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@ -75,7 +75,7 @@ the actual username of your GitHub account):
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4. Your forked repository https://github.com/YOUR_USERNAME/gnss-sdr
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will receive the default name of `origin`. You can also add the original
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gnss-sdr repository, which is usually called `upstream`:
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gnss-sdr repository, which is usually referred to as `upstream`:
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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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@ -5,11 +5,9 @@
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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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*
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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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* 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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void GNSSFlowgraph::start()
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{
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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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{
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/* Connects the blocks in the flowgraph
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*
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* Signal Source > Signal conditioner >> Channels >> Observables >> PVT
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*/
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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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LOG(INFO) << "Connecting flowgraph";
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if (connected_)
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{
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@ -267,7 +266,6 @@ void GNSSFlowgraph::connect()
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return;
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}
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// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
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int selected_signal_conditioner_ID;
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for (unsigned int i = 0; i < channels_count_; i++)
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@ -301,26 +299,46 @@ void GNSSFlowgraph::connect()
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top_block_->disconnect_all();
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return;
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}
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}
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std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal!
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channels_.at(i)->set_signal(search_next_signal(gnss_signal, false));
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if (channels_state_[i] == 1)
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// Put channels fixed to a given satellite at the beginning of the vector, then the rest
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std::vector<unsigned int> vector_of_channels;
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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channels_.at(i)->start_acquisition();
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available_GNSS_signals_.pop_front();
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LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
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LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
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unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
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if (sat == 0)
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{
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vector_of_channels.push_back(i);
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}
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else
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{
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LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
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auto it = vector_of_channels.begin();
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it = vector_of_channels.insert(it, i);
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}
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}
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/*
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* Connect the observables output of each channel to the PVT block
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*/
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// Assign satellites to channels in the initialization
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for (unsigned int& i : vector_of_channels)
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{
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std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal
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unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
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if (sat == 0)
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{
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channels_.at(i)->set_signal(search_next_signal(gnss_signal, true));
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}
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else
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{
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std::string gnss_system;
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if ((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) or (gnss_signal.compare("L5") == 0)) gnss_system = "GPS";
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if ((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0)) gnss_system = "Galileo";
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if ((gnss_signal.compare("1G") == 0) or (gnss_signal.compare("2G") == 0)) gnss_system = "Glonass";
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Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
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available_GNSS_signals_.remove(signal_value);
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channels_.at(i)->set_signal(signal_value);
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}
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}
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// Connect the observables output of each channel to the PVT block
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try
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{
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for (unsigned int i = 0; i < channels_count_; i++)
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@ -337,6 +355,21 @@ void GNSSFlowgraph::connect()
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return;
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}
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// Activate acquisition in enabled channels
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
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if (channels_state_[i] == 1)
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{
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channels_.at(i)->start_acquisition();
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LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
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}
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else
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{
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LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
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}
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}
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connected_ = true;
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LOG(INFO) << "Flowgraph connected";
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top_block_->dump();
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@ -374,12 +407,16 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg)
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void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
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{
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DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_;
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unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(who) + ".satellite", 0);
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switch (what)
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{
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case 0:
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DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str();
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if (sat == 0)
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{
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available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
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channels_.at(who)->set_signal(search_next_signal(channels_.at(who)->get_signal().get_signal_str(), true));
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}
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DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str();
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channels_.at(who)->start_acquisition();
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break;
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@ -390,10 +427,14 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
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acq_channels_count_--;
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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unsigned int sat_ = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
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if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
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{
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channels_state_[i] = 1;
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if (sat_ == 0)
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{
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channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true));
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}
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acq_channels_count_++;
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DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_.at(i)->get_signal().get_satellite() << ", Signal " << channels_.at(i)->get_signal().get_signal_str();
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channels_.at(i)->start_acquisition();
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@ -417,8 +458,11 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
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{
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channels_state_[who] = 0;
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LOG(INFO) << "Channel " << who << " Idle state";
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if (sat == 0)
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{
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available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
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}
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}
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break;
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default:
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@ -436,7 +480,6 @@ void GNSSFlowgraph::set_configuration(std::shared_ptr<ConfigurationInterface> co
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LOG(WARNING) << "Unable to update configuration while flowgraph running";
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return;
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}
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if (connected_)
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{
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LOG(WARNING) << "Unable to update configuration while flowgraph connected";
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@ -521,7 +564,6 @@ void GNSSFlowgraph::init()
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std::shared_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels = block_factory_->GetChannels(configuration_, queue_);
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//todo:check smart pointer coherence...
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channels_count_ = channels->size();
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for (unsigned int i = 0; i < channels_count_; i++)
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{
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@ -541,34 +583,19 @@ void GNSSFlowgraph::init()
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void GNSSFlowgraph::set_signals_list()
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{
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/*
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* Sets a sequential list of GNSS satellites
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*/
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// Set a sequential list of GNSS satellites
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std::set<unsigned int>::const_iterator available_gnss_prn_iter;
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/*
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* \TODO Describe GNSS satellites more nicely, with RINEX notation
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* See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf (page 5)
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*/
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/*
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* Read GNSS-SDR default GNSS system and signal
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*/
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// Read GNSS systems and signals
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unsigned int total_channels = configuration_->property("Channels_1C.count", 0) +
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configuration_->property("Channels_2S.count", 0) +
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configuration_->property("Channels_1B.count", 0) +
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configuration_->property("Channels_5X.count", 0) +
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configuration_->property("Channels_1G.count", 0) +
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configuration_->property("Channels_2S.count", 0) +
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configuration_->property("Channels_2G.count", 0) +
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configuration_->property("Channels_5X.count", 0) +
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configuration_->property("Channels_L5.count", 0);
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/*
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* Loop to create the list of GNSS Signals
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* To add signals from other systems, add another loop 'for'
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*/
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// Create the lists of GNSS satellites
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std::set<unsigned int> available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
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11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
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29, 30, 31, 32};
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@ -690,6 +717,7 @@ void GNSSFlowgraph::set_signals_list()
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std::string("L5")));
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}
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}
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if (configuration_->property("Channels_SBAS.count", 0) > 0)
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{
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/*
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@ -705,7 +733,6 @@ void GNSSFlowgraph::set_signals_list()
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}
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}
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if (configuration_->property("Channels_1B.count", 0) > 0)
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{
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/*
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@ -765,39 +792,12 @@ void GNSSFlowgraph::set_signals_list()
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std::string("2G")));
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}
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}
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/*
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* Ordering the list of signals from configuration file
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*/
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std::list<Gnss_Signal>::iterator gnss_it = available_GNSS_signals_.begin();
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// Pre-assignation if not defined at ChannelX.signal=1C ...? In what order?
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for (unsigned int i = 0; i < total_channels; i++)
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{
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std::string gnss_signal = (configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".signal", std::string("1C")));
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std::string gnss_system;
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if ((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) or (gnss_signal.compare("L5") == 0)) gnss_system = "GPS";
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if ((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0)) gnss_system = "Galileo";
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if ((gnss_signal.compare("1G") == 0) or (gnss_signal.compare("2G") == 0)) gnss_system = "Glonass";
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unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
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LOG(INFO) << "Channel " << i << " system " << gnss_system << ", signal " << gnss_signal << ", sat " << sat;
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if (sat == 0) // 0 = not PRN in configuration file
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{
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gnss_it++;
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}
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else
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{
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Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
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available_GNSS_signals_.remove(signal_value);
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gnss_it = available_GNSS_signals_.insert(gnss_it, signal_value);
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}
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}
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}
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void GNSSFlowgraph::set_channels_state()
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{
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max_acq_channels_ = (configuration_->property("Channels.in_acquisition", channels_count_));
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max_acq_channels_ = configuration_->property("Channels.in_acquisition", channels_count_);
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if (max_acq_channels_ > channels_count_)
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{
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max_acq_channels_ = channels_count_;
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@ -6,7 +6,7 @@
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* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
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*
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* It contains a signal source,
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* a signal conditioner, a set of channels, a pvt and an output filter.
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* a signal conditioner, a set of channels, an observables block and a pvt.
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*
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* -------------------------------------------------------------------------
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*
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@ -90,7 +90,7 @@ public:
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* \brief Applies an action to the flow graph
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*
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* \param[in] who Who generated the action
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* \param[in] what What is the action 0: acquisition failed
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* \param[in] what What is the action. 0: acquisition failed; 1: acquisition success; 2: tracking lost
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*/
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void apply_action(unsigned int who, unsigned int what);
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@ -100,14 +100,17 @@ public:
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{
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return applied_actions_;
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}
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bool connected()
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{
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return connected_;
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}
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bool running()
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{
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return running_;
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}
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/*!
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* \brief Sends a GNURadio asynchronous message from telemetry to PVT
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*
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