From 7560a158f077b989a6a16eea482d96201278b5cc Mon Sep 17 00:00:00 2001 From: Javier Arribas Date: Wed, 13 Apr 2016 16:19:15 +0200 Subject: [PATCH] More telemetry global queues migration to GNURadio asynchronous messages and some code cleaning --- .../PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc | 4 +- .../PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc | 4 +- .../PVT/gnuradio_blocks/hybrid_pvt_cc.cc | 4 +- .../galileo_e1b_telemetry_decoder_cc.cc | 13 +- .../galileo_e5a_telemetry_decoder_cc.cc | 44 +-- .../galileo_e5a_telemetry_decoder_cc.h | 13 - .../gps_l1_ca_telemetry_decoder_cc.cc | 9 +- .../gps_l2_m_telemetry_decoder_cc.cc | 28 +- .../gps_l2_m_telemetry_decoder_cc.h | 3 - src/core/receiver/control_thread.cc | 259 +++++++----------- src/core/receiver/control_thread.h | 43 +-- src/core/receiver/gnss_flowgraph.cc | 8 + src/core/receiver/gnss_flowgraph.h | 7 +- src/main/main.cc | 5 - src/utils/front-end-cal/main.cc | 6 - 15 files changed, 144 insertions(+), 306 deletions(-) diff --git a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc index da6c07af1..091c03f4b 100644 --- a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc @@ -83,12 +83,14 @@ void galileo_e1_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg) // update/insert new ephemeris record to the global ephemeris map d_ls_pvt->galileo_almanac=*galileo_almanac; DLOG(INFO) << "New Galileo Almanac has arrived "; + }else{ + LOG(WARNING) << "msg_handler_telemetry unknown object type!"; } } catch(boost::bad_any_cast& e) { - DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n"; + LOG(WARNING) << "msg_handler_telemetry Bad any cast!\n"; } } galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) : diff --git a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc index 07f45ba3f..c1ceed891 100644 --- a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc @@ -128,12 +128,14 @@ void gps_l1_ca_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg) { rp->log_rinex_sbs(rp->sbsFile, sbas_raw_msg); } + }else{ + LOG(WARNING) << "msg_handler_telemetry unknown object type!"; } } catch(boost::bad_any_cast& e) { - DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n"; + LOG(WARNING) << "msg_handler_telemetry Bad any cast!\n"; } } diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc index 355a31fb0..6853ead34 100644 --- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc @@ -116,12 +116,14 @@ void hybrid_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg) // update/insert new ephemeris record to the global ephemeris map d_ls_pvt->galileo_almanac=*galileo_almanac; DLOG(INFO) << "New Galileo Almanac has arrived "; + }else{ + LOG(WARNING) << "msg_handler_telemetry unknown object type!"; } } catch(boost::bad_any_cast& e) { - DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n"; + LOG(WARNING) << "msg_handler_telemetry Bad any cast!"; } } diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc index a3fe43b15..ab04c713f 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc @@ -250,28 +250,25 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int if (d_nav.have_new_ephemeris() == true) { // get object for this SV (mandatory) - std::shared_ptr tmp_obj= std::make_shared(); - *tmp_obj = d_nav.get_ephemeris();//notice that the read operation will clear the valid flag + std::shared_ptr tmp_obj= std::make_shared( d_nav.get_ephemeris()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); + } if (d_nav.have_new_iono_and_GST() == true) { // get object for this SV (mandatory) - std::shared_ptr tmp_obj= std::make_shared(); - *tmp_obj = d_nav.get_iono(); //notice that the read operation will clear the valid flag + std::shared_ptr tmp_obj= std::make_shared(d_nav.get_iono()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_utc_model() == true) { // get object for this SV (mandatory) - std::shared_ptr tmp_obj= std::make_shared(); - *tmp_obj = d_nav.get_utc_model(); //notice that the read operation will clear the valid flag + std::shared_ptr tmp_obj= std::make_shared(d_nav.get_utc_model()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_almanac() == true) { - std::shared_ptr tmp_obj= std::make_shared(); - *tmp_obj = d_nav.get_almanac(); + std::shared_ptr tmp_obj= std::make_shared(d_nav.get_almanac()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); //debug std::cout << "Galileo almanac received!" << std::endl; diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc index 1a75d478f..45d91648e 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc @@ -170,22 +170,18 @@ void galileo_e5a_telemetry_decoder_cc::decode_word(double *page_symbols,int fram // 4. Push the new navigation data to the queues if (d_nav.have_new_ephemeris() == true) { - // get ephemeris object for this SV - Galileo_Ephemeris ephemeris = d_nav.get_ephemeris();//notice that the read operation will clear the valid flag - //std::cout<<"New Galileo Ephemeris received for SV "<push(ephemeris); + std::shared_ptr tmp_obj= std::make_shared(d_nav.get_ephemeris()); + this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_iono_and_GST() == true) { - Galileo_Iono iono = d_nav.get_iono(); //notice that the read operation will clear the valid flag - //std::cout<<"New Galileo IONO model (and UTC) received for SV "<push(iono); + std::shared_ptr tmp_obj= std::make_shared(d_nav.get_iono()); + this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_utc_model() == true) { - Galileo_Utc_Model utc_model = d_nav.get_utc_model(); //notice that the read operation will clear the valid flag - //std::cout<<"New Galileo UTC model received for SV "<push(utc_model); + std::shared_ptr tmp_obj= std::make_shared(d_nav.get_utc_model()); + this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } } @@ -260,10 +256,6 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc( d_sign_init = 0; d_flag_preamble = false; - d_ephemeris_queue = 0; - d_iono_queue = 0; - d_utc_model_queue = 0; - d_almanac_queue = 0; d_channel = 0; Prn_timestamp_at_preamble_ms = 0; flag_TOW_set = false; @@ -612,27 +604,3 @@ void galileo_e5a_telemetry_decoder_cc::set_channel(int channel) } } } - - -void galileo_e5a_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue *ephemeris_queue) -{ - d_ephemeris_queue = ephemeris_queue; -} - - -void galileo_e5a_telemetry_decoder_cc::set_iono_queue(concurrent_queue *iono_queue) -{ - d_iono_queue = iono_queue; -} - - -void galileo_e5a_telemetry_decoder_cc::set_almanac_queue(concurrent_queue *almanac_queue) -{ - d_almanac_queue = almanac_queue; -} - - -void galileo_e5a_telemetry_decoder_cc::set_utc_model_queue(concurrent_queue *utc_model_queue) -{ - d_utc_model_queue = utc_model_queue; -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h index 7f07d3e39..8d7913fe5 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h @@ -68,10 +68,6 @@ public: ~galileo_e5a_telemetry_decoder_cc(); void set_satellite(Gnss_Satellite satellite); //!< Set satellite PRN void set_channel(int channel); //!< Set receiver's channel - void set_ephemeris_queue(concurrent_queue *ephemeris_queue); //!< Set the satellite data queue - void set_iono_queue(concurrent_queue *iono_queue); //!< Set the iono data queue - void set_almanac_queue(concurrent_queue *almanac_queue); //!< Set the almanac data queue - void set_utc_model_queue(concurrent_queue *utc_model_queue); //!< Set the UTC model queue /*! * \brief This is where all signal processing takes place */ @@ -117,15 +113,6 @@ private: // navigation message vars Galileo_Fnav_Message d_nav; - // Galileo ephemeris queue - concurrent_queue *d_ephemeris_queue; - // ionospheric parameters queue - concurrent_queue *d_iono_queue; - // UTC model parameters queue - concurrent_queue *d_utc_model_queue; - // Almanac queue - concurrent_queue *d_almanac_queue; - boost::shared_ptr d_queue; bool d_dump; Gnss_Satellite d_satellite; diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc index 28caea364..bce1a3bb2 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc @@ -281,22 +281,19 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_ if (d_GPS_FSM.d_nav.satellite_validation() == true) { // get ephemeris object for this SV (mandatory) - std::shared_ptr tmp_obj= std::make_shared(); - *tmp_obj = d_GPS_FSM.d_nav.get_ephemeris(); + std::shared_ptr tmp_obj= std::make_shared(d_GPS_FSM.d_nav.get_ephemeris()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } break; case 4: // Possible IONOSPHERE and UTC model update (page 18) if (d_GPS_FSM.d_nav.flag_iono_valid == true) { - std::shared_ptr tmp_obj= std::make_shared(); - *tmp_obj = d_GPS_FSM.d_nav.get_iono(); //notice that the read operation will clear the valid flag + std::shared_ptr tmp_obj= std::make_shared(d_GPS_FSM.d_nav.get_iono()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_GPS_FSM.d_nav.flag_utc_model_valid == true) { - std::shared_ptr tmp_obj= std::make_shared(); - *tmp_obj = d_GPS_FSM.d_nav.get_utc_model(); //notice that the read operation will clear the valid flag + std::shared_ptr tmp_obj= std::make_shared(d_GPS_FSM.d_nav.get_utc_model()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } break; diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc index 878a78d66..925b046f5 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc @@ -78,8 +78,6 @@ gps_l2_m_telemetry_decoder_cc::gps_l2_m_telemetry_decoder_cc( d_flag_invert_buffer_symbols = false; d_flag_invert_input_symbols = false; d_channel = 0; - d_iono_queue = 0; - d_ephemeris_queue = 0; d_flag_valid_word = false; d_TOW_at_current_symbol = 0; d_TOW_at_Preamble = 0; @@ -203,15 +201,16 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items __attribute__ if (d_CNAV_Message.have_new_ephemeris() == true) { // get ephemeris object for this SV - Gps_CNAV_Ephemeris ephemeris = d_CNAV_Message.get_ephemeris(); //notice that the read operation will clear the valid flag - std::cout << "New GPS CNAV Ephemeris received for SV " << ephemeris.i_satellite_PRN << std::endl; - d_ephemeris_queue->push(ephemeris); + std::shared_ptr tmp_obj= std::make_shared(d_CNAV_Message.get_ephemeris()); + std::cout << "New GPS CNAV Ephemeris received for SV " << tmp_obj->i_satellite_PRN << std::endl; + this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); + } if (d_CNAV_Message.have_new_iono() == true) { - Gps_CNAV_Iono iono = d_CNAV_Message.get_iono(); //notice that the read operation will clear the valid flag + std::shared_ptr tmp_obj= std::make_shared(d_CNAV_Message.get_iono()); std::cout << "New GPS CNAV IONO model received for SV " << d_satellite.get_PRN() << std::endl; - d_iono_queue->push(iono); + this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } } break; @@ -434,7 +433,6 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::reset() } - void gps_l2_m_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::vector & msg_candidates, std::vector & valid_msgs) { std::vector tmp_msg; @@ -461,7 +459,6 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::ve } - void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_back_and_convert_to_bytes(const std::vector & msg_candidate, std::vector & bytes) { //std::stringstream ss; @@ -487,8 +484,6 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_back_and_convert_to_b // << std::setfill(' ') << std::resetiosflags(std::ios::hex); } - - void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_bytes(const std::vector & msg_candidate, std::vector & bytes) { //std::stringstream ss; @@ -515,14 +510,3 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_ // << std::setfill(' ') << std::resetiosflags(std::ios::hex); } - -void gps_l2_m_telemetry_decoder_cc::set_iono_queue(concurrent_queue *iono_queue) -{ - d_iono_queue = iono_queue; -} - - -void gps_l2_m_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue *ephemeris_queue) -{ - d_ephemeris_queue = ephemeris_queue; -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.h index e3cf010e2..0feb75b6e 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.h @@ -92,9 +92,6 @@ private: void viterbi_decoder(double *page_part_symbols, int *page_part_bits); void align_samples(); - concurrent_queue *d_iono_queue; - concurrent_queue *d_ephemeris_queue; - bool d_dump; Gnss_Satellite d_satellite; int d_channel; diff --git a/src/core/receiver/control_thread.cc b/src/core/receiver/control_thread.cc index 4679fc2de..bf4d66c02 100644 --- a/src/core/receiver/control_thread.cc +++ b/src/core/receiver/control_thread.cc @@ -57,13 +57,7 @@ #include "control_message_factory.h" extern concurrent_map global_gps_acq_assist_map; -extern concurrent_map global_gps_ref_time_map; -extern concurrent_map global_gps_ref_location_map; - extern concurrent_queue global_gps_acq_assist_queue; -extern concurrent_queue global_gps_ref_location_queue; -extern concurrent_queue global_gps_ref_time_queue; - using google::LogMessage; @@ -94,7 +88,6 @@ ControlThread::~ControlThread() } - /* * Runs the control thread that manages the receiver control plane * @@ -131,12 +124,6 @@ void ControlThread::run() // start the keyboard_listener thread keyboard_thread_ = boost::thread(&ControlThread::keyboard_listener, this); - //start the GNSS SV data collector thread - - gps_acq_assist_data_collector_thread_= boost::thread(&ControlThread::gps_acq_assist_data_collector, this); - gps_ref_location_data_collector_thread_ = boost::thread(&ControlThread::gps_ref_location_data_collector, this); - gps_ref_time_data_collector_thread_ = boost::thread(&ControlThread::gps_ref_time_data_collector, this); - // Main loop to read and process the control messages while (flowgraph_->running() && !stop_) { @@ -147,15 +134,6 @@ void ControlThread::run() std::cout << "Stopping GNSS-SDR, please wait!" << std::endl; flowgraph_->stop(); stop_ = true; - // sending empty data to terminate the threads - global_gps_acq_assist_queue.push(Gps_Acq_Assist()); - global_gps_ref_location_queue.push(Gps_Ref_Location()); - global_gps_ref_time_queue.push(Gps_Ref_Time()); - - // Join GPS threads - gps_acq_assist_data_collector_thread_.join(); - gps_ref_location_data_collector_thread_.join(); - gps_ref_time_data_collector_thread_.join(); //Join keyboard thread #ifdef OLD_BOOST @@ -183,89 +161,94 @@ void ControlThread::set_control_queue(boost::shared_ptr control_q /* * Returns true if reading was successful */ -//bool ControlThread::read_assistance_from_XML() -//{ -// // return variable (true == succeeded) -// bool ret = false; -// // getting names from the config file, if available -// std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename); -// std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename); -// std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename); -// std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename); -// std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename); -// -// std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl; -// if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true) -// { -// std::map::iterator gps_eph_iter; -// for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin(); -// gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end(); -// gps_eph_iter++) -// { -// std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl; -// global_gps_ephemeris_queue.push(gps_eph_iter->second); -// } -// ret = true; -// } -// else -// { -// std::cout << "ERROR: SUPL client error reading XML" << std::endl; -// std::cout << "Disabling SUPL assistance..." << std::endl; -// } -// // Only look for {utc, iono, ref time, ref location} if SUPL is enabled -// bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false); -// if (enable_gps_supl_assistance == true) -// { -// // Try to read UTC model from XML -// if (supl_client_acquisition_.load_utc_xml(utc_xml_filename) == true) -// { -// LOG(INFO) << "SUPL: Read XML UTC model"; -// global_gps_utc_model_queue.push(supl_client_acquisition_.gps_utc); -// } -// else -// { -// LOG(INFO) << "SUPL: couldn't read UTC model XML"; -// } -// -// // Try to read Iono model from XML -// if (supl_client_acquisition_.load_iono_xml(iono_xml_filename) == true) -// { -// LOG(INFO) << "SUPL: Read XML IONO model"; -// global_gps_iono_queue.push(supl_client_acquisition_.gps_iono); -// } -// else -// { -// LOG(INFO) << "SUPL: couldn't read IONO model XML"; -// } -// -// // Try to read Ref Time from XML -// if (supl_client_acquisition_.load_ref_time_xml(ref_time_xml_filename) == true) -// { -// LOG(INFO) << "SUPL: Read XML Ref Time"; -// global_gps_ref_time_queue.push(supl_client_acquisition_.gps_time); -// } -// else -// { -// LOG(INFO) << "SUPL: couldn't read Ref Time XML"; -// } -// -// // Try to read Ref Location from XML -// if (supl_client_acquisition_.load_ref_location_xml(ref_location_xml_filename) == true) -// { -// LOG(INFO) << "SUPL: Read XML Ref Location"; -// global_gps_ref_location_queue.push(supl_client_acquisition_.gps_ref_loc); -// } -// else -// { -// LOG(INFO) << "SUPL: couldn't read Ref Location XML"; -// } -// } -// -// return ret; -//} +bool ControlThread::read_assistance_from_XML() +{ + // return variable (true == succeeded) + bool ret = false; + // getting names from the config file, if available + std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename); + std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename); + std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename); + std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename); + std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename); + + std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl; + if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true) + { + std::map::iterator gps_eph_iter; + for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin(); + gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end(); + gps_eph_iter++) + { + std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl; + std::shared_ptr tmp_obj= std::make_shared(gps_eph_iter->second); + flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); + } + ret = true; + } + else + { + std::cout << "ERROR: SUPL client error reading XML" << std::endl; + std::cout << "Disabling SUPL assistance..." << std::endl; + } + // Only look for {utc, iono, ref time, ref location} if SUPL is enabled + bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false); + if (enable_gps_supl_assistance == true) + { + // Try to read UTC model from XML + if (supl_client_acquisition_.load_utc_xml(utc_xml_filename) == true) + { + LOG(INFO) << "SUPL: Read XML UTC model"; + std::shared_ptr tmp_obj= std::make_shared(supl_client_acquisition_.gps_utc); + flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); + } + else + { + LOG(INFO) << "SUPL: couldn't read UTC model XML"; + } + + // Try to read Iono model from XML + if (supl_client_acquisition_.load_iono_xml(iono_xml_filename) == true) + { + LOG(INFO) << "SUPL: Read XML IONO model"; + std::shared_ptr tmp_obj= std::make_shared(supl_client_acquisition_.gps_iono); + flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); + } + else + { + LOG(INFO) << "SUPL: couldn't read IONO model XML"; + } + + // Try to read Ref Time from XML + if (supl_client_acquisition_.load_ref_time_xml(ref_time_xml_filename) == true) + { + LOG(INFO) << "SUPL: Read XML Ref Time"; + std::shared_ptr tmp_obj= std::make_shared(supl_client_acquisition_.gps_time); + flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); + } + else + { + LOG(INFO) << "SUPL: couldn't read Ref Time XML"; + } + + // Try to read Ref Location from XML + if (supl_client_acquisition_.load_ref_location_xml(ref_location_xml_filename) == true) + { + LOG(INFO) << "SUPL: Read XML Ref Location"; + std::shared_ptr tmp_obj= std::make_shared(supl_client_acquisition_.gps_ref_loc); + flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); + } + else + { + LOG(INFO) << "SUPL: couldn't read Ref Location XML"; + } + } + + return ret; +} -// Returns true if reading was successful +//todo: The save assistance function needs to be moved to the PVT block because now the global maps are deprecated, and PVT is the only block that have all the information //bool ControlThread::save_assistance_to_XML() //{ // // return variable (true == succeeded) @@ -413,10 +396,8 @@ void ControlThread::init() gps_eph_iter++) { std::cout << "SUPL: Received Ephemeris for GPS SV " << gps_eph_iter->first << std::endl; - //TODO: Now the ephemeris are transported from telemetry decoder to PVT using msg queues. - // in order to assist the receiver, it is needed to produce a GNURadio message from this thread to the PVT message queue - // global queues or maps are deprecated in this version - //global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN, gps_eph_iter->second); + std::shared_ptr tmp_obj= std::make_shared(gps_eph_iter->second); + flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); } //Save ephemeris to XML file std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename); @@ -452,20 +433,20 @@ void ControlThread::init() gps_alm_iter++) { std::cout << "SUPL: Received Almanac for GPS SV " << gps_alm_iter->first << std::endl; - //TODO: use msg queues - //global_gps_almanac_queue.push(gps_alm_iter->second); + std::shared_ptr tmp_obj= std::make_shared(gps_alm_iter->second); + flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); } if (supl_client_ephemeris_.gps_iono.valid == true) { std::cout << "SUPL: Received GPS Iono" << std::endl; - //TODO: use msg queues - //global_gps_iono_map.write(0, supl_client_ephemeris_.gps_iono); + std::shared_ptr tmp_obj= std::make_shared(supl_client_ephemeris_.gps_iono); + flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); } if (supl_client_ephemeris_.gps_utc.valid == true) { std::cout << "SUPL: Received GPS UTC Model" << std::endl; - //TODO: use msg queues - //global_gps_utc_model_map.write(0, supl_client_ephemeris_.gps_utc); + std::shared_ptr tmp_obj= std::make_shared(supl_client_ephemeris_.gps_utc); + flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); } } else @@ -492,12 +473,14 @@ void ControlThread::init() if (supl_client_acquisition_.gps_ref_loc.valid == true) { std::cout << "SUPL: Received Ref Location (Acquisition Assistance)" << std::endl; - global_gps_ref_location_map.write(0, supl_client_acquisition_.gps_ref_loc); + std::shared_ptr tmp_obj= std::make_shared(supl_client_acquisition_.gps_ref_loc); + flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); } if (supl_client_acquisition_.gps_time.valid == true) { std::cout << "SUPL: Received Ref Time (Acquisition Assistance)" << std::endl; - global_gps_ref_time_map.write(0, supl_client_acquisition_.gps_time); + std::shared_ptr tmp_obj= std::make_shared(supl_client_acquisition_.gps_time); + flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj)); } } else @@ -596,52 +579,6 @@ void ControlThread::gps_acq_assist_data_collector() } } -void ControlThread::gps_ref_location_data_collector() -{ - // ############ READ REF LOCATION #################### - Gps_Ref_Location gps_ref_location; - while(stop_ == false) - { - global_gps_ref_location_queue.wait_and_pop(gps_ref_location); - LOG(INFO) << "New ref location record has arrived with lat=" << gps_ref_location.lat << " lon=" << gps_ref_location.lon; - // insert new ref location record to the global ref location map - global_gps_ref_location_map.write(0, gps_ref_location); - } -} - - -void ControlThread::gps_ref_time_data_collector() -{ - // ############ READ REF TIME #################### - Gps_Ref_Time gps_ref_time; - Gps_Ref_Time gps_ref_time_old; - while(stop_ == false) - { - global_gps_ref_time_queue.wait_and_pop(gps_ref_time); - LOG(INFO) << "New ref time record has arrived with TOW=" << gps_ref_time.d_TOW << " Week=" << gps_ref_time.d_Week; - // insert new ref time record to the global ref time map - if (global_gps_ref_time_map.read(0, gps_ref_time_old)) - { - if (gps_ref_time.d_Week > gps_ref_time_old.d_Week) - { - global_gps_ref_time_map.write(0, gps_ref_time); - } - else if ((gps_ref_time.d_Week == gps_ref_time_old.d_Week) and (gps_ref_time.d_TOW > gps_ref_time_old.d_TOW)) - { - global_gps_ref_time_map.write(0, gps_ref_time); - } - else - { - LOG(INFO) << "Not updating the existing ref time"; - } - } - else - { - // insert new ref time record - global_gps_ref_time_map.write(0, gps_ref_time); - } - } -} void ControlThread::keyboard_listener() { diff --git a/src/core/receiver/control_thread.h b/src/core/receiver/control_thread.h index 0f45300c8..faf38a15c 100644 --- a/src/core/receiver/control_thread.h +++ b/src/core/receiver/control_thread.h @@ -124,7 +124,7 @@ private: void init(); // Read {ephemeris, iono, utc, ref loc, ref time} assistance from a local XML file previously recorded - //bool read_assistance_from_XML(); + bool read_assistance_from_XML(); // Save {ephemeris, iono, utc, ref loc, ref time} assistance to a local XML file //bool save_assistance_to_XML(); @@ -133,41 +133,11 @@ private: void process_control_messages(); - /* - * \brief Blocking function that reads the ref location queue and updates the shared map - */ - void gps_ref_location_data_collector(); - - /* - * \brief Blocking function that reads the ref time queue and updates the shared map - */ - void gps_ref_time_data_collector(); - /* * Blocking function that reads the GPS assistance queue */ void gps_acq_assist_data_collector(); - - /* - * Blocking function that reads the Galileo ephemeris queue and updates the shared ephemeris map, accessible from the PVT block - */ - void galileo_ephemeris_data_collector(); - - /* - * Blocking function that reads the UTC model queue and updates the shared map, accessible from the PVT block - */ - void galileo_utc_model_data_collector(); - - /* - * Blocking function that reads the iono data queue and updates the shared map, accessible from the PVT block - */ - void galileo_iono_data_collector(); - - /* - * Blocking function that reads the galileo_almanac queue and updates the shared map, accessible from the PVT block - */ - void galileo_almanac_data_collector(); - + void apply_action(unsigned int what); std::shared_ptr flowgraph_; std::shared_ptr configuration_; @@ -179,15 +149,8 @@ private: unsigned int processed_control_messages_; unsigned int applied_actions_; boost::thread keyboard_thread_; - boost::thread gps_acq_assist_data_collector_thread_; - boost::thread gps_ref_location_data_collector_thread_; - boost::thread gps_ref_time_data_collector_thread_; - - boost::thread galileo_ephemeris_data_collector_thread_; - boost::thread galileo_utc_model_data_collector_thread_; - boost::thread galileo_iono_data_collector_thread_; - boost::thread galileo_almanac_data_collector_thread_; + void keyboard_listener(); // default filename for assistance data diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index 0879e219e..ad029b322 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -357,6 +357,14 @@ void GNSSFlowgraph::wait() } +bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg) +{ + //push ephemeris to PVT telemetry msg in port using a channel out port + // it uses the first channel as a message produces (it is already connected to PVT) + channels_.at(0)->get_right_block()->message_port_pub(pmt::mp("telemetry"), msg); + return true; +} + /* * Applies an action to the flowgraph * diff --git a/src/core/receiver/gnss_flowgraph.h b/src/core/receiver/gnss_flowgraph.h index 3ca3183bc..8d93aec67 100644 --- a/src/core/receiver/gnss_flowgraph.h +++ b/src/core/receiver/gnss_flowgraph.h @@ -107,7 +107,12 @@ public: { return running_; } - + /*! + * \brief Sends a GNURadio asyncronous message from telemetry to PVT + * + * It is used to assist the receiver with external ephemeris data + */ + bool send_telemetry_msg(pmt::pmt_t msg); private: void init(); // Populates the SV PRN list available for acquisition and tracking void set_signals_list(); diff --git a/src/main/main.cc b/src/main/main.cc index 3819a85c4..9bd48e834 100644 --- a/src/main/main.cc +++ b/src/main/main.cc @@ -85,12 +85,7 @@ DECLARE_string(log_dir); // For GPS NAVIGATION (L1) concurrent_queue global_gps_acq_assist_queue; -concurrent_queue global_gps_ref_location_queue; -concurrent_queue global_gps_ref_time_queue; - concurrent_map global_gps_acq_assist_map; -concurrent_map global_gps_ref_time_map; -concurrent_map global_gps_ref_location_map; int main(int argc, char** argv) { diff --git a/src/utils/front-end-cal/main.cc b/src/utils/front-end-cal/main.cc index c15a1a77c..e4f9f003a 100644 --- a/src/utils/front-end-cal/main.cc +++ b/src/utils/front-end-cal/main.cc @@ -88,12 +88,6 @@ std::string s3_ = s1_ + s2_; DEFINE_string(config_file, s3_, "Path to the file containing the configuration parameters"); -concurrent_queue global_gps_ephemeris_queue; -concurrent_queue global_gps_iono_queue; -concurrent_queue global_gps_utc_model_queue; -concurrent_queue global_gps_almanac_queue; -concurrent_queue global_gps_acq_assist_queue; - concurrent_map global_gps_ephemeris_map; concurrent_map global_gps_iono_map; concurrent_map global_gps_utc_model_map;