diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
index 4d165fa6a..4c7c35716 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
@@ -229,8 +229,8 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
if (abs(preamble_diff - GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS) < 1)
{
- std::cout<<"d_sample_counter="<<d_sample_counter<<std::endl;
- std::cout<<"corr_value="<<corr_value<<std::endl;
+ //std::cout<<"d_sample_counter="<<d_sample_counter<<std::endl;
+ //std::cout<<"corr_value="<<corr_value<<std::endl;
// NEW Galileo page part is received
// 0. fetch the symbols into an array
int frame_length=GALILEO_INAV_PAGE_PART_SYMBOLS-d_symbols_per_preamble;
@@ -268,43 +268,57 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
std::string page_String;
- //std::cout<<"frame_bits=[";
for(int i=0; i < (frame_length/2); i++)
{
if (page_part_bits[i]>0)
{
page_String.push_back('1');
- //std::cout<<",1";
}else{
page_String.push_back('0');
- //std::cout<<",0";
}
- //sprintf(&page_String[i], "%d", page_part_bits[i]); // this produces a memory core dumped...
}
- //std::cout<<"]"<<std::endl;
-
- Galileo_Navigation_Message decode_page;
-
- std::cout<<"page_string="<<page_String<<std::endl; //correctly transformed to char
+ // Galileo_Navigation_Message d_nav; // Now is a class member object, to store the intermediate results from call to call
+ //std::cout<<"page_string="<<page_String<<std::endl; //correctly transformed to char
if (page_part_bits[0]==1)
{
std::cout<<"Page Odd"<<std::endl;
- decode_page.split_page(page_String.c_str(), flag_even_word_arrived);
+ d_nav.split_page(page_String.c_str(), flag_even_word_arrived);
flag_even_word_arrived=0;
std::cout<<"Page type ="<< page_part_bits[1]<<std::endl;
}
else
{
std::cout<<"Page Even"<<std::endl;
- decode_page.split_page(page_String.c_str(), flag_even_word_arrived);
+ d_nav.split_page(page_String.c_str(), flag_even_word_arrived);
flag_even_word_arrived=1;
std::cout<<"Page type ="<< page_part_bits[1]<<std::endl;
}
+ // 4. Push the new navigation data to the queues
+ //ToDo: Decide if we have an updated ephemeris for the current satellite,
+ // fill the ephemeris class and push the object to the concurrent queue
+ // Do the same for the
+ // sample from Gps queues
+ if (d_nav.have_new_ephemeris()==true)
+ {
+ // get ephemeris object for this SV
+ Galileo_Ephemeris ephemeris=d_nav.get_ephemeris();//notice that the read operation will clear the valid flag
+ d_ephemeris_queue->push(ephemeris);
+ }
+ if (d_nav.have_new_iono()==true)
+ {
+ Galileo_Iono iono=d_nav.get_iono(); //notice that the read operation will clear the valid flag
+ d_iono_queue->push(iono);
+ }
+ if (d_nav.have_new_utc_model()==true)
+ {
+ Galileo_Utc_Model utc_model=d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
+ d_utc_model_queue->push(utc_model);
+ }
d_flag_preamble = true;
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
@@ -339,23 +353,15 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
//1. Copy the current tracking output
current_synchro_data = in[0][0];
//2. Add the telemetry decoder information
- //if (this->d_flag_preamble==true and d_GPS_FSM.d_nav.d_TOW>0) //update TOW at the preamble instant (todo: check for valid d_TOW)
if (this->d_flag_preamble==true) //update TOW at the preamble instant (todo: check for valid d_TOW)
{
- //d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + GPS_SUBFRAME_SECONDS; //we decoded the current TOW when the last word of the subframe arrive, so, we have a lag of ONE SUBFRAME
- //d_TOW_at_current_symbol = d_TOW_at_Preamble + GALILEO_INAV_PREAMBLE_LENGTH_BITS/Galileo_E1_B_SYMBOL_RATE_BPS;
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
- ///if (flag_TOW_set==false)
- //{
- // flag_TOW_set = true;
- //}
}
else
{
//d_TOW_at_current_symbol = d_TOW_at_current_symbol + Galileo_E1_CODE_PERIOD;
}
-
current_synchro_data.d_TOW = d_TOW_at_Preamble;
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
current_synchro_data.Flag_valid_word = (d_flag_frame_sync == true and d_flag_parity == true and flag_TOW_set==true);
@@ -391,7 +397,6 @@ void galileo_e1b_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
- //d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN();
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
}
@@ -399,7 +404,6 @@ void galileo_e1b_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
void galileo_e1b_telemetry_decoder_cc::set_channel(int channel)
{
d_channel = channel;
- //d_GPS_FSM.i_channel_ID = channel;
DLOG(INFO) << "Navigation channel set to " << channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
@@ -425,19 +429,19 @@ void galileo_e1b_telemetry_decoder_cc::set_channel(int channel)
void galileo_e1b_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue<Galileo_Ephemeris> *ephemeris_queue)
{
- //d_Galileo_INAV_FSM.d_ephemeris_queue = ephemeris_queue;
+ d_ephemeris_queue = ephemeris_queue;
}
void galileo_e1b_telemetry_decoder_cc::set_iono_queue(concurrent_queue<Galileo_Iono> *iono_queue)
{
- //d_Galileo_INAV_FSM.d_iono_queue = iono_queue;
+ d_iono_queue = iono_queue;
}
void galileo_e1b_telemetry_decoder_cc::set_almanac_queue(concurrent_queue<Galileo_Almanac> *almanac_queue)
{
- //d_Galileo_INAV_FSM.d_almanac_queue = almanac_queue;
+ d_almanac_queue = almanac_queue;
}
void galileo_e1b_telemetry_decoder_cc::set_utc_model_queue(concurrent_queue<Galileo_Utc_Model> *utc_model_queue)
{
- //d_Galileo_INAV_FSM.d_utc_model_queue = utc_model_queue;
+ d_utc_model_queue = utc_model_queue;
}
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h
index 9bc90e831..927e351ee 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h
@@ -43,15 +43,20 @@
#include "gnuradio/trellis/permutation.h"
#include "gnuradio/fec/viterbi.h"
-//#include <gnuradio/gr_sync_block.h>
#include "gnss_satellite.h"
-//#include "galileo_inav_fsm.h"
#include "galileo_navigation_message.h"
#include "galileo_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
+// Galileo Navigation Message structures
+#include "galileo_ephemeris.h"
+#include "galileo_iono.h"
+#include "galileo_almanac.h"
+#include "galileo_utc_model.h"
+
+
class galileo_e1b_telemetry_decoder_cc;
typedef boost::shared_ptr<galileo_e1b_telemetry_decoder_cc> galileo_e1b_telemetry_decoder_cc_sptr;
@@ -110,13 +115,18 @@ private:
long d_fs_in;
-
- //gr::trellis::interleaver d_interleaver;
-
// navigation message vars
Galileo_Navigation_Message d_nav;
- //GalileoINAVFsm d_Galileo_INAV_FSM;
+ //ToDo: Update the Galileo_Ephemeris,Galileo_Iono,Galileo_Utc_Model, and Galileo_Almanac classes to store the Galileo parameters
+ // Galileo ephemeris queue
+ concurrent_queue<Galileo_Ephemeris> *d_ephemeris_queue;
+ // ionospheric parameters queue
+ concurrent_queue<Galileo_Iono> *d_iono_queue;
+ // UTC model parameters queue
+ concurrent_queue<Galileo_Utc_Model> *d_utc_model_queue;
+ // Almanac queue
+ concurrent_queue<Galileo_Almanac> *d_almanac_queue;
boost::shared_ptr<gr::msg_queue> d_queue;
unsigned int d_vector_length;
diff --git a/src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.cc b/src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.cc
deleted file mode 100644
index 8d136e2a8..000000000
--- a/src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.cc
+++ /dev/null
@@ -1,298 +0,0 @@
-/*!
- * \file gps_l1_ca_subframe_fsm.cc
- * \brief Implementation of a GPS NAV message word-to-subframe decoder state machine
- * \author Javier Arribas, 2011. jarribas(at)cttc.es
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- * Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#include "gps_l1_ca_subframe_fsm.h"
-
-
-//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
-
-struct Ev_gps_word_valid : sc::event<Ev_gps_word_valid> {};
-struct Ev_gps_word_invalid : sc::event<Ev_gps_word_invalid>{};
-struct Ev_gps_word_preamble : sc::event<Ev_gps_word_preamble>{};
-
-
-struct gps_subframe_fsm_S0: public sc::state<gps_subframe_fsm_S0, GpsL1CaSubframeFsm>
-{
-public:
- // sc::transition(event,next_status)
- typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
- gps_subframe_fsm_S0(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Enter S0 "<<std::endl;
- }
-};
-
-
-
-
-struct gps_subframe_fsm_S1: public sc::state<gps_subframe_fsm_S1, GpsL1CaSubframeFsm>
-{
-public:
- typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
- sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S2 > > reactions;
-
- gps_subframe_fsm_S1(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Enter S1 "<<std::endl;
- }
-};
-
-
-
-
-struct gps_subframe_fsm_S2: public sc::state<gps_subframe_fsm_S2, GpsL1CaSubframeFsm>
-{
-public:
- typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
- sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S3 > > reactions;
-
- gps_subframe_fsm_S2(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Enter S2 "<<std::endl;
- context< GpsL1CaSubframeFsm >().gps_word_to_subframe(0);
- }
-};
-
-
-
-
-struct gps_subframe_fsm_S3: public sc::state<gps_subframe_fsm_S3, GpsL1CaSubframeFsm>
-{
-public:
- typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
- sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S4 > > reactions;
-
- gps_subframe_fsm_S3(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Enter S3 "<<std::endl;
- context< GpsL1CaSubframeFsm >().gps_word_to_subframe(1);
- }
-};
-
-
-
-
-struct gps_subframe_fsm_S4: public sc::state<gps_subframe_fsm_S4, GpsL1CaSubframeFsm>
-{
-public:
- typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
- sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S5 > > reactions;
-
- gps_subframe_fsm_S4(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Enter S4 "<<std::endl;
- context< GpsL1CaSubframeFsm >().gps_word_to_subframe(2);
- }
-};
-
-
-
-
-struct gps_subframe_fsm_S5: public sc::state<gps_subframe_fsm_S5, GpsL1CaSubframeFsm>
-{
-public:
- typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
- sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S6 > > reactions;
-
- gps_subframe_fsm_S5(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Enter S5 "<<std::endl;
- context< GpsL1CaSubframeFsm >().gps_word_to_subframe(3);
- }
-};
-
-
-
-
-
-struct gps_subframe_fsm_S6: public sc::state<gps_subframe_fsm_S6, GpsL1CaSubframeFsm>
-{
-public:
- typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
- sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S7 > > reactions;
-
- gps_subframe_fsm_S6(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Enter S6 "<<std::endl;
- context< GpsL1CaSubframeFsm >().gps_word_to_subframe(4);
- }
-};
-
-
-
-struct gps_subframe_fsm_S7: public sc::state<gps_subframe_fsm_S7, GpsL1CaSubframeFsm>
-{
-public:
- typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
- sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S8 > > reactions;
-
- gps_subframe_fsm_S7(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Enter S7 "<<std::endl;
- context< GpsL1CaSubframeFsm >().gps_word_to_subframe(5);
- }
-};
-
-
-
-struct gps_subframe_fsm_S8: public sc::state<gps_subframe_fsm_S8, GpsL1CaSubframeFsm>
-{
-public:
- typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
- sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S9 > > reactions;
-
- gps_subframe_fsm_S8(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Enter S8 "<<std::endl;
- context< GpsL1CaSubframeFsm >().gps_word_to_subframe(6);
- }
-};
-
-
-
-
-struct gps_subframe_fsm_S9: public sc::state<gps_subframe_fsm_S9, GpsL1CaSubframeFsm>
-{
-public:
- typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
- sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S10 > > reactions;
-
- gps_subframe_fsm_S9(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Enter S9 "<<std::endl;
- context< GpsL1CaSubframeFsm >().gps_word_to_subframe(7);
- }
-};
-
-
-
-struct gps_subframe_fsm_S10: public sc::state<gps_subframe_fsm_S10, GpsL1CaSubframeFsm>
-{
-public:
- typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
- sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S11 > > reactions;
-
- gps_subframe_fsm_S10(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Enter S10 "<<std::endl;
- context< GpsL1CaSubframeFsm >().gps_word_to_subframe(8);
- }
-};
-
-
-
-struct gps_subframe_fsm_S11: public sc::state<gps_subframe_fsm_S11, GpsL1CaSubframeFsm>
-{
-public:
- typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
-
- gps_subframe_fsm_S11(my_context ctx): my_base( ctx )
- {
- //std::cout<<"Completed GPS Subframe!"<<std::endl;
- context< GpsL1CaSubframeFsm >().gps_word_to_subframe(9);
- context< GpsL1CaSubframeFsm >().gps_subframe_to_nav_msg(); //decode the subframe
- // DECODE SUBFRAME
- //std::cout<<"Enter S11"<<std::endl;
- }
-};
-
-
-
-
-GpsL1CaSubframeFsm::GpsL1CaSubframeFsm()
-{
- d_nav.reset();
- initiate(); //start the FSM
-}
-
-void GpsL1CaSubframeFsm::gps_word_to_subframe(int position)
-{
- // insert the word in the correct position of the subframe
- std::memcpy(&d_subframe[position*GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char)*GPS_WORD_LENGTH);
-}
-
-void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
-{
- int subframe_ID;
- // NEW GPS SUBFRAME HAS ARRIVED!
- subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe
- std::cout << "NAVIGATION FSM: received subframe " << subframe_ID << " for satellite " << Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
- d_nav.i_satellite_PRN = i_satellite_PRN;
- d_nav.i_channel_ID = i_channel_ID;
- d_nav.d_subframe_timestamp_ms = this->d_preamble_time_ms;
-
- switch (subframe_ID)
- {
- case 3: //we have a new set of ephemeris data for the current SV
- if (d_nav.satellite_validation()==true)
- {
- // get ephemeris object for this SV (mandatory)
- Gps_Ephemeris ephemeris=d_nav.get_ephemeris();
- d_ephemeris_queue->push(ephemeris);
- }
- break;
- case 4: // Possible IONOSPHERE and UTC model update (page 18)
- if (d_nav.flag_iono_valid==true)
- {
- Gps_Iono iono=d_nav.get_iono(); //notice that the read operation will clear the valid flag
- d_iono_queue->push(iono);
- }
- if (d_nav.flag_utc_model_valid==true)
- {
- Gps_Utc_Model utc_model=d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
- d_utc_model_queue->push(utc_model);
- }
- break;
- case 5:
- // get almanac (if available)
- //TODO: implement almanac reader in navigation_message
- break;
- default:
- break;
- }
-}
-
-void GpsL1CaSubframeFsm::Event_gps_word_valid()
-{
- this->process_event(Ev_gps_word_valid());
-}
-
-void GpsL1CaSubframeFsm::Event_gps_word_invalid()
-{
- this->process_event(Ev_gps_word_invalid());
-}
-
-
-
-void GpsL1CaSubframeFsm::Event_gps_word_preamble()
-{
- this->process_event(Ev_gps_word_preamble());
-}
-
diff --git a/src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.h b/src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.h
deleted file mode 100644
index 16ab71aad..000000000
--- a/src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/*!
- * \file gps_l1_ca_subframe_fsm.h
- * \brief Interface of a Galileo NAV message word-to-subframe decoder state machine
- * \author Javier Arribas, 2011. jarribas(at)cttc.es
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- * Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-
-#ifndef GNSS_SDR_GALILEO_INAV_FSM_H_
-#define GNSS_SDR_GALILEO_INAV_FSM_H_
-
-#include <boost/statechart/state_machine.hpp>
-#include <boost/statechart/simple_state.hpp>
-#include <boost/statechart/state.hpp>
-#include <boost/statechart/transition.hpp>
-#include <boost/statechart/custom_reaction.hpp>
-#include <boost/mpl/list.hpp>
-#include <queue>
-#include <boost/thread/mutex.hpp>
-#include <boost/thread/thread.hpp>
-#include "concurrent_queue.h"
-#include <iostream>
-#include <cstring>
-
-#include "galileo_navigation_message.h"
-#include "galileo_ephemeris.h"
-#include "galileo_almanac.h"
-#include "galileo_iono.h"
-#include "galileo_utc_model.h"
-
-namespace sc = boost::statechart;
-namespace mpl = boost::mpl;
-
-struct gps_subframe_fsm_S0;
-struct gps_subframe_fsm_S1;
-struct gps_subframe_fsm_S2;
-struct gps_subframe_fsm_S3;
-struct gps_subframe_fsm_S4;
-struct gps_subframe_fsm_S5;
-struct gps_subframe_fsm_S6;
-struct gps_subframe_fsm_S7;
-struct gps_subframe_fsm_S8;
-struct gps_subframe_fsm_S9;
-struct gps_subframe_fsm_S10;
-struct gps_subframe_fsm_S11;
-
-class GalileoINAVFsm : public sc::state_machine< GalileoINAVFsm, gps_subframe_fsm_S0 >
-{
-public:
- // channel and satellite info
- int i_channel_ID;
- unsigned int i_satellite_PRN;
-
- // ephemeris queue
- concurrent_queue<Galileo_Ephemeris> *d_ephemeris_queue;
- // ionospheric parameters queue
- concurrent_queue<Galileo_Iono> *d_iono_queue;
- // UTC model parameters queue
- concurrent_queue<Galileo_Utc_Model> *d_utc_model_queue;
- // Almanac queue
- concurrent_queue<Galileo_Almanac> *d_almanac_queue;
-
- // navigation message class
- Gps_Navigation_Message d_nav;
-
- // GPS SV and System parameters
- Galileo_Ephemeris ephemeris;
- Galileo_Almanac almanac;
- Galileo_Utc_Model utc_model;
- Galileo_Iono iono;
-
-
- char d_subframe[GPS_SUBFRAME_LENGTH];
- char d_GPS_frame_4bytes[GPS_WORD_LENGTH];
-
- double d_preamble_time_ms;
-
- void gps_word_to_subframe(int position);
- void gps_subframe_to_nav_msg();
-
- //FSM EVENTS
- void Event_gps_word_valid();
- void Event_gps_word_invalid();
- void Event_gps_word_preamble();
-
- GalileoINAVFsm();
-};
-
-#endif
diff --git a/src/core/system_parameters/galileo_navigation_message.cc b/src/core/system_parameters/galileo_navigation_message.cc
index e8147c14d..e5622f06a 100644
--- a/src/core/system_parameters/galileo_navigation_message.cc
+++ b/src/core/system_parameters/galileo_navigation_message.cc
@@ -506,6 +506,61 @@ void Galileo_Navigation_Message::split_page(const char *page, int flag_even_word
}
+bool Galileo_Navigation_Message::have_new_ephemeris()
+{
+ //ToDo: Check if whe have a new ephemeris data set stored in the galileo navigation class
+ return false;
+}
+
+bool Galileo_Navigation_Message::have_new_iono()
+{
+ //ToDo: Check if whe have a new iono data set stored in the galileo navigation class
+ return false;
+}
+bool Galileo_Navigation_Message::have_new_utc_model()
+{
+ //ToDo: Check if whe have a new utc data set stored in the galileo navigation class
+ return false;
+}
+bool Galileo_Navigation_Message::have_new_almanac()
+{
+ //ToDo: Check if whe have a new almanac data set stored in the galileo navigation class
+ return false;
+}
+
+Galileo_Ephemeris Galileo_Navigation_Message::get_ephemeris()
+{
+
+ Galileo_Ephemeris ephemeris;
+ //ToDo:: fill the object
+ return ephemeris;
+}
+
+
+Galileo_Iono Galileo_Navigation_Message::get_iono()
+{
+ Galileo_Iono iono;
+ //ToDo:: fill the object
+ return iono;
+}
+
+
+Galileo_Utc_Model Galileo_Navigation_Message::get_utc_model()
+{
+ Galileo_Utc_Model utc_model;
+ //ToDo:: fill the object
+ return utc_model;
+}
+
+
+Galileo_Almanac Galileo_Navigation_Message::get_almanac()
+{
+ Galileo_Almanac almanac;
+ //ToDo:: fill the object
+ return almanac;
+}
+
+
int Galileo_Navigation_Message::page_jk_decoder(char *data_jk)
{
std::cout << "--------------------------------------------------------------------------" << endl;
diff --git a/src/core/system_parameters/galileo_navigation_message.h b/src/core/system_parameters/galileo_navigation_message.h
index a6c6c19fd..bf8d23494 100644
--- a/src/core/system_parameters/galileo_navigation_message.h
+++ b/src/core/system_parameters/galileo_navigation_message.h
@@ -43,6 +43,12 @@
#include <cmath>
#include <utility>
+// Galileo Navigation Message structures
+#include "galileo_ephemeris.h"
+#include "galileo_iono.h"
+#include "galileo_almanac.h"
+#include "galileo_utc_model.h"
+
#include "Galileo_E1.h"
@@ -205,15 +211,61 @@ public:
double TOW_0;
+ /*
+ * \brief Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j
+ */
+ void split_page(const char *page, int flag_even_word);
+ /*
+ * \brief Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5
+ */
+ int page_jk_decoder(char *data_jk);
- void split_page(const char *page, int flag_even_word); /* Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j*/
- int page_jk_decoder(char *data_jk); /* Takes in input Data_jk (128 bit) and split it in ephemeris parameters according ICD 4.3.5*/
+ /*
+ * \brief Write doxigen function description here
+ */
void reset();
+ /*
+ * \brief Returns true if new Ephemeris has arrived. The flag is set to false when the function is executed
+ */
+ bool have_new_ephemeris();
+ /*
+ * \brief Returns true if new Iono model has arrived. The flag is set to false when the function is executed
+ */
+ bool have_new_iono();
+ /*
+ * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
+ */
+ bool have_new_utc_model();
+
+ /*
+ * \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
+ */
+ bool have_new_almanac();
+
+
+ /*
+ * \brief Returns a Galileo_Ephemeris object filled with the latest navigation data received
+ */
+ Galileo_Ephemeris get_ephemeris();
+
+ /*
+ * \brief Returns a Galileo_Iono object filled with the latest navigation data received
+ */
+ Galileo_Iono get_iono();
+
+ /*
+ * \brief Returns a Galileo_Utc_Model object filled with the latest navigation data received
+ */
+ Galileo_Utc_Model get_utc_model();
+
+ /*
+ * \brief Returns a Galileo_Almanac object filled with the latest navigation data received
+ */
+ Galileo_Almanac get_almanac();
- /* Default constructor */
Galileo_Navigation_Message();
};