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Galileo navigation queues ready and some code cleaning and doxigen documentation

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@403 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
2013-08-15 15:14:17 +00:00
parent ad6210a900
commit d070b4a389
6 changed files with 157 additions and 446 deletions
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298
src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.cc
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@@ -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());
}

112
src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.h
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@@ -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