error_ch_" + std::to_string(ch_id)));
+
+ arma::vec err2_pseudorange = arma::square(err_pseudorange);
+ double rmse_pseudorange = sqrt(arma::mean(err2_pseudorange));
+
+ //3. Mean err and variance
+ double error_mean_pseudorange = arma::mean(err_pseudorange);
+ double error_var_pseudorange = arma::var(err_pseudorange);
+
+ // 4. Peaks
+ double max_error_pseudorange = arma::max(err_pseudorange);
+ double min_error_pseudorange = arma::min(err_pseudorange);
+
+ //5. report
+ ss = std::cout.precision();
+ std::cout << std::setprecision(10) << data_title << "Pseudorange RMSE = "
+ << rmse_pseudorange << ", mean = " << error_mean_pseudorange
+ << ", stdev = " << sqrt(error_var_pseudorange)
+ << " (max,min) = " << max_error_pseudorange
+ << "," << min_error_pseudorange
+ << " [meters]" << std::endl;
+ std::cout.precision(ss);
+
+ //plots
+ if (FLAGS_show_plots)
+ {
+ Gnuplot g3("linespoints");
+ g3.set_title(data_title + "Pseudorange error [m]");
+ g3.set_grid();
+ g3.set_xlabel("Time [s]");
+ g3.set_ylabel("Pseudorange error [m]");
+ //conversion between arma::vec and std:vector
+ std::vector<double> range_error_m(err_pseudorange.colptr(0), err_pseudorange.colptr(0) + err_pseudorange.n_rows);
+ g3.cmd("set key box opaque");
+ g3.plot_xy(time_vector, range_error_m,
+ "Pseudorrange error");
+ g3.set_legend();
+ g3.savetops(data_title + "duplicated_satellite_pseudorrange_error");
+
+ g3.showonscreen(); // window output
+ }
+
+ //check results against the test tolerance
+ EXPECT_LT(rmse_pseudorange, 3.0);
+ EXPECT_LT(error_mean_pseudorange, 1.0);
+ EXPECT_GT(error_mean_pseudorange, -1.0);
+ EXPECT_LT(error_var_pseudorange, 10.0);
+ EXPECT_LT(max_error_pseudorange, 10.0);
+ EXPECT_GT(min_error_pseudorange, -10.0);
}
-
- //check results against the test tolerance
- EXPECT_LT(error_mean_ch0, 5);
- EXPECT_GT(error_mean_ch0, -5);
- //assuming PLL BW=35
- EXPECT_LT(error_var_ch0, 250);
- EXPECT_LT(max_error_ch0, 100);
- EXPECT_GT(min_error_ch0, -100);
- EXPECT_LT(rmse_ch0, 30);
-
- //Carrier Phase error
- //2. RMSE
- arma::vec err_carrier_phase;
-
- err_carrier_phase = delta_measured_carrier_phase_cycles;
-
- //save matlab file for further analysis
- std::vector<double> tmp_vector_err_carrier_phase(err_carrier_phase.colptr(0),
- err_carrier_phase.colptr(0) + err_carrier_phase.n_rows);
- save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_carrier_phase, std::string("measured_carrier_phase_error_ch_" + std::to_string(ch_id)));
-
-
- arma::vec err2_carrier_phase = arma::square(err_carrier_phase);
- double rmse_carrier_phase = sqrt(arma::mean(err2_carrier_phase));
-
- //3. Mean err and variance
- double error_mean_carrier_phase = arma::mean(err_carrier_phase);
- double error_var_carrier_phase = arma::var(err_carrier_phase);
-
- // 4. Peaks
- double max_error_carrier_phase = arma::max(err_carrier_phase);
- double min_error_carrier_phase = arma::min(err_carrier_phase);
-
- //5. report
- ss = std::cout.precision();
- std::cout << std::setprecision(10) << data_title << "Carrier Phase RMSE = "
- << rmse_carrier_phase << ", mean = " << error_mean_carrier_phase
- << ", stdev = " << sqrt(error_var_carrier_phase)
- << " (max,min) = " << max_error_carrier_phase
- << "," << min_error_carrier_phase
- << " [Cycles]" << std::endl;
- std::cout.precision(ss);
-
- //plots
- if (FLAGS_show_plots)
- {
- Gnuplot g3("linespoints");
- g3.set_title(data_title + "Carrier Phase error [Cycles]");
- g3.set_grid();
- g3.set_xlabel("Time [s]");
- g3.set_ylabel("Carrier Phase error [Cycles]");
- //conversion between arma::vec and std:vector
- std::vector<double> range_error_m(err_carrier_phase.colptr(0), err_carrier_phase.colptr(0) + err_carrier_phase.n_rows);
- g3.cmd("set key box opaque");
- g3.plot_xy(time_vector, range_error_m,
- "Carrier Phase error");
- g3.set_legend();
- g3.savetops(data_title + "duplicated_satellite_carrier_phase_error");
-
- g3.showonscreen(); // window output
- }
-
- //check results against the test tolerance
- EXPECT_LT(rmse_carrier_phase, 0.25);
- EXPECT_LT(error_mean_carrier_phase, 0.2);
- EXPECT_GT(error_mean_carrier_phase, -0.2);
- EXPECT_LT(error_var_carrier_phase, 0.5);
- EXPECT_LT(max_error_carrier_phase, 0.5);
- EXPECT_GT(min_error_carrier_phase, -0.5);
-
- //Pseudorange error
- //2. RMSE
- arma::vec err_pseudorange;
-
- err_pseudorange = delta_measured_dist_m;
-
- //save matlab file for further analysis
- std::vector<double> tmp_vector_err_pseudorange(err_pseudorange.colptr(0),
- err_pseudorange.colptr(0) + err_pseudorange.n_rows);
- save_mat_xy(tmp_vector_common_time_s, tmp_vector_err_pseudorange, std::string("measured_pr_error_ch_" + std::to_string(ch_id)));
-
- arma::vec err2_pseudorange = arma::square(err_pseudorange);
- double rmse_pseudorange = sqrt(arma::mean(err2_pseudorange));
-
- //3. Mean err and variance
- double error_mean_pseudorange = arma::mean(err_pseudorange);
- double error_var_pseudorange = arma::var(err_pseudorange);
-
- // 4. Peaks
- double max_error_pseudorange = arma::max(err_pseudorange);
- double min_error_pseudorange = arma::min(err_pseudorange);
-
- //5. report
- ss = std::cout.precision();
- std::cout << std::setprecision(10) << data_title << "Pseudorange RMSE = "
- << rmse_pseudorange << ", mean = " << error_mean_pseudorange
- << ", stdev = " << sqrt(error_var_pseudorange)
- << " (max,min) = " << max_error_pseudorange
- << "," << min_error_pseudorange
- << " [meters]" << std::endl;
- std::cout.precision(ss);
-
- //plots
- if (FLAGS_show_plots)
- {
- Gnuplot g3("linespoints");
- g3.set_title(data_title + "Pseudorange error [m]");
- g3.set_grid();
- g3.set_xlabel("Time [s]");
- g3.set_ylabel("Pseudorange error [m]");
- //conversion between arma::vec and std:vector
- std::vector<double> range_error_m(err_pseudorange.colptr(0), err_pseudorange.colptr(0) + err_pseudorange.n_rows);
- g3.cmd("set key box opaque");
- g3.plot_xy(time_vector, range_error_m,
- "Pseudorrange error");
- g3.set_legend();
- g3.savetops(data_title + "duplicated_satellite_pseudorrange_error");
-
- g3.showonscreen(); // window output
- }
-
- //check results against the test tolerance
- EXPECT_LT(rmse_pseudorange, 3.0);
- EXPECT_LT(error_mean_pseudorange, 1.0);
- EXPECT_GT(error_mean_pseudorange, -1.0);
- EXPECT_LT(error_var_pseudorange, 10.0);
- EXPECT_LT(max_error_pseudorange, 10.0);
- EXPECT_GT(min_error_pseudorange, -10.0);
}
bool HybridObservablesTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
@@ -1420,77 +1435,82 @@ void HybridObservablesTest::check_results_code_pseudorange(
int size2 = measured_ch1.col(0).n_rows;
double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));
- arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
- //conversion between arma::vec and std:vector
- arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
- std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
-
-
- arma::vec true_ch0_dist_interp;
- arma::vec true_ch1_dist_interp;
- arma::interp1(true_tow_ch0_s, true_ch0.col(1), t, true_ch0_dist_interp);
- arma::interp1(true_tow_ch1_s, true_ch1.col(1), t, true_ch1_dist_interp);
-
- arma::vec meas_ch0_dist_interp;
- arma::vec meas_ch1_dist_interp;
- arma::interp1(measured_ch0.col(0), measured_ch0.col(4), t, meas_ch0_dist_interp);
- arma::interp1(measured_ch1.col(0), measured_ch1.col(4), t, meas_ch1_dist_interp);
-
- // generate delta pseudoranges
- arma::vec delta_true_dist_m = true_ch0_dist_interp - true_ch1_dist_interp;
- arma::vec delta_measured_dist_m = meas_ch0_dist_interp - meas_ch1_dist_interp;
-
- //2. RMSE
- arma::vec err;
-
- err = delta_measured_dist_m - delta_true_dist_m;
- arma::vec err2 = arma::square(err);
- double rmse = sqrt(arma::mean(err2));
-
- //3. Mean err and variance
- double error_mean = arma::mean(err);
- double error_var = arma::var(err);
-
- // 4. Peaks
- double max_error = arma::max(err);
- double min_error = arma::min(err);
-
- //5. report
- std::streamsize ss = std::cout.precision();
- std::cout << std::setprecision(10) << data_title << "Double diff Pseudorange RMSE = "
- << rmse << ", mean = " << error_mean
- << ", stdev = " << sqrt(error_var)
- << " (max,min) = " << max_error
- << "," << min_error
- << " [meters]" << std::endl;
- std::cout.precision(ss);
-
- //plots
- if (FLAGS_show_plots)
+ if ((t1 - t0) > 0)
{
- Gnuplot g3("linespoints");
- g3.set_title(data_title + "Double diff Pseudorange error [m]");
- g3.set_grid();
- g3.set_xlabel("Time [s]");
- g3.set_ylabel("Double diff Pseudorange error [m]");
+ arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
//conversion between arma::vec and std:vector
- std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
- g3.cmd("set key box opaque");
- g3.plot_xy(time_vector, range_error_m,
- "Double diff Pseudorrange error");
- g3.set_legend();
- g3.savetops(data_title + "double_diff_pseudorrange_error");
+ arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
+ std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
+ arma::vec true_ch0_dist_interp;
+ arma::vec true_ch1_dist_interp;
+ arma::interp1(true_tow_ch0_s, true_ch0.col(1), t, true_ch0_dist_interp);
+ arma::interp1(true_tow_ch1_s, true_ch1.col(1), t, true_ch1_dist_interp);
- g3.showonscreen(); // window output
+ arma::vec meas_ch0_dist_interp;
+ arma::vec meas_ch1_dist_interp;
+ arma::interp1(measured_ch0.col(0), measured_ch0.col(4), t, meas_ch0_dist_interp);
+ arma::interp1(measured_ch1.col(0), measured_ch1.col(4), t, meas_ch1_dist_interp);
+
+ // generate delta pseudoranges
+ arma::vec delta_true_dist_m = true_ch0_dist_interp - true_ch1_dist_interp;
+ arma::vec delta_measured_dist_m = meas_ch0_dist_interp - meas_ch1_dist_interp;
+
+ //2. RMSE
+ arma::vec err;
+
+ err = delta_measured_dist_m - delta_true_dist_m;
+ arma::vec err2 = arma::square(err);
+ double rmse = sqrt(arma::mean(err2));
+
+ //3. Mean err and variance
+ double error_mean = arma::mean(err);
+ double error_var = arma::var(err);
+
+ // 4. Peaks
+ double max_error = arma::max(err);
+ double min_error = arma::min(err);
+
+ //5. report
+ std::streamsize ss = std::cout.precision();
+ std::cout << std::setprecision(10) << data_title << "Double diff Pseudorange RMSE = "
+ << rmse << ", mean = " << error_mean
+ << ", stdev = " << sqrt(error_var)
+ << " (max,min) = " << max_error
+ << "," << min_error
+ << " [meters]" << std::endl;
+ std::cout.precision(ss);
+
+ //plots
+ if (FLAGS_show_plots)
+ {
+ Gnuplot g3("linespoints");
+ g3.set_title(data_title + "Double diff Pseudorange error [m]");
+ g3.set_grid();
+ g3.set_xlabel("Time [s]");
+ g3.set_ylabel("Double diff Pseudorange error [m]");
+ //conversion between arma::vec and std:vector
+ std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
+ g3.cmd("set key box opaque");
+ g3.plot_xy(time_vector, range_error_m,
+ "Double diff Pseudorrange error");
+ g3.set_legend();
+ g3.savetops(data_title + "double_diff_pseudorrange_error");
+
+ g3.showonscreen(); // window output
+ }
+
+ //check results against the test tolerance
+ ASSERT_LT(rmse, 3.0);
+ ASSERT_LT(error_mean, 1.0);
+ ASSERT_GT(error_mean, -1.0);
+ ASSERT_LT(error_var, 10.0);
+ ASSERT_LT(max_error, 10.0);
+ ASSERT_GT(min_error, -10.0);
+ }
+ else
+ {
+ std::cout << "Problem with observables in " << data_title << std::endl;
}
-
- //check results against the test tolerance
- ASSERT_LT(rmse, 3.0);
- ASSERT_LT(error_mean, 1.0);
- ASSERT_GT(error_mean, -1.0);
- ASSERT_LT(error_var, 10.0);
- ASSERT_LT(max_error, 10.0);
- ASSERT_GT(min_error, -10.0);
}
bool HybridObservablesTest::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_Synchro gnss)
@@ -1981,7 +2001,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
int sat2_ch_id = -1;
for (unsigned int ch = 0; ch < measured_obs_vec.size(); ch++)
{
- if (epoch_counters_vec.at(ch) > 10) //discard non-valid channels
+ if (epoch_counters_vec.at(ch) > 100) //discard non-valid channels
{
if (gnss_synchro_vec.at(ch).PRN == prn_pairs.at(n))
{
@@ -2023,7 +2043,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
unsigned int min_pr_ch_id = 0;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
- if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
+ if (epoch_counters_vec.at(n) > 100) //discard non-valid channels
{
{
if (measured_obs_vec.at(n)(0, 4) < min_pr)
@@ -2040,8 +2060,20 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
}
arma::vec receiver_time_offset_ref_channel_s;
- receiver_time_offset_ref_channel_s = (true_obs_vec.at(min_pr_ch_id).col(1)(0) - measured_obs_vec.at(min_pr_ch_id).col(4)(0)) / GPS_C_M_S;
- std::cout << "Ref. channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
+ arma::uvec index2;
+ index2 = arma::find(true_obs_vec.at(min_pr_ch_id).col(0) >= measured_obs_vec.at(min_pr_ch_id).col(0)(0), 1, "first");
+ if ((!index2.empty()) and (index2(0) > 0))
+ {
+ receiver_time_offset_ref_channel_s = (true_obs_vec.at(min_pr_ch_id).col(1)(index2(0)) - measured_obs_vec.at(min_pr_ch_id).col(4)(0)) / GPS_C_M_S;
+ std::cout << "Ref. channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
+ }
+ else
+ {
+ ASSERT_NO_THROW(
+ throw std::exception();)
+ << "Error finding observation time epoch in the reference data";
+ }
+
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
@@ -2083,7 +2115,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
save_mat_xy(tmp_vector_x6, tmp_vector_y6, std::string("measured_cp_ch_" + std::to_string(n)));
- if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
+ if (epoch_counters_vec.at(n) > 100) //discard non-valid channels
{
arma::vec true_TOW_ref_ch_s = true_obs_vec.at(min_pr_ch_id).col(0) - receiver_time_offset_ref_channel_s(0);
arma::vec true_TOW_ch_s = true_obs_vec.at(n).col(0) - receiver_time_offset_ref_channel_s(0);
@@ -2097,7 +2129,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
-
//Do not compare E5a with E5 RINEX due to the Doppler frequency discrepancy caused by the different center frequencies
//E5a_fc=1176.45e6, E5b_fc=1207.14e6, E5_fc=1191.795e6;
if (strcmp("5X\0", gnss_synchro_vec.at(n).Signal) != 0 or FLAGS_compare_with_5X)
diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/serdes_monitor_pvt_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/serdes_monitor_pvt_test.cc
index eb586f147..647e7f245 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/serdes_monitor_pvt_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/serdes_monitor_pvt_test.cc
@@ -29,12 +29,13 @@
*/
#include "serdes_monitor_pvt.h"
+#include <memory>
TEST(Serdes_Monitor_Pvt_Test, Simpletest)
{
- Monitor_Pvt monitor = Monitor_Pvt();
+ std::shared_ptr<Monitor_Pvt> monitor = std::make_shared<Monitor_Pvt>(Monitor_Pvt());
double true_latitude = 23.4;
- monitor.latitude = true_latitude;
+ monitor->latitude = true_latitude;
Serdes_Monitor_Pvt serdes = Serdes_Monitor_Pvt();
std::string serialized_data = serdes.createProtobuffer(monitor);
diff --git a/src/tests/unit-tests/signal-processing-blocks/resampler/direct_resampler_conditioner_cc_test.cc b/src/tests/unit-tests/signal-processing-blocks/resampler/direct_resampler_conditioner_cc_test.cc
index d8ce67450..0f4c3ad47 100644
--- a/src/tests/unit-tests/signal-processing-blocks/resampler/direct_resampler_conditioner_cc_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/resampler/direct_resampler_conditioner_cc_test.cc
@@ -39,10 +39,10 @@
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
+#include "concurrent_queue.h"
#include "direct_resampler_conditioner_cc.h"
#include "gnss_sdr_valve.h"
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
TEST(DirectResamplerConditionerCcTest, InstantiationAndRunTest)
@@ -52,7 +52,7 @@ TEST(DirectResamplerConditionerCcTest, InstantiationAndRunTest)
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
int nsamples = 1000000; //Number of samples to be computed
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
gr::top_block_sptr top_block = gr::make_top_block("direct_resampler_conditioner_cc_test");
boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000.0, 1.0, gr_complex(0.0));
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
diff --git a/src/tests/unit-tests/signal-processing-blocks/resampler/mmse_resampler_test.cc b/src/tests/unit-tests/signal-processing-blocks/resampler/mmse_resampler_test.cc
index 2bc26b8b4..acf888a0b 100644
--- a/src/tests/unit-tests/signal-processing-blocks/resampler/mmse_resampler_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/resampler/mmse_resampler_test.cc
@@ -37,10 +37,10 @@
#else
#include <gnuradio/analog/sig_source_c.h>
#endif
+#include "concurrent_queue.h"
#include "gnss_sdr_valve.h"
#include "mmse_resampler_conditioner.h"
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
TEST(MmseResamplerTest, InstantiationAndRunTestWarning)
{
@@ -49,7 +49,7 @@ TEST(MmseResamplerTest, InstantiationAndRunTestWarning)
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
int nsamples = 1000000; //Number of samples to be computed
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
gr::top_block_sptr top_block = gr::make_top_block("mmse_resampler_conditioner_cc_test");
boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000.0, 1.0, gr_complex(0.0));
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
@@ -90,7 +90,7 @@ TEST(MmseResamplerTest, InstantiationAndRunTest2)
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
int nsamples = 1000000; //Number of samples to be computed
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
gr::top_block_sptr top_block = gr::make_top_block("mmse_resampler_conditioner_cc_test");
boost::shared_ptr<gr::analog::sig_source_c> source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000.0, 1.0, gr_complex(0.0));
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue);
diff --git a/src/tests/unit-tests/signal-processing-blocks/sources/file_signal_source_test.cc b/src/tests/unit-tests/signal-processing-blocks/sources/file_signal_source_test.cc
index dd1020249..49ea2c244 100644
--- a/src/tests/unit-tests/signal-processing-blocks/sources/file_signal_source_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/sources/file_signal_source_test.cc
@@ -30,15 +30,15 @@
*/
#include "file_signal_source.h"
+#include "concurrent_queue.h"
#include "in_memory_configuration.h"
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <stdexcept>
TEST(FileSignalSource, Instantiate)
{
- boost::shared_ptr<gr::msg_queue> queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<InMemoryConfiguration> config = std::make_shared<InMemoryConfiguration>();
config->set_property("Test.samples", "0");
@@ -57,7 +57,7 @@ TEST(FileSignalSource, Instantiate)
TEST(FileSignalSource, InstantiateFileNotExists)
{
- boost::shared_ptr<gr::msg_queue> queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
std::shared_ptr<InMemoryConfiguration> config = std::make_shared<InMemoryConfiguration>();
config->set_property("Test.samples", "0");
diff --git a/src/tests/unit-tests/signal-processing-blocks/sources/gnss_sdr_valve_test.cc b/src/tests/unit-tests/signal-processing-blocks/sources/gnss_sdr_valve_test.cc
index 02e1b09df..52e987bf3 100644
--- a/src/tests/unit-tests/signal-processing-blocks/sources/gnss_sdr_valve_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/sources/gnss_sdr_valve_test.cc
@@ -38,13 +38,14 @@
#else
#include <gnuradio/analog/sig_source_f.h>
#endif
+#include "concurrent_queue.h"
#include "gnss_sdr_valve.h"
#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/msg_queue.h>
+#include <pmt/pmt.h>
TEST(ValveTest, CheckEventSentAfter100Samples)
{
- gr::msg_queue::sptr queue = gr::msg_queue::make(0);
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
gr::top_block_sptr top_block = gr::make_top_block("gnss_sdr_valve_test");
@@ -52,8 +53,9 @@ TEST(ValveTest, CheckEventSentAfter100Samples)
boost::shared_ptr<gr::block> valve = gnss_sdr_make_valve(sizeof(float), 100, queue);
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(float));
- unsigned int expected0 = 0;
- EXPECT_EQ(expected0, queue->count());
+ bool expected0 = false;
+ pmt::pmt_t msg;
+ EXPECT_EQ(expected0, queue->timed_wait_and_pop(msg, 100));
top_block->connect(source, 0, valve, 0);
top_block->connect(valve, 0, sink, 0);
@@ -61,6 +63,6 @@ TEST(ValveTest, CheckEventSentAfter100Samples)
top_block->run();
top_block->stop();
- unsigned int expected1 = 1;
- EXPECT_EQ(expected1, queue->count());
+ bool expected1 = true;
+ EXPECT_EQ(expected1, queue->timed_wait_and_pop(msg, 100));
}
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc
index 469ec2c27..0b2bdd9aa 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc
@@ -32,6 +32,7 @@
#include "galileo_e1_dll_pll_veml_tracking.h"
+#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -41,7 +42,6 @@
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
@@ -68,7 +68,7 @@ protected:
void init();
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
@@ -114,7 +114,7 @@ TEST_F(GalileoE1DllPllVemlTrackingInternalTest, ConnectAndRun)
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds(0);
init();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Tracking test");
// Example using smart pointers and the block factory
@@ -161,7 +161,7 @@ TEST_F(GalileoE1DllPllVemlTrackingInternalTest, ValidationOfResults)
int num_samples = 80000000; // 8 Msps
unsigned int skiphead_sps = 8000000; // 8 Msps
init();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Tracking test");
// Example using smart pointers and the block factory
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc
index 122184eb7..92dae1d47 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc
@@ -31,6 +31,7 @@
*/
+#include "concurrent_queue.h"
#include "galileo_e5a_dll_pll_tracking.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
@@ -41,7 +42,6 @@
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
@@ -69,7 +69,7 @@ protected:
void init();
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
@@ -110,7 +110,7 @@ TEST_F(GalileoE5aTrackingTest, ValidationOfResults)
int fs_in = 32000000;
int nsamples = 32000000 * 5;
init();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Tracking test");
// Example using smart pointers and the block factory
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
index 003c63a9d..2a2e8d860 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc
@@ -32,6 +32,7 @@
#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
+#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -42,7 +43,6 @@
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
@@ -119,7 +119,7 @@ protected:
void init();
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
@@ -156,7 +156,7 @@ TEST_F(GlonassL1CaDllPllCAidTrackingTest, ValidationOfResults)
int nsamples = fs_in * 4e-3 * 2;
init();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Tracking test");
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GlonassL1CaDllPllCAidTracking>(config.get(), "Tracking_1G", 1, 1);
boost::shared_ptr<GlonassL1CaDllPllCAidTrackingTest_msg_rx> msg_rx = GlonassL1CaDllPllCAidTrackingTest_msg_rx_make();
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
index 20a910ce4..be9128699 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc
@@ -32,6 +32,7 @@
#include "glonass_l1_ca_dll_pll_tracking.h"
+#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
@@ -42,7 +43,6 @@
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
@@ -120,7 +120,7 @@ protected:
void init();
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
@@ -156,7 +156,7 @@ TEST_F(GlonassL1CaDllPllTrackingTest, ValidationOfResults)
int nsamples = fs_in * 4e-3 * 2;
init();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Tracking test");
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GlonassL1CaDllPllTracking>(config.get(), "Tracking_1G", 1, 1);
boost::shared_ptr<GlonassL1CaDllPllTrackingTest_msg_rx> msg_rx = GlonassL1CaDllPllTrackingTest_msg_rx_make();
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc
index a640db425..2ace452e5 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc
@@ -31,18 +31,18 @@
*/
+#include "gps_l2_m_dll_pll_tracking.h"
+#include "concurrent_queue.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_sdr_valve.h"
#include "gnss_synchro.h"
-#include "gps_l2_m_dll_pll_tracking.h"
#include "in_memory_configuration.h"
#include "tracking_interface.h"
#include <gnuradio/analog/sig_source_waveform.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
@@ -123,7 +123,7 @@ protected:
void init();
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
@@ -160,7 +160,7 @@ TEST_F(GpsL2MDllPllTrackingTest, ValidationOfResults)
int nsamples = fs_in * 9;
init();
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Tracking test");
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL2MDllPllTracking>(config.get(), "Tracking_2S", 1, 1);
boost::shared_ptr<GpsL2MDllPllTrackingTest_msg_rx> msg_rx = GpsL2MDllPllTrackingTest_msg_rx_make();
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc
index fb38b8efa..169513401 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc
@@ -36,7 +36,7 @@
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "acquisition_msg_rx.h"
-#include "control_message_factory.h"
+#include "concurrent_queue.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "galileo_e5a_pcps_acquisition.h"
@@ -61,9 +61,9 @@
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gnuradio/filter/firdes.h>
-#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
+#include <pmt/pmt.h>
#include <chrono>
#include <cstdint>
#include <utility>
@@ -229,7 +229,7 @@ public:
Gnss_Synchro gnss_synchro;
size_t item_size;
- gr::msg_queue::sptr queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
};
@@ -795,14 +795,10 @@ TEST_F(TrackingPullInTest, ValidationOfResults)
// create the msg queue for valve
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
long long int acq_to_trk_delay_samples = ceil(static_cast<double>(FLAGS_fs_gen_sps) * FLAGS_acq_to_trk_delay_s);
auto resetable_valve_ = gnss_sdr_make_valve(sizeof(gr_complex), acq_to_trk_delay_samples, queue, false);
- std::shared_ptr<ControlMessageFactory> control_message_factory_;
- std::shared_ptr<std::vector<std::shared_ptr<ControlMessage>>> control_messages_;
-
-
//CN0 LOOP
std::vector<std::vector<double>> pull_in_results_v_v;
@@ -883,15 +879,8 @@ TEST_F(TrackingPullInTest, ValidationOfResults)
top_block->start();
std::cout << " Waiting for valve...\n";
//wait the valve message indicating the circulation of the amount of samples of the delay
- gr::message::sptr queue_message = queue->delete_head();
- if (queue_message != nullptr)
- {
- control_messages_ = control_message_factory_->GetControlMessages(queue_message);
- }
- else
- {
- control_messages_->clear();
- }
+ pmt::pmt_t msg;
+ queue->wait_and_pop(msg);
std::cout << " Starting tracking...\n";
tracking->start_tracking();
resetable_valve_->open_valve();
diff --git a/src/utils/front-end-cal/main.cc b/src/utils/front-end-cal/main.cc
index 54723dfc5..696abfa6c 100644
--- a/src/utils/front-end-cal/main.cc
+++ b/src/utils/front-end-cal/main.cc
@@ -60,9 +60,8 @@
#include <gnuradio/blocks/head.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
-#include <gnuradio/gr_complex.h> // for gr_complex
-#include <gnuradio/io_signature.h> // for io_signature
-#include <gnuradio/msg_queue.h>
+#include <gnuradio/gr_complex.h> // for gr_complex
+#include <gnuradio/io_signature.h> // for io_signature
#include <gnuradio/runtime_types.h> // for block_sptr
#include <gnuradio/top_block.h>
#include <pmt/pmt.h> // for pmt_t, to_long
@@ -189,9 +188,9 @@ bool front_end_capture(const std::shared_ptr<ConfigurationInterface>& configurat
{
gr::top_block_sptr top_block;
GNSSBlockFactory block_factory;
- boost::shared_ptr<gr::msg_queue> queue;
+ std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue;
- queue = gr::msg_queue::make(0);
+ queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
top_block = gr::make_top_block("Acquisition test");
std::shared_ptr<GNSSBlockInterface> source;