mirrors/gnss-sdr
1
0
Fork 0
mirror of https://github.com/gnss-sdr/gnss-sdr synced 2025-01-19 05:33:02 +00:00
Code Issues Releases Wiki Activity

Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

Browse Source
This commit is contained in:
Carles Fernandez 2018-04-20 13:25:31 +02:00
commit 7cddd59644
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
3 changed files with 105 additions and 102 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CONTRIBUTING.md
View File

@ -75,7 +75,7 @@ the actual username of your GitHub account):
4. Your forked repository https://github.com/YOUR_USERNAME/gnss-sdr 4. Your forked repository https://github.com/YOUR_USERNAME/gnss-sdr
will receive the default name of `origin`. You can also add the original 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 $ cd gnss-sdr
$ git remote add upstream https://github.com/gnss-sdr/gnss-sdr.git $ git remote add upstream https://github.com/gnss-sdr/gnss-sdr.git

140
src/core/receiver/gnss_flowgraph.cc
View File

@ -5,11 +5,9 @@
* Luis Esteve, 2012. luis(at)epsilon-formacion.com * Luis Esteve, 2012. luis(at)epsilon-formacion.com
* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es * 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 * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -61,6 +59,8 @@ GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configurati
GNSSFlowgraph::~GNSSFlowgraph() {} GNSSFlowgraph::~GNSSFlowgraph() {}
void GNSSFlowgraph::start() void GNSSFlowgraph::start()
{ {
if (running_) if (running_)
@ -93,10 +93,9 @@ void GNSSFlowgraph::stop()
void GNSSFlowgraph::connect() void GNSSFlowgraph::connect()
{ {
/* Connects the blocks in the flowgraph // Connects the blocks in the flow graph
* // Signal Source > Signal conditioner >> Channels >> Observables >> PVT
* Signal Source > Signal conditioner >> Channels >> Observables >> PVT
*/
LOG(INFO) << "Connecting flowgraph"; LOG(INFO) << "Connecting flowgraph";
if (connected_) if (connected_)
{ {
@ -267,7 +266,6 @@ void GNSSFlowgraph::connect()
return; return;
} }
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID) // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
int selected_signal_conditioner_ID; int selected_signal_conditioner_ID;
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
@ -301,26 +299,46 @@ void GNSSFlowgraph::connect()
top_block_->disconnect_all(); top_block_->disconnect_all();
return; return;
} }
}
std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal! // Put channels fixed to a given satellite at the beginning of the vector, then the rest
channels_.at(i)->set_signal(search_next_signal(gnss_signal, false)); std::vector<unsigned int> vector_of_channels;
for (unsigned int i = 0; i < channels_count_; i++)
if (channels_state_[i] == 1)
{ {
channels_.at(i)->start_acquisition(); unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
available_GNSS_signals_.pop_front(); if (sat == 0)
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 else
{ {
LOG(INFO) << "Channel " << i << " connected to observables in standby mode"; auto it = vector_of_channels.begin();
it = vector_of_channels.insert(it, i);
} }
} }
/* // Assign satellites to channels in the initialization
* Connect the observables output of each channel to the PVT block 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 try
{ {
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
@ -337,6 +355,21 @@ void GNSSFlowgraph::connect()
return; 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; connected_ = true;
LOG(INFO) << "Flowgraph connected"; LOG(INFO) << "Flowgraph connected";
top_block_->dump(); top_block_->dump();
@ -374,12 +407,16 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg)
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{ {
DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_; 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) switch (what)
{ {
case 0: 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(); DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str();
if (sat == 0)
{
available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); 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)); 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(); 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(); channels_.at(who)->start_acquisition();
break; break;
@ -390,10 +427,14 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
acq_channels_count_--; acq_channels_count_--;
for (unsigned int i = 0; i < channels_count_; i++) 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)) if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
{ {
channels_state_[i] = 1; channels_state_[i] = 1;
if (sat_ == 0)
{
channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true)); channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true));
}
acq_channels_count_++; 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(); 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(); channels_.at(i)->start_acquisition();
@ -417,8 +458,11 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{ {
channels_state_[who] = 0; channels_state_[who] = 0;
LOG(INFO) << "Channel " << who << " Idle state"; LOG(INFO) << "Channel " << who << " Idle state";
if (sat == 0)
{
available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
} }
}
break; break;
default: default:
@ -436,7 +480,6 @@ void GNSSFlowgraph::set_configuration(std::shared_ptr<ConfigurationInterface> co
LOG(WARNING) << "Unable to update configuration while flowgraph running"; LOG(WARNING) << "Unable to update configuration while flowgraph running";
return; return;
} }
if (connected_) if (connected_)
{ {
LOG(WARNING) << "Unable to update configuration while flowgraph connected"; LOG(WARNING) << "Unable to update configuration while flowgraph connected";
@ -521,7 +564,6 @@ void GNSSFlowgraph::init()
std::shared_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels = block_factory_->GetChannels(configuration_, queue_); std::shared_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels = block_factory_->GetChannels(configuration_, queue_);
//todo:check smart pointer coherence...
channels_count_ = channels->size(); channels_count_ = channels->size();
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
{ {
@ -541,34 +583,19 @@ void GNSSFlowgraph::init()
void GNSSFlowgraph::set_signals_list() void GNSSFlowgraph::set_signals_list()
{ {
/* // Set a sequential list of GNSS satellites
* Sets a sequential list of GNSS satellites
*/
std::set<unsigned int>::const_iterator available_gnss_prn_iter; std::set<unsigned int>::const_iterator available_gnss_prn_iter;
/* // Read GNSS systems and signals
* \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
*/
unsigned int total_channels = configuration_->property("Channels_1C.count", 0) + 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_1B.count", 0) +
configuration_->property("Channels_5X.count", 0) +
configuration_->property("Channels_1G.count", 0) + configuration_->property("Channels_1G.count", 0) +
configuration_->property("Channels_2S.count", 0) +
configuration_->property("Channels_2G.count", 0) + configuration_->property("Channels_2G.count", 0) +
configuration_->property("Channels_5X.count", 0) + configuration_->property("Channels_5X.count", 0) +
configuration_->property("Channels_L5.count", 0); configuration_->property("Channels_L5.count", 0);
/* // Create the lists of GNSS satellites
* Loop to create the list of GNSS Signals
* To add signals from other systems, add another loop 'for'
*/
std::set<unsigned int> available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 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, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
29, 30, 31, 32}; 29, 30, 31, 32};
@ -690,6 +717,7 @@ void GNSSFlowgraph::set_signals_list()
std::string("L5"))); std::string("L5")));
} }
} }
if (configuration_->property("Channels_SBAS.count", 0) > 0) 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) if (configuration_->property("Channels_1B.count", 0) > 0)
{ {
/* /*
@ -765,39 +792,12 @@ void GNSSFlowgraph::set_signals_list()
std::string("2G"))); 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() 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_) if (max_acq_channels_ > channels_count_)
{ {
max_acq_channels_ = channels_count_; max_acq_channels_ = channels_count_;

7
src/core/receiver/gnss_flowgraph.h
View File

@ -6,7 +6,7 @@
* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es * Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
* *
* It contains a signal source, * 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.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
@ -90,7 +90,7 @@ public:
* \brief Applies an action to the flow graph * \brief Applies an action to the flow graph
* *
* \param[in] who Who generated the action * \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); void apply_action(unsigned int who, unsigned int what);
@ -100,14 +100,17 @@ public:
{ {
return applied_actions_; return applied_actions_;
} }
bool connected() bool connected()
{ {
return connected_; return connected_;
} }
bool running() bool running()
{ {
return running_; return running_;
} }
/*! /*!
* \brief Sends a GNURadio asynchronous message from telemetry to PVT * \brief Sends a GNURadio asynchronous message from telemetry to PVT
* *