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Add some control to input parameters

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This commit is contained in:
Carles Fernandez 2018-11-23 16:38:20 +01:00
parent a8fe18f435
commit c7486ad723
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GPG Key ID: 4C583C52B0C3877D
1 changed files with 90 additions and 68 deletions
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158
src/core/receiver/control_thread.cc
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@ -100,6 +100,94 @@ ControlThread::ControlThread(std::shared_ptr<ConfigurationInterface> configurati
} }
void ControlThread::init()
{
// Instantiates a control queue, a GNSS flowgraph, and a control message factory
control_queue_ = gr::msg_queue::make(0);
cmd_interface_.set_msg_queue(control_queue_); //set also the queue pointer for the telecommand thread
try
{
flowgraph_ = std::make_shared<GNSSFlowgraph>(configuration_, control_queue_);
}
catch (const boost::bad_lexical_cast &e)
{
std::cout << "Caught bad lexical cast with error " << e.what() << std::endl;
}
control_message_factory_ = std::make_shared<ControlMessageFactory>();
stop_ = false;
processed_control_messages_ = 0;
applied_actions_ = 0;
supl_mcc = 0;
supl_mns = 0;
supl_lac = 0;
supl_ci = 0;
msqid = -1;
agnss_ref_location_ = Agnss_Ref_Location();
agnss_ref_time_ = Agnss_Ref_Time();
std::string empty_string = "";
std::string ref_location_str = configuration_->property("GNSS-SDR.AGNSS_ref_location", empty_string);
std::string ref_time_str = configuration_->property("GNSS-SDR.AGNSS_ref_utc_time", empty_string);
if (ref_location_str.compare(empty_string) != 0)
{
std::vector<double> vect;
std::stringstream ss(ref_location_str);
double d;
while (ss >> d)
{
vect.push_back(d);
if ((ss.peek() == ',') or (ss.peek() == ' '))
ss.ignore();
}
// fill agnss_ref_location_
if (vect.size() >= 2)
{
if ((vect[0] < 90.0) and (vect[0] > -90) and (vect[1] < 180.0) and (vect[1] > -180.0))
{
agnss_ref_location_.lat = vect[0];
agnss_ref_location_.lon = vect[1];
agnss_ref_location_.valid = true;
}
else
{
std::cerr << "GNSS-SDR.AGNSS_ref_location=" << ref_location_str << " is not a valid position." << std::endl;
agnss_ref_location_.valid = false;
}
}
}
if (ref_time_str.compare(empty_string) == 0)
{
// Make an educated guess
time_t rawtime;
time(&rawtime);
agnss_ref_time_.d_tv_sec = rawtime;
agnss_ref_time_.valid = true;
}
else
{
// fill agnss_ref_time_
struct tm tm;
if (strptime(ref_time_str.c_str(), "%d/%m/%Y %H:%M:%S", &tm) != nullptr)
{
agnss_ref_time_.d_tv_sec = timegm(&tm);
if (agnss_ref_time_.d_tv_sec > 0)
{
agnss_ref_time_.valid = true;
}
else
{
std::cerr << "GNSS-SDR.AGNSS_ref_utc_time=" << ref_time_str << " is not well-formed. Please use four digits for the year: DD/MM/YYYY HH:MM:SS" << std::endl;
}
}
else
{
std::cerr << "GNSS-SDR.AGNSS_ref_utc_time=" << ref_time_str << " is not well-formed. Should be DD/MM/YYYY HH:MM:SS in UTC" << std::endl;
agnss_ref_location_.valid = false;
}
}
}
ControlThread::~ControlThread() ControlThread::~ControlThread()
{ {
// save navigation data to files // save navigation data to files
@ -110,7 +198,7 @@ ControlThread::~ControlThread()
void ControlThread::telecommand_listener() void ControlThread::telecommand_listener()
{ {
int tcp_cmd_port = configuration_->property("Channel.telecontrol_tcp_port", 3333); int tcp_cmd_port = configuration_->property("GNSS-SDR.telecontrol_tcp_port", 3333);
cmd_interface_.run_cmd_server(tcp_cmd_port); cmd_interface_.run_cmd_server(tcp_cmd_port);
} }
@ -653,7 +741,7 @@ void ControlThread::assist_GNSS()
} }
// If we have enough AGNSS data, make use of it // If we have enough AGNSS data, make use of it
if (agnss_ref_location_.valid == true) // and agnss_ref_time_.valid == true and we have AGNSS data if ((agnss_ref_location_.valid == true) and ((enable_gps_supl_assistance == true) or (enable_agnss_xml == true)))
{ {
// Get the list of visible satellites // Get the list of visible satellites
arma::vec ref_LLH = arma::zeros(3, 1); arma::vec ref_LLH = arma::zeros(3, 1);
@ -676,72 +764,6 @@ void ControlThread::assist_GNSS()
} }
void ControlThread::init()
{
// Instantiates a control queue, a GNSS flowgraph, and a control message factory
control_queue_ = gr::msg_queue::make(0);
cmd_interface_.set_msg_queue(control_queue_); //set also the queue pointer for the telecommand thread
try
{
flowgraph_ = std::make_shared<GNSSFlowgraph>(configuration_, control_queue_);
}
catch (const boost::bad_lexical_cast &e)
{
std::cout << "Caught bad lexical cast with error " << e.what() << std::endl;
}
control_message_factory_ = std::make_shared<ControlMessageFactory>();
stop_ = false;
processed_control_messages_ = 0;
applied_actions_ = 0;
supl_mcc = 0;
supl_mns = 0;
supl_lac = 0;
supl_ci = 0;
msqid = -1;
agnss_ref_location_ = Agnss_Ref_Location();
agnss_ref_time_ = Agnss_Ref_Time();
std::string empty_string = "";
std::string ref_location_str = configuration_->property("GNSS-SDR.AGNSS_ref_location", empty_string);
std::string ref_time_str = configuration_->property("GNSS-SDR.AGNSS_ref_utc_time", empty_string);
if (ref_location_str.compare(empty_string) != 0)
{
std::vector<double> vect;
std::stringstream ss(ref_location_str);
double d;
while (ss >> d)
{
vect.push_back(d);
if (ss.peek() == ',')
ss.ignore();
}
// fill agnss_ref_location_
if (vect.size() >= 2)
{
agnss_ref_location_.lat = vect[0];
agnss_ref_location_.lon = vect[1];
agnss_ref_location_.valid = true;
}
}
if (ref_time_str.compare(empty_string) == 0)
{
// Make an educated guess
time_t rawtime;
time(&rawtime);
agnss_ref_time_.d_tv_sec = rawtime;
agnss_ref_time_.valid = true;
}
else
{
// fill agnss_ref_time_
struct tm tm;
strptime(ref_time_str.c_str(), "%d/%m/%Y %H:%M:%S", &tm);
agnss_ref_time_.d_tv_sec = timegm(&tm);
agnss_ref_time_.valid = true;
}
}
void ControlThread::read_control_messages() void ControlThread::read_control_messages()
{ {
DLOG(INFO) << "Reading control messages from queue"; DLOG(INFO) << "Reading control messages from queue";