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Bug fix: Restore telecommand functionality

This commit is contained in:
Javier Arribas 2019-07-25 16:38:19 +02:00
parent ad389f7b1a
commit c45257a26b
12 changed files with 40 additions and 27 deletions
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1
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
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@ -194,6 +194,7 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
void GalileoE1DllPllVemlTracking::stop_tracking()
{
tracking_->stop_tracking();
}

1
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
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@ -300,6 +300,7 @@ GalileoE1DllPllVemlTrackingFpga::~GalileoE1DllPllVemlTrackingFpga()
void GalileoE1DllPllVemlTrackingFpga::stop_tracking()
{
tracking_fpga_sc->stop_tracking();
}

1
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
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@ -190,6 +190,7 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
void GalileoE5aDllPllTracking::stop_tracking()
{
tracking_->stop_tracking();
}

1
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
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@ -290,6 +290,7 @@ void GalileoE5aDllPllTrackingFpga::start_tracking()
void GalileoE5aDllPllTrackingFpga::stop_tracking()
{
tracking_fpga_sc->stop_tracking();
}

1
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
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@ -252,6 +252,7 @@ void GpsL1CaDllPllTrackingFpga::start_tracking()
void GpsL1CaDllPllTrackingFpga::stop_tracking()
{
tracking_fpga_sc->stop_tracking();
}

1
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc
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@ -172,6 +172,7 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
void GpsL2MDllPllTracking::stop_tracking()
{
tracking_->stop_tracking();
}

1
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.cc
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@ -163,6 +163,7 @@ void GpsL2MDllPllTrackingFpga::start_tracking()
void GpsL2MDllPllTrackingFpga::stop_tracking()
{
tracking_fpga_sc->stop_tracking();
}

1
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
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@ -192,6 +192,7 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
void GpsL5DllPllTracking::stop_tracking()
{
tracking_->stop_tracking();
}

1
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
View File

@ -311,6 +311,7 @@ void GpsL5DllPllTrackingFpga::start_tracking()
void GpsL5DllPllTrackingFpga::stop_tracking()
{
tracking_fpga_sc->stop_tracking();
}

34
src/core/receiver/control_thread.cc
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@ -194,6 +194,8 @@ void ControlThread::init()
agnss_ref_time_.valid = false;
}
}
receiver_on_standby_ = false;
}
@ -234,11 +236,14 @@ void ControlThread::event_dispatcher(bool &valid_event, pmt::pmt_t &msg)
processed_control_messages_++;
if (pmt::any_ref(msg).type() == typeid(channel_event_sptr))
{
channel_event_sptr new_event;
new_event = boost::any_cast<channel_event_sptr>(pmt::any_ref(msg));
DLOG(INFO) << "New channel event rx from ch id: " << new_event->channel_id
<< " what: " << new_event->event_type;
flowgraph_->apply_action(new_event->channel_id, new_event->event_type);
if (receiver_on_standby_ == false)
{
channel_event_sptr new_event;
new_event = boost::any_cast<channel_event_sptr>(pmt::any_ref(msg));
DLOG(INFO) << "New channel event rx from ch id: " << new_event->channel_id
<< " what: " << new_event->event_type;
flowgraph_->apply_action(new_event->channel_id, new_event->event_type);
}
}
else if (pmt::any_ref(msg).type() == typeid(command_event_sptr))
{
@ -267,8 +272,11 @@ void ControlThread::event_dispatcher(bool &valid_event, pmt::pmt_t &msg)
}
else
{
//perform non-priority tasks
flowgraph_->acquisition_manager(0); //start acquisition of untracked satellites
if (receiver_on_standby_ == false)
{
//perform non-priority tasks
flowgraph_->acquisition_manager(0); //start acquisition of untracked satellites
}
}
}
@ -852,6 +860,10 @@ void ControlThread::apply_action(unsigned int what)
stop_ = true;
restart_ = true;
break;
case 10: // request standby mode
LOG(INFO) << "TC request standby mode";
receiver_on_standby_ = true;
break;
case 11:
LOG(INFO) << "Receiver action COLDSTART";
// delete all ephemeris and almanac information from maps (also the PVT map queue)
@ -859,13 +871,16 @@ void ControlThread::apply_action(unsigned int what)
pvt_ptr->clear_ephemeris();
// todo: reorder the satellite queues to the receiver default startup order.
// This is required to allow repeatability. Otherwise the satellite search order will depend on the last tracked satellites
// start again the satellite acquisitions
receiver_on_standby_ = false;
break;
case 12:
LOG(INFO) << "Receiver action HOTSTART";
visible_satellites = get_visible_sats(cmd_interface_.get_utc_time(), cmd_interface_.get_LLH());
// reorder the satellite queue to acquire first those visible satellites
flowgraph_->priorize_satellites(visible_satellites);
// start again the satellite acquisitions (done in chained apply_action to flowgraph)
// start again the satellite acquisitions
receiver_on_standby_ = false;
break;
case 13:
LOG(INFO) << "Receiver action WARMSTART";
@ -879,7 +894,8 @@ void ControlThread::apply_action(unsigned int what)
get_visible_sats(cmd_interface_.get_utc_time(), cmd_interface_.get_LLH());
// reorder the satellite queue to acquire first those visible satellites
flowgraph_->priorize_satellites(visible_satellites);
// start again the satellite acquisitions (done in chained apply_action to flowgraph)
// start again the satellite acquisitions
receiver_on_standby_ = false;
break;
default:
LOG(INFO) << "Unrecognized action.";

1
src/core/receiver/control_thread.h
View File

@ -129,6 +129,7 @@ private:
/*
* New receiver event dispatcher
*/
bool receiver_on_standby_;
void event_dispatcher(bool &valid_event, pmt::pmt_t &msg);
std::thread cmd_interface_thread_;

23
src/core/receiver/gnss_flowgraph.cc
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@ -1288,8 +1288,8 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
std::lock_guard<std::mutex> lock(signal_list_mutex);
DLOG(INFO) << "Received " << what << " from " << who;
Gnss_Signal gs = channels_[who]->get_signal();
unsigned int sat = 0;
Gnss_Signal gs;
if (who < 200)
{
try
@ -1304,6 +1304,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
switch (what)
{
case 0:
gs = channels_[who]->get_signal();
DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << gs.get_satellite() << ", Signal " << gs.get_signal_str();
channels_state_[who] = 0;
if (acq_channels_count_ > 0)
@ -1319,6 +1320,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
}
break;
case 1:
gs = channels_[who]->get_signal();
DLOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << gs.get_satellite();
// If the satellite is in the list of available ones, remove it.
remove_signal(gs);
@ -1333,6 +1335,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
break;
case 2:
gs = channels_[who]->get_signal();
DLOG(INFO) << "Channel " << who << " TRK FAILED satellite " << gs.get_satellite();
if (acq_channels_count_ < max_acq_channels_)
{
@ -1359,7 +1362,6 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
}
break;
case 10: // request standby mode
LOG(INFO) << "TC request standby mode";
for (size_t n = 0; n < channels_.size(); n++)
{
if (channels_state_[n] == 1 or channels_state_[n] == 2) // channel in acquisition or in tracking
@ -1372,22 +1374,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
channels_state_[n] = 0;
}
}
acq_channels_count_ = 0; // all channels are in standby now
break;
case 11: // request coldstart mode
LOG(INFO) << "TC request flowgraph coldstart";
// call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
break;
case 12: // request hotstart mode
LOG(INFO) << "TC request flowgraph hotstart";
// call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
break;
case 13: // request warmstart mode
LOG(INFO) << "TC request flowgraph warmstart";
// call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
acq_channels_count_ = 0; // all channels are in standby now and no new acquisition should be started
break;
default:
break;