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https://github.com/gnss-sdr/gnss-sdr
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Galileo navigation queues ready and some code cleaning and doxigen documentation
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
@@ -229,8 +229,8 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
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if (abs(preamble_diff - GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS) < 1)
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{
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std::cout<<"d_sample_counter="<<d_sample_counter<<std::endl;
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std::cout<<"corr_value="<<corr_value<<std::endl;
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//std::cout<<"d_sample_counter="<<d_sample_counter<<std::endl;
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//std::cout<<"corr_value="<<corr_value<<std::endl;
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// NEW Galileo page part is received
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// 0. fetch the symbols into an array
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int frame_length=GALILEO_INAV_PAGE_PART_SYMBOLS-d_symbols_per_preamble;
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@@ -268,43 +268,57 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
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std::string page_String;
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//std::cout<<"frame_bits=[";
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for(int i=0; i < (frame_length/2); i++)
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{
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if (page_part_bits[i]>0)
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{
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page_String.push_back('1');
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//std::cout<<",1";
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}else{
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page_String.push_back('0');
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//std::cout<<",0";
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}
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//sprintf(&page_String[i], "%d", page_part_bits[i]); // this produces a memory core dumped...
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}
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//std::cout<<"]"<<std::endl;
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Galileo_Navigation_Message decode_page;
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std::cout<<"page_string="<<page_String<<std::endl; //correctly transformed to char
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// Galileo_Navigation_Message d_nav; // Now is a class member object, to store the intermediate results from call to call
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//std::cout<<"page_string="<<page_String<<std::endl; //correctly transformed to char
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if (page_part_bits[0]==1)
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{
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std::cout<<"Page Odd"<<std::endl;
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decode_page.split_page(page_String.c_str(), flag_even_word_arrived);
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d_nav.split_page(page_String.c_str(), flag_even_word_arrived);
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flag_even_word_arrived=0;
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std::cout<<"Page type ="<< page_part_bits[1]<<std::endl;
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}
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else
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{
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std::cout<<"Page Even"<<std::endl;
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decode_page.split_page(page_String.c_str(), flag_even_word_arrived);
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d_nav.split_page(page_String.c_str(), flag_even_word_arrived);
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flag_even_word_arrived=1;
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std::cout<<"Page type ="<< page_part_bits[1]<<std::endl;
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}
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// 4. Push the new navigation data to the queues
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//ToDo: Decide if we have an updated ephemeris for the current satellite,
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// fill the ephemeris class and push the object to the concurrent queue
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// Do the same for the
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// sample from Gps queues
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if (d_nav.have_new_ephemeris()==true)
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{
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// get ephemeris object for this SV
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Galileo_Ephemeris ephemeris=d_nav.get_ephemeris();//notice that the read operation will clear the valid flag
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d_ephemeris_queue->push(ephemeris);
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}
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if (d_nav.have_new_iono()==true)
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{
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Galileo_Iono iono=d_nav.get_iono(); //notice that the read operation will clear the valid flag
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d_iono_queue->push(iono);
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}
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if (d_nav.have_new_utc_model()==true)
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{
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Galileo_Utc_Model utc_model=d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
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d_utc_model_queue->push(utc_model);
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}
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d_flag_preamble = true;
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d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
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@@ -339,23 +353,15 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector
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//1. Copy the current tracking output
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current_synchro_data = in[0][0];
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//2. Add the telemetry decoder information
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//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)
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if (this->d_flag_preamble==true) //update TOW at the preamble instant (todo: check for valid d_TOW)
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{
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//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
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//d_TOW_at_current_symbol = d_TOW_at_Preamble + GALILEO_INAV_PREAMBLE_LENGTH_BITS/Galileo_E1_B_SYMBOL_RATE_BPS;
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Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
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///if (flag_TOW_set==false)
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//{
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// flag_TOW_set = true;
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//}
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}
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else
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{
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//d_TOW_at_current_symbol = d_TOW_at_current_symbol + Galileo_E1_CODE_PERIOD;
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}
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current_synchro_data.d_TOW = d_TOW_at_Preamble;
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current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
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current_synchro_data.Flag_valid_word = (d_flag_frame_sync == true and d_flag_parity == true and flag_TOW_set==true);
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@@ -391,7 +397,6 @@ void galileo_e1b_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
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{
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
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//d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN();
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DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
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}
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@@ -399,7 +404,6 @@ void galileo_e1b_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
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void galileo_e1b_telemetry_decoder_cc::set_channel(int channel)
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{
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d_channel = channel;
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//d_GPS_FSM.i_channel_ID = channel;
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DLOG(INFO) << "Navigation channel set to " << channel;
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump == true)
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@@ -425,19 +429,19 @@ void galileo_e1b_telemetry_decoder_cc::set_channel(int channel)
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void galileo_e1b_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue<Galileo_Ephemeris> *ephemeris_queue)
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{
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//d_Galileo_INAV_FSM.d_ephemeris_queue = ephemeris_queue;
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d_ephemeris_queue = ephemeris_queue;
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}
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void galileo_e1b_telemetry_decoder_cc::set_iono_queue(concurrent_queue<Galileo_Iono> *iono_queue)
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{
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//d_Galileo_INAV_FSM.d_iono_queue = iono_queue;
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d_iono_queue = iono_queue;
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}
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void galileo_e1b_telemetry_decoder_cc::set_almanac_queue(concurrent_queue<Galileo_Almanac> *almanac_queue)
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{
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//d_Galileo_INAV_FSM.d_almanac_queue = almanac_queue;
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d_almanac_queue = almanac_queue;
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}
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void galileo_e1b_telemetry_decoder_cc::set_utc_model_queue(concurrent_queue<Galileo_Utc_Model> *utc_model_queue)
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{
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//d_Galileo_INAV_FSM.d_utc_model_queue = utc_model_queue;
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d_utc_model_queue = utc_model_queue;
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}
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@@ -43,15 +43,20 @@
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#include "gnuradio/trellis/permutation.h"
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#include "gnuradio/fec/viterbi.h"
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//#include <gnuradio/gr_sync_block.h>
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#include "gnss_satellite.h"
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//#include "galileo_inav_fsm.h"
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#include "galileo_navigation_message.h"
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#include "galileo_ephemeris.h"
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#include "galileo_almanac.h"
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#include "galileo_iono.h"
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#include "galileo_utc_model.h"
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// Galileo Navigation Message structures
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#include "galileo_ephemeris.h"
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#include "galileo_iono.h"
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#include "galileo_almanac.h"
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#include "galileo_utc_model.h"
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class galileo_e1b_telemetry_decoder_cc;
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typedef boost::shared_ptr<galileo_e1b_telemetry_decoder_cc> galileo_e1b_telemetry_decoder_cc_sptr;
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@@ -110,13 +115,18 @@ private:
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long d_fs_in;
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//gr::trellis::interleaver d_interleaver;
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// navigation message vars
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Galileo_Navigation_Message d_nav;
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//GalileoINAVFsm d_Galileo_INAV_FSM;
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//ToDo: Update the Galileo_Ephemeris,Galileo_Iono,Galileo_Utc_Model, and Galileo_Almanac classes to store the Galileo parameters
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// Galileo ephemeris queue
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concurrent_queue<Galileo_Ephemeris> *d_ephemeris_queue;
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// ionospheric parameters queue
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concurrent_queue<Galileo_Iono> *d_iono_queue;
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// UTC model parameters queue
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concurrent_queue<Galileo_Utc_Model> *d_utc_model_queue;
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// Almanac queue
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concurrent_queue<Galileo_Almanac> *d_almanac_queue;
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boost::shared_ptr<gr::msg_queue> d_queue;
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unsigned int d_vector_length;
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@@ -1,298 +0,0 @@
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/*!
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* \file gps_l1_ca_subframe_fsm.cc
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* \brief Implementation of a GPS NAV message word-to-subframe decoder state machine
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2012 (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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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_subframe_fsm.h"
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//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
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struct Ev_gps_word_valid : sc::event<Ev_gps_word_valid> {};
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struct Ev_gps_word_invalid : sc::event<Ev_gps_word_invalid>{};
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struct Ev_gps_word_preamble : sc::event<Ev_gps_word_preamble>{};
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struct gps_subframe_fsm_S0: public sc::state<gps_subframe_fsm_S0, GpsL1CaSubframeFsm>
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{
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public:
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// sc::transition(event,next_status)
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typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
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gps_subframe_fsm_S0(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S0 "<<std::endl;
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}
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};
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struct gps_subframe_fsm_S1: public sc::state<gps_subframe_fsm_S1, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S2 > > reactions;
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gps_subframe_fsm_S1(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S1 "<<std::endl;
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}
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};
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struct gps_subframe_fsm_S2: public sc::state<gps_subframe_fsm_S2, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S3 > > reactions;
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gps_subframe_fsm_S2(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S2 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(0);
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}
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};
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struct gps_subframe_fsm_S3: public sc::state<gps_subframe_fsm_S3, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S4 > > reactions;
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gps_subframe_fsm_S3(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S3 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(1);
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}
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};
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struct gps_subframe_fsm_S4: public sc::state<gps_subframe_fsm_S4, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S5 > > reactions;
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gps_subframe_fsm_S4(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S4 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(2);
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}
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};
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struct gps_subframe_fsm_S5: public sc::state<gps_subframe_fsm_S5, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S6 > > reactions;
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gps_subframe_fsm_S5(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S5 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(3);
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}
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};
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struct gps_subframe_fsm_S6: public sc::state<gps_subframe_fsm_S6, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S7 > > reactions;
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gps_subframe_fsm_S6(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S6 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(4);
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}
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};
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struct gps_subframe_fsm_S7: public sc::state<gps_subframe_fsm_S7, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S8 > > reactions;
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gps_subframe_fsm_S7(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S7 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(5);
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}
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};
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struct gps_subframe_fsm_S8: public sc::state<gps_subframe_fsm_S8, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S9 > > reactions;
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gps_subframe_fsm_S8(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S8 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(6);
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}
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};
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struct gps_subframe_fsm_S9: public sc::state<gps_subframe_fsm_S9, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S10 > > reactions;
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gps_subframe_fsm_S9(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S9 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(7);
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}
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};
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struct gps_subframe_fsm_S10: public sc::state<gps_subframe_fsm_S10, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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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());
|
||||
}
|
||||
|
||||
@@ -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
|
||||
@@ -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;
|
||||
|
||||
@@ -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();
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user