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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
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7cddd59644
@ -75,7 +75,7 @@ the actual username of your GitHub account):
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|||||||
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||||||
4. Your forked repository https://github.com/YOUR_USERNAME/gnss-sdr
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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`:
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gnss-sdr repository, which is usually referred to as `upstream`:
|
||||||
|
|
||||||
$ cd gnss-sdr
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$ cd gnss-sdr
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||||||
$ git remote add upstream https://github.com/gnss-sdr/gnss-sdr.git
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$ git remote add upstream https://github.com/gnss-sdr/gnss-sdr.git
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@ -1,15 +1,13 @@
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|||||||
/*!
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/*!
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||||||
* \file gnss_flowgraph.cc
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* \file gnss_flowgraph.cc
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||||||
* \brief Implementation of a GNSS receiver flowgraph
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* \brief Implementation of a GNSS receiver flow graph
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* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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* Luis Esteve, 2012. luis(at)epsilon-formacion.com
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* Luis Esteve, 2012. luis(at)epsilon-formacion.com
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||||||
* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
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* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
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||||||
*
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*
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||||||
* Detailed description of the file here if needed.
|
|
||||||
*
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||||||
* -------------------------------------------------------------------------
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* -------------------------------------------------------------------------
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||||||
*
|
*
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||||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
|
*
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||||||
* GNSS-SDR is a software defined Global Navigation
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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* Satellite Systems receiver
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@ -61,6 +59,8 @@ GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configurati
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GNSSFlowgraph::~GNSSFlowgraph() {}
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GNSSFlowgraph::~GNSSFlowgraph() {}
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void GNSSFlowgraph::start()
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void GNSSFlowgraph::start()
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{
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{
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if (running_)
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if (running_)
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@ -93,10 +93,9 @@ void GNSSFlowgraph::stop()
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void GNSSFlowgraph::connect()
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void GNSSFlowgraph::connect()
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{
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{
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/* Connects the blocks in the flowgraph
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// Connects the blocks in the flow graph
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*
|
// Signal Source > Signal conditioner >> Channels >> Observables >> PVT
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* Signal Source > Signal conditioner >> Channels >> Observables >> PVT
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||||||
*/
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LOG(INFO) << "Connecting flowgraph";
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LOG(INFO) << "Connecting flowgraph";
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if (connected_)
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if (connected_)
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||||||
{
|
{
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||||||
@ -184,8 +183,8 @@ void GNSSFlowgraph::connect()
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|||||||
{
|
{
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||||||
try
|
try
|
||||||
{
|
{
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||||||
//TODO: Remove this array implementation and create generic multistream connector
|
// 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)
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// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
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||||||
if (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0)
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if (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0)
|
||||||
{
|
{
|
||||||
//Multichannel Array
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//Multichannel Array
|
||||||
@ -198,14 +197,14 @@ void GNSSFlowgraph::connect()
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|||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
|
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
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||||||
//Include GetRFChannels in the interface to avoid read config parameters here
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// Include GetRFChannels in the interface to avoid read config parameters here
|
||||||
//read the number of RF channels for each front-end
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// read the number of RF channels for each front-end
|
||||||
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
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RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
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||||||
|
|
||||||
for (int j = 0; j < RF_Channels; j++)
|
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!
|
// 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_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();
|
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";
|
DLOG(INFO) << "Signal source connected to signal conditioner";
|
||||||
|
|
||||||
//connect the signal source to sample counter
|
// connect the signal source to sample counter
|
||||||
//connect the sample counter to Observables
|
// connect the sample counter to Observables
|
||||||
try
|
try
|
||||||
{
|
{
|
||||||
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
|
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
|
||||||
@ -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)
|
{
|
||||||
|
unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
|
||||||
|
if (sat == 0)
|
||||||
{
|
{
|
||||||
channels_.at(i)->start_acquisition();
|
vector_of_channels.push_back(i);
|
||||||
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";
|
|
||||||
}
|
}
|
||||||
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();
|
||||||
@ -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] 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
|
||||||
@ -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();
|
||||||
available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
|
if (sat == 0)
|
||||||
channels_.at(who)->set_signal(search_next_signal(channels_.at(who)->get_signal().get_signal_str(), true));
|
{
|
||||||
|
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();
|
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;
|
||||||
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_++;
|
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();
|
||||||
@ -417,7 +458,10 @@ 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";
|
||||||
available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
|
if (sat == 0)
|
||||||
|
{
|
||||||
|
available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
|
||||||
|
}
|
||||||
}
|
}
|
||||||
break;
|
break;
|
||||||
|
|
||||||
@ -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";
|
||||||
@ -464,9 +507,9 @@ void GNSSFlowgraph::init()
|
|||||||
{
|
{
|
||||||
std::cout << "Creating source " << i << std::endl;
|
std::cout << "Creating source " << i << std::endl;
|
||||||
sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, i));
|
sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, i));
|
||||||
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
|
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
|
||||||
//Include GetRFChannels in the interface to avoid read config parameters here
|
// Include GetRFChannels in the interface to avoid read config parameters here
|
||||||
//read the number of RF channels for each front-end
|
// read the number of RF channels for each front-end
|
||||||
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
|
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
|
||||||
std::cout << "RF Channels " << RF_Channels << std::endl;
|
std::cout << "RF Channels " << RF_Channels << std::endl;
|
||||||
for (int j = 0; j < RF_Channels; j++)
|
for (int j = 0; j < RF_Channels; j++)
|
||||||
@ -478,11 +521,11 @@ void GNSSFlowgraph::init()
|
|||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
//backwards compatibility for old config files
|
// backwards compatibility for old config files
|
||||||
sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, -1));
|
sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, -1));
|
||||||
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
|
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
|
||||||
//Include GetRFChannels in the interface to avoid read config parameters here
|
// Include GetRFChannels in the interface to avoid read config parameters here
|
||||||
//read the number of RF channels for each front-end
|
// read the number of RF channels for each front-end
|
||||||
RF_Channels = configuration_->property(sig_source_.at(0)->role() + ".RF_channels", 0);
|
RF_Channels = configuration_->property(sig_source_.at(0)->role() + ".RF_channels", 0);
|
||||||
if (RF_Channels != 0)
|
if (RF_Channels != 0)
|
||||||
{
|
{
|
||||||
@ -494,7 +537,7 @@ void GNSSFlowgraph::init()
|
|||||||
}
|
}
|
||||||
else
|
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));
|
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_);
|
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_;
|
||||||
|
@ -1,12 +1,12 @@
|
|||||||
/*!
|
/*!
|
||||||
* \file gnss_flowgraph.h
|
* \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
|
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
||||||
* Luis Esteve, 2011. luis(at)epsilon-formacion.com
|
* Luis Esteve, 2011. luis(at)epsilon-formacion.com
|
||||||
* 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.
|
||||||
*
|
*
|
||||||
* -------------------------------------------------------------------------
|
* -------------------------------------------------------------------------
|
||||||
*
|
*
|
||||||
@ -53,7 +53,7 @@ class ChannelInterface;
|
|||||||
class ConfigurationInterface;
|
class ConfigurationInterface;
|
||||||
class GNSSBlockFactory;
|
class GNSSBlockFactory;
|
||||||
|
|
||||||
/*! \brief This class represents a GNSS flowgraph.
|
/*! \brief This class represents a GNSS flow graph.
|
||||||
*
|
*
|
||||||
* 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, a PVT and an output filter.
|
||||||
@ -62,7 +62,7 @@ class GNSSFlowgraph
|
|||||||
{
|
{
|
||||||
public:
|
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);
|
GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, gr::msg_queue::sptr queue);
|
||||||
|
|
||||||
@ -71,14 +71,14 @@ public:
|
|||||||
*/
|
*/
|
||||||
virtual ~GNSSFlowgraph();
|
virtual ~GNSSFlowgraph();
|
||||||
|
|
||||||
//! \brief Start the flowgraph
|
//! \brief Start the flow graph
|
||||||
void start();
|
void start();
|
||||||
|
|
||||||
//! \brief Stop the flowgraph
|
//! \brief Stop the flow graph
|
||||||
void stop();
|
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
|
* Signal Source > Signal conditioner > Channels >> Observables >> PVT > Output filter
|
||||||
*/
|
*/
|
||||||
@ -87,10 +87,10 @@ public:
|
|||||||
void wait();
|
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] 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
|
||||||
*
|
*
|
||||||
|
Loading…
Reference in New Issue
Block a user