From 4db5f9165f4fcc002c99657a2eb7689b21ed4837 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Wed, 18 Apr 2018 11:18:58 +0200 Subject: [PATCH 1/4] Fix bug counting channels when using Gal E5a configurations --- src/core/receiver/gnss_flowgraph.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index eec75d2f0..adda1183d 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -556,10 +556,9 @@ void GNSSFlowgraph::set_signals_list() */ 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); From 514fde256aa9a7b57131a864a8bf373c5fa20d13 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 20 Apr 2018 12:50:32 +0200 Subject: [PATCH 2/4] Fix assignment of a channel to a given satellite with ChannelN.satellite=PRN --- src/core/receiver/gnss_flowgraph.cc | 158 ++++++++++++++-------------- 1 file changed, 81 insertions(+), 77 deletions(-) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index adda1183d..255cb7609 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -9,7 +9,7 @@ * * ------------------------------------------------------------------------- * - * 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 +61,8 @@ GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr configurati GNSSFlowgraph::~GNSSFlowgraph() {} + + void GNSSFlowgraph::start() { if (running_) @@ -93,10 +95,9 @@ void GNSSFlowgraph::stop() void GNSSFlowgraph::connect() { - /* Connects the blocks in the flowgraph - * - * Signal Source > Signal conditioner >> Channels >> Observables >> PVT - */ + // Connects the blocks in the flowgraph + // Signal Source > Signal conditioner >> Channels >> Observables >> PVT + LOG(INFO) << "Connecting flowgraph"; if (connected_) { @@ -184,8 +185,8 @@ 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 +199,14 @@ 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 +245,8 @@ 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(configuration_->property("GNSS-SDR.internal_fs_sps", 0)); @@ -267,7 +268,6 @@ 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 +301,46 @@ 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 vector_of_channels; + for (unsigned int i = 0; i < channels_count_; i++) + { + unsigned int sat = configuration_->property("Channel" + boost::lexical_cast(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(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 +357,21 @@ 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(); @@ -374,12 +409,16 @@ 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(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 +429,14 @@ 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(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 +460,10 @@ 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 +482,6 @@ void GNSSFlowgraph::set_configuration(std::shared_ptr co LOG(WARNING) << "Unable to update configuration while flowgraph running"; return; } - if (connected_) { LOG(WARNING) << "Unable to update configuration while flowgraph connected"; @@ -541,20 +586,10 @@ void GNSSFlowgraph::init() void GNSSFlowgraph::set_signals_list() { - /* - * Sets a sequential list of GNSS satellites - */ + // Set a sequential list of GNSS satellites std::set::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_1B.count", 0) + configuration_->property("Channels_1G.count", 0) + @@ -563,11 +598,7 @@ void GNSSFlowgraph::set_signals_list() 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 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}; @@ -689,6 +720,7 @@ void GNSSFlowgraph::set_signals_list() std::string("L5"))); } } + if (configuration_->property("Channels_SBAS.count", 0) > 0) { /* @@ -704,7 +736,6 @@ void GNSSFlowgraph::set_signals_list() } } - if (configuration_->property("Channels_1B.count", 0) > 0) { /* @@ -764,39 +795,12 @@ void GNSSFlowgraph::set_signals_list() std::string("2G"))); } } - /* - * Ordering the list of signals from configuration file - */ - std::list::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(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(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_; From b4cb0cc76bfb0b2249158c18babe1d810489044a Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 20 Apr 2018 12:56:32 +0200 Subject: [PATCH 3/4] Improve wording --- CONTRIBUTING.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 7a87240cb..262feeb0c 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -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 From 2cd1bed90c8de81f40236d7739e16d3aa6e02963 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 20 Apr 2018 13:20:10 +0200 Subject: [PATCH 4/4] Fix headers and documentation --- src/core/receiver/gnss_flowgraph.cc | 25 +++++++++++-------------- src/core/receiver/gnss_flowgraph.h | 21 ++++++++++++--------- 2 files changed, 23 insertions(+), 23 deletions(-) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index 255cb7609..4df4c0727 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -1,12 +1,10 @@ /*! * \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) 2010-2018 (see AUTHORS file for a list of contributors) @@ -95,7 +93,7 @@ void GNSSFlowgraph::stop() void GNSSFlowgraph::connect() { - // Connects the blocks in the flowgraph + // Connects the blocks in the flow graph // Signal Source > Signal conditioner >> Channels >> Observables >> PVT LOG(INFO) << "Connecting flowgraph"; @@ -401,7 +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 @@ -509,9 +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++) @@ -523,11 +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) { @@ -539,7 +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)); } } @@ -566,7 +564,6 @@ void GNSSFlowgraph::init() std::shared_ptr>> channels = block_factory_->GetChannels(configuration_, queue_); - //todo:check smart pointer coherence... channels_count_ = channels->size(); for (unsigned int i = 0; i < channels_count_; i++) { diff --git a/src/core/receiver/gnss_flowgraph.h b/src/core/receiver/gnss_flowgraph.h index 7f8891f29..df041c8e8 100644 --- a/src/core/receiver/gnss_flowgraph.h +++ b/src/core/receiver/gnss_flowgraph.h @@ -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 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 *