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Carles Fernandez 2018-04-20 13:25:31 +02:00
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2
CONTRIBUTING.md
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@ -75,7 +75,7 @@ the actual username of your GitHub account):
4. Your forked repository https://github.com/YOUR_USERNAME/gnss-sdr
will receive the default name of `origin`. You can also add the original
gnss-sdr repository, which is usually called `upstream`:
gnss-sdr repository, which is usually referred to as `upstream`:
$ cd gnss-sdr
$ git remote add upstream https://github.com/gnss-sdr/gnss-sdr.git

184
src/core/receiver/gnss_flowgraph.cc
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@ -1,15 +1,13 @@
/*!
* \file gnss_flowgraph.cc
* \brief Implementation of a GNSS receiver flowgraph
* \brief Implementation of a GNSS receiver flow graph
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
*
* Detailed description of the file here if needed.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -61,6 +59,8 @@ GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configurati
GNSSFlowgraph::~GNSSFlowgraph() {}
void GNSSFlowgraph::start()
{
if (running_)
@ -93,10 +93,9 @@ void GNSSFlowgraph::stop()
void GNSSFlowgraph::connect()
{
/* Connects the blocks in the flowgraph
*
* Signal Source > Signal conditioner >> Channels >> Observables >> PVT
*/
// Connects the blocks in the flow graph
// Signal Source > Signal conditioner >> Channels >> Observables >> PVT
LOG(INFO) << "Connecting flowgraph";
if (connected_)
{
@ -184,8 +183,8 @@ void GNSSFlowgraph::connect()
{
try
{
//TODO: Remove this array implementation and create generic multistream connector
//(if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
// TODO: Remove this array implementation and create generic multistream connector
// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
if (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0)
{
//Multichannel Array
@ -198,14 +197,14 @@ void GNSSFlowgraph::connect()
}
else
{
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
//Include GetRFChannels in the interface to avoid read config parameters here
//read the number of RF channels for each front-end
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++)
{
//Connect the multichannel signal source to multiple signal conditioners
// Connect the multichannel signal source to multiple signal conditioners
// GNURADIO max_streams=-1 means infinite ports!
LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();
@ -244,8 +243,8 @@ void GNSSFlowgraph::connect()
}
DLOG(INFO) << "Signal source connected to signal conditioner";
//connect the signal source to sample counter
//connect the sample counter to Observables
// connect the signal source to sample counter
// connect the sample counter to Observables
try
{
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
@ -267,7 +266,6 @@ void GNSSFlowgraph::connect()
return;
}
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
int selected_signal_conditioner_ID;
for (unsigned int i = 0; i < channels_count_; i++)
@ -301,26 +299,46 @@ void GNSSFlowgraph::connect()
top_block_->disconnect_all();
return;
}
}
std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal!
channels_.at(i)->set_signal(search_next_signal(gnss_signal, false));
if (channels_state_[i] == 1)
// Put channels fixed to a given satellite at the beginning of the vector, then the rest
std::vector<unsigned int> vector_of_channels;
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
if (sat == 0)
{
channels_.at(i)->start_acquisition();
available_GNSS_signals_.pop_front();
LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
vector_of_channels.push_back(i);
}
else
{
LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
auto it = vector_of_channels.begin();
it = vector_of_channels.insert(it, i);
}
}
/*
* Connect the observables output of each channel to the PVT block
*/
// Assign satellites to channels in the initialization
for (unsigned int& i : vector_of_channels)
{
std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal
unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
if (sat == 0)
{
channels_.at(i)->set_signal(search_next_signal(gnss_signal, true));
}
else
{
std::string gnss_system;
if ((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) or (gnss_signal.compare("L5") == 0)) gnss_system = "GPS";
if ((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0)) gnss_system = "Galileo";
if ((gnss_signal.compare("1G") == 0) or (gnss_signal.compare("2G") == 0)) gnss_system = "Glonass";
Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GNSS_signals_.remove(signal_value);
channels_.at(i)->set_signal(signal_value);
}
}
// Connect the observables output of each channel to the PVT block
try
{
for (unsigned int i = 0; i < channels_count_; i++)
@ -337,6 +355,21 @@ void GNSSFlowgraph::connect()
return;
}
// Activate acquisition in enabled channels
for (unsigned int i = 0; i < channels_count_; i++)
{
LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
if (channels_state_[i] == 1)
{
channels_.at(i)->start_acquisition();
LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
}
else
{
LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
}
}
connected_ = true;
LOG(INFO) << "Flowgraph connected";
top_block_->dump();
@ -366,7 +399,7 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg)
/*
* Applies an action to the flowgraph
* Applies an action to the flow graph
*
* \param[in] who Who generated the action
* \param[in] what What is the action 0: acquisition failed
@ -374,12 +407,16 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg)
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_;
unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(who) + ".satellite", 0);
switch (what)
{
case 0:
DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str();
available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
channels_.at(who)->set_signal(search_next_signal(channels_.at(who)->get_signal().get_signal_str(), true));
if (sat == 0)
{
available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
channels_.at(who)->set_signal(search_next_signal(channels_.at(who)->get_signal().get_signal_str(), true));
}
DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str();
channels_.at(who)->start_acquisition();
break;
@ -390,10 +427,14 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
acq_channels_count_--;
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int sat_ = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
{
channels_state_[i] = 1;
channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true));
if (sat_ == 0)
{
channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_.at(i)->get_signal().get_satellite() << ", Signal " << channels_.at(i)->get_signal().get_signal_str();
channels_.at(i)->start_acquisition();
@ -417,7 +458,10 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
channels_state_[who] = 0;
LOG(INFO) << "Channel " << who << " Idle state";
available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
if (sat == 0)
{
available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
}
}
break;
@ -436,7 +480,6 @@ void GNSSFlowgraph::set_configuration(std::shared_ptr<ConfigurationInterface> co
LOG(WARNING) << "Unable to update configuration while flowgraph running";
return;
}
if (connected_)
{
LOG(WARNING) << "Unable to update configuration while flowgraph connected";
@ -464,9 +507,9 @@ void GNSSFlowgraph::init()
{
std::cout << "Creating source " << i << std::endl;
sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, i));
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
//Include GetRFChannels in the interface to avoid read config parameters here
//read the number of RF channels for each front-end
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
std::cout << "RF Channels " << RF_Channels << std::endl;
for (int j = 0; j < RF_Channels; j++)
@ -478,11 +521,11 @@ void GNSSFlowgraph::init()
}
else
{
//backwards compatibility for old config files
// backwards compatibility for old config files
sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, -1));
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
//Include GetRFChannels in the interface to avoid read config parameters here
//read the number of RF channels for each front-end
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(0)->role() + ".RF_channels", 0);
if (RF_Channels != 0)
{
@ -494,7 +537,7 @@ void GNSSFlowgraph::init()
}
else
{
//old config file, single signal source and single channel, not specified
// old config file, single signal source and single channel, not specified
sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, -1));
}
}
@ -521,7 +564,6 @@ void GNSSFlowgraph::init()
std::shared_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels = block_factory_->GetChannels(configuration_, queue_);
//todo:check smart pointer coherence...
channels_count_ = channels->size();
for (unsigned int i = 0; i < channels_count_; i++)
{
@ -541,34 +583,19 @@ void GNSSFlowgraph::init()
void GNSSFlowgraph::set_signals_list()
{
/*
* Sets a sequential list of GNSS satellites
*/
// Set a sequential list of GNSS satellites
std::set<unsigned int>::const_iterator available_gnss_prn_iter;
/*
* \TODO Describe GNSS satellites more nicely, with RINEX notation
* See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf (page 5)
*/
/*
* Read GNSS-SDR default GNSS system and signal
*/
// Read GNSS systems and signals
unsigned int total_channels = configuration_->property("Channels_1C.count", 0) +
configuration_->property("Channels_2S.count", 0) +
configuration_->property("Channels_1B.count", 0) +
configuration_->property("Channels_5X.count", 0) +
configuration_->property("Channels_1G.count", 0) +
configuration_->property("Channels_2S.count", 0) +
configuration_->property("Channels_2G.count", 0) +
configuration_->property("Channels_5X.count", 0) +
configuration_->property("Channels_L5.count", 0);
/*
* Loop to create the list of GNSS Signals
* To add signals from other systems, add another loop 'for'
*/
// Create the lists of GNSS satellites
std::set<unsigned int> available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
29, 30, 31, 32};
@ -690,6 +717,7 @@ void GNSSFlowgraph::set_signals_list()
std::string("L5")));
}
}
if (configuration_->property("Channels_SBAS.count", 0) > 0)
{
/*
@ -705,7 +733,6 @@ void GNSSFlowgraph::set_signals_list()
}
}
if (configuration_->property("Channels_1B.count", 0) > 0)
{
/*
@ -765,39 +792,12 @@ void GNSSFlowgraph::set_signals_list()
std::string("2G")));
}
}
/*
* Ordering the list of signals from configuration file
*/
std::list<Gnss_Signal>::iterator gnss_it = available_GNSS_signals_.begin();
// Pre-assignation if not defined at ChannelX.signal=1C ...? In what order?
for (unsigned int i = 0; i < total_channels; i++)
{
std::string gnss_signal = (configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".signal", std::string("1C")));
std::string gnss_system;
if ((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) or (gnss_signal.compare("L5") == 0)) gnss_system = "GPS";
if ((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0)) gnss_system = "Galileo";
if ((gnss_signal.compare("1G") == 0) or (gnss_signal.compare("2G") == 0)) gnss_system = "Glonass";
unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
LOG(INFO) << "Channel " << i << " system " << gnss_system << ", signal " << gnss_signal << ", sat " << sat;
if (sat == 0) // 0 = not PRN in configuration file
{
gnss_it++;
}
else
{
Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GNSS_signals_.remove(signal_value);
gnss_it = available_GNSS_signals_.insert(gnss_it, signal_value);
}
}
}
void GNSSFlowgraph::set_channels_state()
{
max_acq_channels_ = (configuration_->property("Channels.in_acquisition", channels_count_));
max_acq_channels_ = configuration_->property("Channels.in_acquisition", channels_count_);
if (max_acq_channels_ > channels_count_)
{
max_acq_channels_ = channels_count_;

21
src/core/receiver/gnss_flowgraph.h
View File

@ -1,12 +1,12 @@
/*!
* \file gnss_flowgraph.h
* \brief Interface of a GNSS receiver flowgraph.
* \brief Interface of a GNSS receiver flow graph.
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Luis Esteve, 2011. luis(at)epsilon-formacion.com
* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
*
* It contains a signal source,
* a signal conditioner, a set of channels, a pvt and an output filter.
* a signal conditioner, a set of channels, an observables block and a pvt.
*
* -------------------------------------------------------------------------
*
@ -53,7 +53,7 @@ class ChannelInterface;
class ConfigurationInterface;
class GNSSBlockFactory;
/*! \brief This class represents a GNSS flowgraph.
/*! \brief This class represents a GNSS flow graph.
*
* It contains a signal source,
* a signal conditioner, a set of channels, a PVT and an output filter.
@ -62,7 +62,7 @@ class GNSSFlowgraph
{
public:
/*!
* \brief Constructor that initializes the receiver flowgraph
* \brief Constructor that initializes the receiver flow graph
*/
GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, gr::msg_queue::sptr queue);
@ -71,14 +71,14 @@ public:
*/
virtual ~GNSSFlowgraph();
//! \brief Start the flowgraph
//! \brief Start the flow graph
void start();
//! \brief Stop the flowgraph
//! \brief Stop the flow graph
void stop();
/*!
* \brief Connects the defined blocks in the flowgraph
* \brief Connects the defined blocks in the flow graph
*
* Signal Source > Signal conditioner > Channels >> Observables >> PVT > Output filter
*/
@ -87,10 +87,10 @@ public:
void wait();
/*!
* \brief Applies an action to the flowgraph
* \brief Applies an action to the flow graph
*
* \param[in] who Who generated the action
* \param[in] what What is the action 0: acquisition failed
* \param[in] what What is the action. 0: acquisition failed; 1: acquisition success; 2: tracking lost
*/
void apply_action(unsigned int who, unsigned int what);
@ -100,14 +100,17 @@ public:
{
return applied_actions_;
}
bool connected()
{
return connected_;
}
bool running()
{
return running_;
}
/*!
* \brief Sends a GNURadio asynchronous message from telemetry to PVT
*