From d275a3612f417ad684e7f017730a550f77f6974f Mon Sep 17 00:00:00 2001 From: Javier Date: Thu, 12 Feb 2015 18:56:05 +0100 Subject: [PATCH] -Added multichannel support in the receiver core (multiple signal sources and signal conditioners) -Some simplifications done in gnss_flowgraph --- conf/gnss-sdr_Hybrid_nsr.conf | 2 +- conf/gnss-sdr_multichannel_Hybrid_nsr.conf | 474 ++++++++++++++++++ conf/gnss-sdr_multichannel_Hybrid_short.conf | 479 +++++++++++++++++++ src/core/receiver/gnss_block_factory.cc | 52 +- src/core/receiver/gnss_block_factory.h | 4 +- src/core/receiver/gnss_flowgraph.cc | 186 +++---- src/core/receiver/gnss_flowgraph.h | 11 +- 7 files changed, 1100 insertions(+), 108 deletions(-) create mode 100644 conf/gnss-sdr_multichannel_Hybrid_nsr.conf create mode 100644 conf/gnss-sdr_multichannel_Hybrid_short.conf diff --git a/conf/gnss-sdr_Hybrid_nsr.conf b/conf/gnss-sdr_Hybrid_nsr.conf index 5cc36fafc..16818a03d 100644 --- a/conf/gnss-sdr_Hybrid_nsr.conf +++ b/conf/gnss-sdr_Hybrid_nsr.conf @@ -19,7 +19,7 @@ ControlThread.wait_for_flowgraph=false SignalSource.implementation=Nsr_File_Signal_Source ;#filename: path to file with the captured GNSS signal samples to be processed -SignalSource.filename=../../../Documents/workspace/code2/trunk/data/E1L1_FE0_Band0.stream +SignalSource.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream ;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=byte diff --git a/conf/gnss-sdr_multichannel_Hybrid_nsr.conf b/conf/gnss-sdr_multichannel_Hybrid_nsr.conf new file mode 100644 index 000000000..2db65c212 --- /dev/null +++ b/conf/gnss-sdr_multichannel_Hybrid_nsr.conf @@ -0,0 +1,474 @@ +; Default configuration file +; You can define your own receiver and invoke it by doing +; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf +; + +[GNSS-SDR] + +Receiver.sources_count=2 + +;######### GLOBAL OPTIONS ################## +;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz]. +;GNSS-SDR.internal_fs_hz=6826700 +GNSS-SDR.internal_fs_hz=2560000 +;GNSS-SDR.internal_fs_hz=4096000 +;GNSS-SDR.internal_fs_hz=5120000 + +;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. +; it helps to not overload the CPU, but the processing time will be longer. +SignalSource.enable_throttle_control=false + +;#repeat: Repeat the processing file. Disable this option in this version +SignalSource.repeat=false + +;######### CONTROL_THREAD CONFIG ############ +ControlThread.wait_for_flowgraph=false + +;######### SIGNAL_SOURCE 0 CONFIG ############ +;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) +SignalSource0.implementation=Nsr_File_Signal_Source + +;#filename: path to file with the captured GNSS signal samples to be processed +SignalSource0.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream + +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +SignalSource0.item_type=byte + +;#sampling_frequency: Original Signal sampling frequency in [Hz] +SignalSource0.sampling_frequency=20480000 + +;#freq: RF front-end center frequency in [Hz] +SignalSource0.freq=1575420000 + +;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0) +SignalSource0.subdevice=B:0 + +;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. +SignalSource0.samples=0 + +;#dump: Dump the Signal source data to a file. Disable this option in this version +SignalSource0.dump=false + +SignalSource0.dump_filename=../data/signal_source.dat + +;######### SIGNAL_SOURCE 1 CONFIG ############ +;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) +SignalSource1.implementation=Nsr_File_Signal_Source + +;#filename: path to file with the captured GNSS signal samples to be processed +SignalSource1.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream + +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +SignalSource1.item_type=byte + +;#sampling_frequency: Original Signal sampling frequency in [Hz] +SignalSource1.sampling_frequency=20480000 + +;#freq: RF front-end center frequency in [Hz] +SignalSource1.freq=1575420000 + +;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0) +SignalSource1.subdevice=B:0 + +;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. +SignalSource1.samples=0 + +;#dump: Dump the Signal source data to a file. Disable this option in this version +SignalSource1.dump=false + +SignalSource1.dump_filename=../data/signal_source.dat + + +;######### SIGNAL_CONDITIONER 0 CONFIG ############ +;## It holds blocks to change data type, filter and resample input data. + +;#implementation: Use [Pass_Through] or [Signal_Conditioner] +;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks +;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks +SignalConditioner0.implementation=Signal_Conditioner + +;######### DATA_TYPE_ADAPTER 0 CONFIG ############ +;## Changes the type of input data. +;#implementation: [Pass_Through] disables this block +DataTypeAdapter0.implementation=Pass_Through +DataTypeAdapter0.item_type=float + +;######### INPUT_FILTER 0 CONFIG ############ +;## Filter the input data. Can be combined with frequency translation for IF signals + +;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] +;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation +;# that shifts IF down to zero Hz. + +InputFilter0.implementation=Freq_Xlating_Fir_Filter + +;#dump: Dump the filtered data to a file. +InputFilter0.dump=false + +;#dump_filename: Log path and filename. +InputFilter0.dump_filename=../data/input_filter.dat + +;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. +;#These options are based on parameters of gnuradio's function: gr_remez. +;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse +;#reponse given a set of band edges, the desired reponse on those bands, +;#and the weight given to the error in those bands. + +;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. +InputFilter0.input_item_type=float + +;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. +InputFilter0.output_item_type=gr_complex + +;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. +InputFilter0.taps_item_type=float + +;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time +InputFilter0.number_of_taps=5 + +;#number_of _bands: Number of frequency bands in the filter. +InputFilter0.number_of_bands=2 + +;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. +;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) +;#The number of band_begin and band_end elements must match the number of bands + +InputFilter0.band1_begin=0.0 +InputFilter0.band1_end=0.45 +InputFilter0.band2_begin=0.55 +InputFilter0.band2_end=1.0 + +;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. +;#The number of ampl_begin and ampl_end elements must match the number of bands + +InputFilter0.ampl1_begin=1.0 +InputFilter0.ampl1_end=1.0 +InputFilter0.ampl2_begin=0.0 +InputFilter0.ampl2_end=0.0 + +;#band_error: weighting applied to each band (usually 1). +;#The number of band_error elements must match the number of bands +InputFilter0.band1_error=1.0 +InputFilter0.band2_error=1.0 + +;#filter_type: one of "bandpass", "hilbert" or "differentiator" +InputFilter0.filter_type=bandpass + +;#grid_density: determines how accurately the filter will be constructed. +;The minimum value is 16; higher values are slower to compute the filter. +InputFilter0.grid_density=16 + +;# Original sampling frequency stored in the signal file +InputFilter0.sampling_frequency=20480000 + +;#The following options are used only in Freq_Xlating_Fir_Filter implementation. +;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz + +InputFilter0.IF=5499998.47412109 + +;# Decimation factor after the frequency tranaslating block +InputFilter0.decimation_factor=8 + +;######### RESAMPLER CONFIG 0 ############ +;## Resamples the input data. + +;#implementation: Use [Pass_Through] or [Direct_Resampler] +;#[Pass_Through] disables this block +;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation +Resampler0.implementation=Pass_Through + +;######### SIGNAL_CONDITIONER 1 CONFIG ############ +;## It holds blocks to change data type, filter and resample input data. + +;#implementation: Use [Pass_Through] or [Signal_Conditioner] +;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks +;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks +SignalConditioner1.implementation=Signal_Conditioner + +;######### DATA_TYPE_ADAPTER 1 CONFIG ############ +;## Changes the type of input data. +;#implementation: [Pass_Through] disables this block +DataTypeAdapter1.implementation=Pass_Through +DataTypeAdapter1.item_type=float + +;######### INPUT_FILTER 1 CONFIG ############ +;## Filter the input data. Can be combined with frequency translation for IF signals + +;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] +;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation +;# that shifts IF down to zero Hz. + +InputFilter1.implementation=Freq_Xlating_Fir_Filter + +;#dump: Dump the filtered data to a file. +InputFilter1.dump=false + +;#dump_filename: Log path and filename. +InputFilter1.dump_filename=../data/input_filter.dat + +;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. +;#These options are based on parameters of gnuradio's function: gr_remez. +;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse +;#reponse given a set of band edges, the desired reponse on those bands, +;#and the weight given to the error in those bands. + +;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. +InputFilter1.input_item_type=float + +;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. +InputFilter1.output_item_type=gr_complex + +;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. +InputFilter1.taps_item_type=float + +;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time +InputFilter1.number_of_taps=5 + +;#number_of _bands: Number of frequency bands in the filter. +InputFilter1.number_of_bands=2 + +;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. +;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) +;#The number of band_begin and band_end elements must match the number of bands + +InputFilter1.band1_begin=0.0 +InputFilter1.band1_end=0.45 +InputFilter1.band2_begin=0.55 +InputFilter1.band2_end=1.0 + +;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. +;#The number of ampl_begin and ampl_end elements must match the number of bands + +InputFilter1.ampl1_begin=1.0 +InputFilter1.ampl1_end=1.0 +InputFilter1.ampl2_begin=0.0 +InputFilter1.ampl2_end=0.0 + +;#band_error: weighting applied to each band (usually 1). +;#The number of band_error elements must match the number of bands +InputFilter1.band1_error=1.0 +InputFilter1.band2_error=1.0 + +;#filter_type: one of "bandpass", "hilbert" or "differentiator" +InputFilter1.filter_type=bandpass + +;#grid_density: determines how accurately the filter will be constructed. +;The minimum value is 16; higher values are slower to compute the filter. +InputFilter1.grid_density=16 + +;# Original sampling frequency stored in the signal file +InputFilter1.sampling_frequency=20480000 + +;#The following options are used only in Freq_Xlating_Fir_Filter implementation. +;#InputFilter1.IF is the intermediate frequency (in Hz) shifted down to zero Hz + +InputFilter1.IF=5499998.47412109 + +;# Decimation factor after the frequency tranaslating block +InputFilter1.decimation_factor=8 + + +;######### RESAMPLER CONFIG 1 ############ +;## Resamples the input data. + +;#implementation: Use [Pass_Through] or [Direct_Resampler] +;#[Pass_Through] disables this block +;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation +Resampler1.implementation=Pass_Through + +;######### CHANNELS GLOBAL CONFIG ############ +;#count: Number of available GPS satellite channels. +Channels_GPS.count=8 +;#count: Number of available Galileo satellite channels. +Channels_Galileo.count=8 +;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver +Channels.in_acquisition=1 +;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS +;#if the option is disabled by default is assigned GPS +Channel.system=GPS, Galileo + +;# CHANNEL CONNECTION +Channel0.SignalSource_ID=0 +Channel1.SignalSource_ID=0 +Channel2.SignalSource_ID=0 +Channel3.SignalSource_ID=0 +Channel4.SignalSource_ID=0 +Channel5.SignalSource_ID=0 +Channel6.SignalSource_ID=0 +Channel7.SignalSource_ID=0 + +Channel8.SignalSource_ID=1 +Channel9.SignalSource_ID=1 +Channel10.SignalSource_ID=1 +Channel11.SignalSource_ID=1 +Channel12.SignalSource_ID=1 +Channel13.SignalSource_ID=1 +Channel14.SignalSource_ID=1 +Channel15.SignalSource_ID=1 + +;#signal: +;#if the option is disabled by default is assigned "1C" GPS L1 C/A +Channel.signal=1B + + +;######### GPS ACQUISITION CONFIG ############ + +;#dump: Enable or disable the acquisition internal data file logging [true] or [false] +Acquisition_GPS.dump=false +;#filename: Log path and filename +Acquisition_GPS.dump_filename=./acq_dump.dat +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +Acquisition_GPS.item_type=gr_complex +;#if: Signal intermediate frequency in [Hz] +Acquisition_GPS.if=0 +;#sampled_ms: Signal block duration for the acquisition signal detection [ms] +Acquisition_GPS.sampled_ms=1 +;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition +;#threshold: Acquisition threshold +Acquisition_GPS.threshold=0.0075 +;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +;Acquisition_GPS.pfa=0.01 +;#doppler_max: Maximum expected Doppler shift [Hz] +Acquisition_GPS.doppler_max=10000 +;#doppler_max: Doppler step in the grid search [Hz] +Acquisition_GPS.doppler_step=500 + + +;######### GALILEO ACQUISITION CONFIG ############ + +;#dump: Enable or disable the acquisition internal data file logging [true] or [false] +Acquisition_Galileo.dump=false +;#filename: Log path and filename +Acquisition_Galileo.dump_filename=./acq_dump.dat +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +Acquisition_Galileo.item_type=gr_complex +;#if: Signal intermediate frequency in [Hz] +Acquisition_Galileo.if=0 +;#sampled_ms: Signal block duration for the acquisition signal detection [ms] +Acquisition_Galileo.sampled_ms=4 +;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +Acquisition_Galileo.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition +;#threshold: Acquisition threshold +;Acquisition_Galileo.threshold=0 +;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +Acquisition_Galileo.pfa=0.0000002 +;#doppler_max: Maximum expected Doppler shift [Hz] +Acquisition_Galileo.doppler_max=15000 +;#doppler_max: Doppler step in the grid search [Hz] +Acquisition_Galileo.doppler_step=125 + +;######### TRACKING GPS CONFIG ############ + +;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking] +Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking +;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. +Tracking_GPS.item_type=gr_complex + +;#sampling_frequency: Signal Intermediate Frequency in [Hz] +Tracking_GPS.if=0 + +;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] +Tracking_GPS.dump=false + +;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. +Tracking_GPS.dump_filename=../data/epl_tracking_ch_ + +;#pll_bw_hz: PLL loop filter bandwidth [Hz] +Tracking_GPS.pll_bw_hz=45.0; + +;#dll_bw_hz: DLL loop filter bandwidth [Hz] +Tracking_GPS.dll_bw_hz=2.0; + +;#fll_bw_hz: FLL loop filter bandwidth [Hz] +Tracking_GPS.fll_bw_hz=10.0; + +;#order: PLL/DLL loop filter order [2] or [3] +Tracking_GPS.order=3; + +;######### TRACKING GALILEO CONFIG ############ + +;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking] +Tracking_Galileo.implementation=Galileo_E1_DLL_PLL_VEML_Tracking +;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. +Tracking_Galileo.item_type=gr_complex + +;#sampling_frequency: Signal Intermediate Frequency in [Hz] +Tracking_Galileo.if=0 + +;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] +Tracking_Galileo.dump=false + +;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. +Tracking_Galileo.dump_filename=../data/veml_tracking_ch_ + +;#pll_bw_hz: PLL loop filter bandwidth [Hz] +Tracking_Galileo.pll_bw_hz=15.0; + +;#dll_bw_hz: DLL loop filter bandwidth [Hz] +Tracking_Galileo.dll_bw_hz=2.0; + +;#fll_bw_hz: FLL loop filter bandwidth [Hz] +Tracking_Galileo.fll_bw_hz=10.0; + +;#order: PLL/DLL loop filter order [2] or [3] +Tracking_Galileo.order=3; + +;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo +Tracking_Galileo.early_late_space_chips=0.15; + +;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] +Tracking_Galileo.very_early_late_space_chips=0.6; + + +;######### TELEMETRY DECODER GPS CONFIG ############ +;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A +TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder +TelemetryDecoder_GPS.dump=false +;#decimation factor +TelemetryDecoder_GPS.decimation_factor=4; + +;######### TELEMETRY DECODER GALILEO CONFIG ############ +;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B +TelemetryDecoder_Galileo.implementation=Galileo_E1B_Telemetry_Decoder +TelemetryDecoder_Galileo.dump=false + + +;######### OBSERVABLES CONFIG ############ +;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A. +Observables.implementation=Hybrid_Observables + +;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] +Observables.dump=false + +;#dump_filename: Log path and filename. +Observables.dump_filename=./observables.dat + + +;######### PVT CONFIG ############ +;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version. +PVT.implementation=Hybrid_PVT + +;#averaging_depth: Number of PVT observations in the moving average algorithm +PVT.averaging_depth=10 + +;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] +PVT.flag_averaging=false + +;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] +PVT.output_rate_ms=10; + +;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. +PVT.display_rate_ms=500; + +;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] +PVT.dump=false + +;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. +PVT.dump_filename=./PVT + +;######### OUTPUT_FILTER CONFIG ############ +;# Receiver output filter: Leave this block disabled in this version +OutputFilter.implementation=Null_Sink_Output_Filter +OutputFilter.filename=data/gnss-sdr.dat +OutputFilter.item_type=gr_complex \ No newline at end of file diff --git a/conf/gnss-sdr_multichannel_Hybrid_short.conf b/conf/gnss-sdr_multichannel_Hybrid_short.conf new file mode 100644 index 000000000..08a9c59b5 --- /dev/null +++ b/conf/gnss-sdr_multichannel_Hybrid_short.conf @@ -0,0 +1,479 @@ +; Default configuration file +; You can define your own receiver and invoke it by doing +; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf +; + +[GNSS-SDR] + +;######### GLOBAL OPTIONS ################## +;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz]. +GNSS-SDR.internal_fs_hz=4000000 +Receiver.sources_count=2 +;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. +; it helps to not overload the CPU, but the processing time will be longer. +SignalSource.enable_throttle_control=false + +;#repeat: Repeat the processing file. Disable this option in this version +SignalSource.repeat=false + +;######### CONTROL_THREAD CONFIG ############ +ControlThread.wait_for_flowgraph=false + +;######### SIGNAL_SOURCE 0 CONFIG ############ + +;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) +SignalSource0.implementation=File_Signal_Source + +;#filename: path to file with the captured GNSS signal samples to be processed +SignalSource0.filename=../data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat + +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +SignalSource0.item_type=short + +;#sampling_frequency: Original Signal sampling frequency in [Hz] +SignalSource0.sampling_frequency=4000000 + +;#freq: RF front-end center frequency in [Hz] +SignalSource0.freq=1575420000 + +;#gain: Front-end Gain in [dB] +SignalSource0.gain=60 + +;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0) +SignalSource0.subdevice=B:0 + +;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. +SignalSource0.samples=0 + +;#dump: Dump the Signal source data to a file. Disable this option in this version +SignalSource0.dump=false + +SignalSource0.dump_filename=../data/signal_source.dat + +;######### SIGNAL_SOURCE 1 CONFIG ############ + +;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) +SignalSource1.implementation=File_Signal_Source + +;#filename: path to file with the captured GNSS signal samples to be processed +SignalSource1.filename=../data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat + +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +SignalSource1.item_type=short + +;#sampling_frequency: Original Signal sampling frequency in [Hz] +SignalSource1.sampling_frequency=4000000 + +;#freq: RF front-end center frequency in [Hz] +SignalSource1.freq=1575420000 + +;#gain: Front-end Gain in [dB] +SignalSource1.gain=60 + +;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0) +SignalSource1.subdevice=B:0 + +;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. +SignalSource1.samples=0 + +;#dump: Dump the Signal source data to a file. Disable this option in this version +SignalSource1.dump=false + +SignalSource1.dump_filename=../data/signal_source.dat + + +;######### SIGNAL_CONDITIONER 0 CONFIG ############ +;## It holds blocks to change data type, filter and resample input data. + +;#implementation: Use [Pass_Through] or [Signal_Conditioner] +;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks +;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks +SignalConditioner0.implementation=Signal_Conditioner + +;######### DATA_TYPE_ADAPTER 0 CONFIG ############ +;## Changes the type of input data. Please disable it in this version. +;#implementation: [Pass_Through] disables this block +DataTypeAdapter0.implementation=Ishort_To_Complex + +;######### INPUT_FILTER 0 CONFIG ############ +;## Filter the input data. Can be combined with frequency translation for IF signals + +;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] +;#[Pass_Through] disables this block +;#[Fir_Filter] enables a FIR Filter +;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. + +InputFilter0.implementation=Pass_Through + +;#dump: Dump the filtered data to a file. +InputFilter0.dump=false + +;#dump_filename: Log path and filename. +InputFilter0.dump_filename=../data/input_filter.dat + +;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. +;#These options are based on parameters of gnuradio's function: gr_remez. +;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. + +;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. +InputFilter0.input_item_type=gr_complex + +;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. +InputFilter0.output_item_type=gr_complex + +;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. +InputFilter0.taps_item_type=float + +;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time +InputFilter0.number_of_taps=5 + +;#number_of _bands: Number of frequency bands in the filter. +InputFilter0.number_of_bands=2 + +;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. +;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) +;#The number of band_begin and band_end elements must match the number of bands + +InputFilter0.band1_begin=0.0 +InputFilter0.band1_end=0.45 +InputFilter0.band2_begin=0.55 +InputFilter0.band2_end=1.0 + +;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. +;#The number of ampl_begin and ampl_end elements must match the number of bands + +InputFilter0.ampl1_begin=1.0 +InputFilter0.ampl1_end=1.0 +InputFilter0.ampl2_begin=0.0 +InputFilter0.ampl2_end=0.0 + +;#band_error: weighting applied to each band (usually 1). +;#The number of band_error elements must match the number of bands +InputFilter0.band1_error=1.0 +InputFilter0.band2_error=1.0 + +;#filter_type: one of "bandpass", "hilbert" or "differentiator" +InputFilter0.filter_type=bandpass + +;#grid_density: determines how accurately the filter will be constructed. +;The minimum value is 16; higher values are slower to compute the filter. +InputFilter0.grid_density=16 + +;#The following options are used only in Freq_Xlating_Fir_Filter implementation. +;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz + +InputFilter0.sampling_frequency=4000000 +InputFilter0.IF=0 + +;######### RESAMPLER 1 CONFIG ############ +;## Resamples the input data. + +;#implementation: Use [Pass_Through] or [Direct_Resampler] +;#[Pass_Through] disables this block +;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation + +Resampler1.implementation=Pass_Through + +;#dump: Dump the resamplered data to a file. +Resampler1.dump=false +;#dump_filename: Log path and filename. +Resampler1.dump_filename=../data/resampler.dat + +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +Resampler1.item_type=gr_complex + +;#sample_freq_in: the sample frequency of the input signal +Resampler1.sample_freq_in=4000000 + +;#sample_freq_out: the desired sample frequency of the output signal +Resampler1.sample_freq_out=4000000 + +;######### SIGNAL_CONDITIONER 1 CONFIG ############ +;## It holds blocks to change data type, filter and resample input data. + +;#implementation: Use [Pass_Through] or [Signal_Conditioner] +;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks +;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks +SignalConditioner1.implementation=Signal_Conditioner + +;######### DATA_TYPE_ADAPTER 1 CONFIG ############ +;## Changes the type of input data. Please disable it in this version. +;#implementation: [Pass_Through] disables this block +DataTypeAdapter1.implementation=Ishort_To_Complex + +;######### INPUT_FILTER 1 CONFIG ############ +;## Filter the input data. Can be combined with frequency translation for IF signals + +;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] +;#[Pass_Through] disables this block +;#[Fir_Filter] enables a FIR Filter +;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. + +InputFilter1.implementation=Pass_Through + +;#dump: Dump the filtered data to a file. +InputFilter1.dump=false + +;#dump_filename: Log path and filename. +InputFilter1.dump_filename=../data/input_filter.dat + +;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. +;#These options are based on parameters of gnuradio's function: gr_remez. +;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands. + +;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. +InputFilter1.input_item_type=gr_complex + +;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. +InputFilter1.output_item_type=gr_complex + +;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. +InputFilter1.taps_item_type=float + +;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time +InputFilter1.number_of_taps=5 + +;#number_of _bands: Number of frequency bands in the filter. +InputFilter1.number_of_bands=2 + +;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. +;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) +;#The number of band_begin and band_end elements must match the number of bands + +InputFilter1.band1_begin=0.0 +InputFilter1.band1_end=0.45 +InputFilter1.band2_begin=0.55 +InputFilter1.band2_end=1.0 + +;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. +;#The number of ampl_begin and ampl_end elements must match the number of bands + +InputFilter1.ampl1_begin=1.0 +InputFilter1.ampl1_end=1.0 +InputFilter1.ampl2_begin=0.0 +InputFilter1.ampl2_end=0.0 + +;#band_error: weighting applied to each band (usually 1). +;#The number of band_error elements must match the number of bands +InputFilter1.band1_error=1.0 +InputFilter1.band2_error=1.0 + +;#filter_type: one of "bandpass", "hilbert" or "differentiator" +InputFilter1.filter_type=bandpass + +;#grid_density: determines how accurately the filter will be constructed. +;The minimum value is 16; higher values are slower to compute the filter. +InputFilter1.grid_density=16 + +;#The following options are used only in Freq_Xlating_Fir_Filter implementation. +;#InputFilter1.IF is the intermediate frequency (in Hz) shifted down to zero Hz + +InputFilter1.sampling_frequency=4000000 +InputFilter1.IF=0 + +;######### RESAMPLER 1 CONFIG ############ +;## Resamples the input data. + +;#implementation: Use [Pass_Through] or [Direct_Resampler] +;#[Pass_Through] disables this block +;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation + +Resampler1.implementation=Pass_Through + +;#dump: Dump the resamplered data to a file. +Resampler1.dump=false +;#dump_filename: Log path and filename. +Resampler1.dump_filename=../data/resampler.dat + +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +Resampler1.item_type=gr_complex + +;#sample_freq_in: the sample frequency of the input signal +Resampler1.sample_freq_in=4000000 + +;#sample_freq_out: the desired sample frequency of the output signal +Resampler1.sample_freq_out=4000000 + + +;######### CHANNELS GLOBAL CONFIG ############ +;#count: Number of available GPS satellite channels. +Channels_GPS.count=2 +;#count: Number of available Galileo satellite channels. +Channels_Galileo.count=2 +;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver +Channels.in_acquisition=1 +;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS +;#if the option is disabled by default is assigned GPS +Channel.system=GPS, Galileo + +;# CHANNEL CONNECTION +Channel0.SignalSource_ID=0 +Channel1.SignalSource_ID=0 +Channel2.SignalSource_ID=1 +Channel3.SignalSource_ID=1 +;#signal: +;#if the option is disabled by default is assigned "1C" GPS L1 C/A +Channel.signal=1B + + +;######### GPS ACQUISITION CONFIG ############ + +;#dump: Enable or disable the acquisition internal data file logging [true] or [false] +Acquisition_GPS.dump=false +;#filename: Log path and filename +Acquisition_GPS.dump_filename=./acq_dump.dat +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +Acquisition_GPS.item_type=gr_complex +;#if: Signal intermediate frequency in [Hz] +Acquisition_GPS.if=0 +;#sampled_ms: Signal block duration for the acquisition signal detection [ms] +Acquisition_GPS.sampled_ms=1 +;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition +;#threshold: Acquisition threshold +Acquisition_GPS.threshold=0.0075 +;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +;Acquisition_GPS.pfa=0.01 +;#doppler_max: Maximum expected Doppler shift [Hz] +Acquisition_GPS.doppler_max=10000 +;#doppler_max: Doppler step in the grid search [Hz] +Acquisition_GPS.doppler_step=500 + + +;######### GALILEO ACQUISITION CONFIG ############ + +;#dump: Enable or disable the acquisition internal data file logging [true] or [false] +Acquisition_Galileo.dump=false +;#filename: Log path and filename +Acquisition_Galileo.dump_filename=./acq_dump.dat +;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +Acquisition_Galileo.item_type=gr_complex +;#if: Signal intermediate frequency in [Hz] +Acquisition_Galileo.if=0 +;#sampled_ms: Signal block duration for the acquisition signal detection [ms] +Acquisition_Galileo.sampled_ms=4 +;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +Acquisition_Galileo.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition +;#threshold: Acquisition threshold +;Acquisition_Galileo.threshold=0 +;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] +Acquisition_Galileo.pfa=0.0000008 +;#doppler_max: Maximum expected Doppler shift [Hz] +Acquisition_Galileo.doppler_max=15000 +;#doppler_max: Doppler step in the grid search [Hz] +Acquisition_Galileo.doppler_step=125 + +;######### TRACKING GPS CONFIG ############ + +;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking] +Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking +;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. +Tracking_GPS.item_type=gr_complex + +;#sampling_frequency: Signal Intermediate Frequency in [Hz] +Tracking_GPS.if=0 + +;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] +Tracking_GPS.dump=false + +;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. +Tracking_GPS.dump_filename=../data/epl_tracking_ch_ + +;#pll_bw_hz: PLL loop filter bandwidth [Hz] +Tracking_GPS.pll_bw_hz=45.0; + +;#dll_bw_hz: DLL loop filter bandwidth [Hz] +Tracking_GPS.dll_bw_hz=4.0; + +;#fll_bw_hz: FLL loop filter bandwidth [Hz] +Tracking_GPS.fll_bw_hz=10.0; + +;#order: PLL/DLL loop filter order [2] or [3] +Tracking_GPS.order=3; + +;######### TRACKING GALILEO CONFIG ############ + +;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking] +Tracking_Galileo.implementation=Galileo_E1_DLL_PLL_VEML_Tracking +;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version. +Tracking_Galileo.item_type=gr_complex + +;#sampling_frequency: Signal Intermediate Frequency in [Hz] +Tracking_Galileo.if=0 + +;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] +Tracking_Galileo.dump=false + +;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. +Tracking_Galileo.dump_filename=../data/veml_tracking_ch_ + +;#pll_bw_hz: PLL loop filter bandwidth [Hz] +Tracking_Galileo.pll_bw_hz=15.0; + +;#dll_bw_hz: DLL loop filter bandwidth [Hz] +Tracking_Galileo.dll_bw_hz=2.0; + +;#fll_bw_hz: FLL loop filter bandwidth [Hz] +Tracking_Galileo.fll_bw_hz=10.0; + +;#order: PLL/DLL loop filter order [2] or [3] +Tracking_Galileo.order=3; + +;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo +Tracking_Galileo.early_late_space_chips=0.15; + +;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] +Tracking_Galileo.very_early_late_space_chips=0.6; + + +;######### TELEMETRY DECODER GPS CONFIG ############ +;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A +TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder +TelemetryDecoder_GPS.dump=false +;#decimation factor +TelemetryDecoder_GPS.decimation_factor=4; + +;######### TELEMETRY DECODER GALILEO CONFIG ############ +;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B +TelemetryDecoder_Galileo.implementation=Galileo_E1B_Telemetry_Decoder +TelemetryDecoder_Galileo.dump=false + + +;######### OBSERVABLES CONFIG ############ +;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A. +Observables.implementation=Hybrid_Observables + +;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] +Observables.dump=false + +;#dump_filename: Log path and filename. +Observables.dump_filename=./observables.dat + + +;######### PVT CONFIG ############ +;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version. +PVT.implementation=Hybrid_PVT + +;#averaging_depth: Number of PVT observations in the moving average algorithm +PVT.averaging_depth=10 + +;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] +PVT.flag_averaging=false + +;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] +PVT.output_rate_ms=100; + +;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. +PVT.display_rate_ms=500; + +;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] +PVT.dump=false + +;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. +PVT.dump_filename=./PVT + +;######### OUTPUT_FILTER CONFIG ############ +;# Receiver output filter: Leave this block disabled in this version +OutputFilter.implementation=Null_Sink_Output_Filter +OutputFilter.filename=data/gnss-sdr.dat +OutputFilter.item_type=gr_complex diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc index a480cee72..4acdca073 100644 --- a/src/core/receiver/gnss_block_factory.cc +++ b/src/core/receiver/gnss_block_factory.cc @@ -125,22 +125,42 @@ GNSSBlockFactory::~GNSSBlockFactory() std::unique_ptr GNSSBlockFactory::GetSignalSource( - std::shared_ptr configuration, boost::shared_ptr queue) + std::shared_ptr configuration, boost::shared_ptr queue, int ID) { std::string default_implementation = "File_Signal_Source"; - std::string implementation = configuration->property("SignalSource.implementation", default_implementation); + std::string role="SignalSource";//backwards compatibility for old conf files + if (ID!=-1) + { + role="SignalSource"+ boost::lexical_cast(ID); + } + std::string implementation = configuration->property(role + ".implementation", default_implementation); LOG(INFO) << "Getting SignalSource with implementation " << implementation; - return GetBlock(configuration, "SignalSource", implementation, 0, 1, queue); + return GetBlock(configuration, role, implementation, 0, 1, queue); } std::unique_ptr GNSSBlockFactory::GetSignalConditioner( - std::shared_ptr configuration, boost::shared_ptr queue) + std::shared_ptr configuration, boost::shared_ptr queue, int ID) { std::string default_implementation = "Pass_Through"; + //backwards compatibility for old conf files + std::string role_conditioner="SignalConditioner" ; + std::string role_datatypeadapter="DataTypeAdapter"; + std::string role_inputfilter="InputFilter"; + std::string role_resampler="Resampler"; + + if (ID!=-1) + { + role_conditioner="SignalConditioner" + boost::lexical_cast(ID); + role_datatypeadapter="DataTypeAdapter" + boost::lexical_cast(ID); + role_inputfilter="InputFilter" + boost::lexical_cast(ID); + role_resampler="Resampler" + boost::lexical_cast(ID); + } + std::string signal_conditioner = configuration->property( - "SignalConditioner.implementation", default_implementation); + role_conditioner+".implementation", default_implementation); + std::string data_type_adapter; std::string input_filter; std::string resampler; @@ -153,11 +173,11 @@ std::unique_ptr GNSSBlockFactory::GetSignalConditioner( else { data_type_adapter = configuration->property( - "DataTypeAdapter.implementation", default_implementation); + role_datatypeadapter + ".implementation", default_implementation); input_filter = configuration->property( - "InputFilter.implementation", default_implementation); + role_inputfilter + ".implementation", default_implementation); resampler = configuration->property( - "Resampler.implementation", default_implementation); + role_resampler + ".implementation", default_implementation); } LOG(INFO) << "Getting SignalConditioner with DataTypeAdapter implementation: " @@ -169,20 +189,20 @@ std::unique_ptr GNSSBlockFactory::GetSignalConditioner( { //instantiate the array version std::unique_ptr conditioner_(new ArraySignalConditioner(configuration.get(), GetBlock(configuration, - "DataTypeAdapter", data_type_adapter, 1, 1, queue).release(), GetBlock( - configuration,"InputFilter", input_filter, 1, 1, queue).release(), - GetBlock(configuration,"Resampler", resampler, 1, 1, queue).release(), - "SignalConditioner", "Signal_Conditioner", queue)); + role_datatypeadapter, data_type_adapter, 1, 1, queue).release(), GetBlock( + configuration,role_inputfilter, input_filter, 1, 1, queue).release(), + GetBlock(configuration,role_resampler, resampler, 1, 1, queue).release(), + role_conditioner, "Signal_Conditioner", queue)); return conditioner_; } else { //single-antenna version std::unique_ptr conditioner_(new SignalConditioner(configuration.get(), GetBlock(configuration, - "DataTypeAdapter", data_type_adapter, 1, 1, queue).release(), GetBlock( - configuration,"InputFilter", input_filter, 1, 1, queue).release(), - GetBlock(configuration,"Resampler", resampler, 1, 1, queue).release(), - "SignalConditioner", "Signal_Conditioner", queue)); + role_datatypeadapter, data_type_adapter, 1, 1, queue).release(), GetBlock( + configuration,role_inputfilter, input_filter, 1, 1, queue).release(), + GetBlock(configuration,role_resampler, resampler, 1, 1, queue).release(), + role_conditioner, "Signal_Conditioner", queue)); return conditioner_; } } diff --git a/src/core/receiver/gnss_block_factory.h b/src/core/receiver/gnss_block_factory.h index 73e4bdb5b..dcc797415 100644 --- a/src/core/receiver/gnss_block_factory.h +++ b/src/core/receiver/gnss_block_factory.h @@ -57,10 +57,10 @@ public: GNSSBlockFactory(); virtual ~GNSSBlockFactory(); std::unique_ptr GetSignalSource(std::shared_ptr configuration, - boost::shared_ptr queue); + boost::shared_ptr queue, int ID=-1); std::unique_ptr GetSignalConditioner(std::shared_ptr configuration, - boost::shared_ptr queue); + boost::shared_ptr queue, int ID=-1); std::unique_ptr GetPVT(std::shared_ptr configuration, boost::shared_ptr queue); diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index bc6e3ac07..7ed8ab80e 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -54,7 +54,7 @@ GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr configurati connected_ = false; running_ = false; configuration_ = configuration; - std::shared_ptr>> blocks_ = std::make_shared>>(); + //std::shared_ptr>> blocks_ = std::make_shared>>(); queue_ = queue; init(); } @@ -62,11 +62,9 @@ GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr configurati GNSSFlowgraph::~GNSSFlowgraph() { - blocks_->clear(); + //blocks_->clear(); } - - void GNSSFlowgraph::start() { if (running_) @@ -89,8 +87,6 @@ void GNSSFlowgraph::start() running_ = true; } - - void GNSSFlowgraph::stop() { for (unsigned int i = 0; i < channels_count_; i++) @@ -104,7 +100,6 @@ void GNSSFlowgraph::stop() } - void GNSSFlowgraph::connect() { /* Connects the blocks in the flowgraph @@ -118,40 +113,45 @@ void GNSSFlowgraph::connect() return; } - try - { - sig_source_ = std::move(blocks_->at(0)); - sig_source_->connect(top_block_); - } - catch (std::exception& e) - { - LOG(INFO) << "Can't connect signal source block internally"; - LOG(ERROR) << e.what(); - top_block_->disconnect_all(); - return; - } + for (int i = 0; i < sources_count_; i++) + { + try + { + sig_source_.at(i)->connect(top_block_); + } + catch (std::exception& e) + { + LOG(INFO) << "Can't connect signal source block " << i << " internally"; + LOG(ERROR) << e.what(); + top_block_->disconnect_all(); + return; + } + } // Signal Source > Signal conditioner > - try - { - sig_conditioner_ = std::move(blocks_->at(1)); - sig_conditioner_->connect(top_block_); - } - catch (std::exception& e) - { - LOG(WARNING) << "Can't connect signal conditioner block internally"; - LOG(ERROR) << e.what(); - top_block_->disconnect_all(); - return; - } + + for (int i = 0; i < sources_count_; i++) + { + try + { + sig_conditioner_.at(i)->connect(top_block_); + } + catch (std::exception& e) + { + LOG(INFO) << "Can't connect signal conditioner block " << i << " internally"; + LOG(ERROR) << e.what(); + top_block_->disconnect_all(); + return; + } + } for (unsigned int i = 0; i < channels_count_; i++) { try { - auto chan_ = std::move(blocks_->at(i + 5)); - std::shared_ptr chan = std::dynamic_pointer_cast(chan_); - channels_.push_back(chan); + //auto chan_ = std::move(blocks_->at(i)); + //std::shared_ptr chan = std::dynamic_pointer_cast(chan_); + //channels_.push_back(chan); channels_.at(i)->connect(top_block_); } catch (std::exception& e) @@ -165,7 +165,7 @@ void GNSSFlowgraph::connect() try { - observables_ = std::move(blocks_->at(2)); + //observables_ = std::move(blocks_->at(2)); observables_->connect(top_block_); } catch (std::exception& e) @@ -179,7 +179,7 @@ void GNSSFlowgraph::connect() // Signal Source > Signal conditioner >> Channels >> Observables > PVT try { - pvt_ = std::move(blocks_->at(3)); + //pvt_ = std::move(blocks_->at(3)); pvt_->connect(top_block_); } catch (std::exception& e) @@ -193,7 +193,7 @@ void GNSSFlowgraph::connect() // Signal Source > Signal conditioner >> Channels >> Observables > PVT > Output Filter try { - output_filter_ = std::move(blocks_->at(4)); + //output_filter_ = std::move(blocks_->at(4)); output_filter_->connect(top_block_); } catch (std::exception& e) @@ -206,52 +206,62 @@ void GNSSFlowgraph::connect() DLOG(INFO) << "blocks connected internally"; - // Signal Source > Signal conditioner > - try - { - if(sig_source_->implementation().compare("Raw_Array_Signal_Source") == 0) - { - //Multichannel Array - std::cout << "ARRAY MODE" << std::endl; - for (int i = 0; i < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; i++) - { - std::cout << "connecting ch "<< i << std::endl; - top_block_->connect(sig_source_->get_right_block(), i, sig_conditioner_->get_left_block(), i); - } - } - else - { - //single channel - top_block_->connect(sig_source_->get_right_block(), 0, sig_conditioner_->get_left_block(), 0); - } + // Signal Source (i) > Signal conditioner (i) > - } - catch (std::exception& e) - { - LOG(WARNING) << "Can't connect signal source to signal conditioner"; - LOG(ERROR) << e.what(); - top_block_->disconnect_all(); - return; + for (int i = 0; i < sources_count_; i++) + { + + try + { + //TODO: Remove this array implementation and create generic multistream connector + //(if a signal source has more than 1 stream, then connect it to the multistream signal conditioner) + if(sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0) + { + //Multichannel Array + std::cout << "ARRAY MODE" << std::endl; + for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++) + { + std::cout << "connecting ch "<< j << std::endl; + top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j); + } + } + else + { + //single channel + top_block_->connect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(i)->get_left_block(), 0); + } + + } + catch (std::exception& e) + { + LOG(WARNING) << "Can't connect signal source " << i << " to signal conditioner " << i; + LOG(ERROR) << e.what(); + top_block_->disconnect_all(); + return; + } } DLOG(INFO) << "Signal source connected to signal conditioner"; - // Signal Source > Signal conditioner >> channels_count_ number of Channels in parallel + // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID) + int selected_signal_source; for (unsigned int i = 0; i < channels_count_; i++) { - try - { - top_block_->connect(sig_conditioner_->get_right_block(), 0, - channels_.at(i)->get_left_block(), 0); + + selected_signal_source = configuration_->property("Channel" + boost::lexical_cast(i) +".SignalSource_ID", 0); + try + { + top_block_->connect(sig_conditioner_.at(selected_signal_source)->get_right_block(), 0, + channels_.at(i)->get_left_block(), 0); } catch (std::exception& e) { - LOG(WARNING) << "Can't connect signal conditioner to channel " << i; + LOG(WARNING) << "Can't connect signal conditioner "<disconnect_all(); return; } - DLOG(INFO) << "signal conditioner connected to channel " << i; + DLOG(INFO) << "signal conditioner "< Signal conditioner >> Channels >> Observables try @@ -344,9 +354,6 @@ void GNSSFlowgraph::wait() } - - - /* * Applies an action to the flowgraph * @@ -451,25 +458,34 @@ void GNSSFlowgraph::init() */ std::shared_ptr block_factory_ = std::make_shared(); - std::shared_ptr signal_source_ = block_factory_->GetSignalSource(configuration_, queue_); - std::shared_ptr cond_ = block_factory_->GetSignalConditioner(configuration_, queue_); - std::shared_ptr obs_ = block_factory_->GetObservables(configuration_, queue_); - std::shared_ptr pvt_ = block_factory_->GetPVT(configuration_, queue_); - std::shared_ptr output_ = block_factory_->GetOutputFilter(configuration_, queue_); + // 1. read the number of RF front-ends available (one file_source per RF front-end) + sources_count_ = configuration_->property("Receiver.sources_count", 1); - blocks_->push_back(signal_source_); - blocks_->push_back(cond_); - blocks_->push_back(obs_); - blocks_->push_back(pvt_); - blocks_->push_back(output_); + if (sources_count_>1) + { + for (int i = 0; i < sources_count_; i++) + { + std::cout<<"creating source "<GetSignalSource(configuration_, queue_,i)); + sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, queue_, i)); + } + }else{ + //backwards compatibility for old config files + sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_,-1)); + sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, queue_, -1)); + } + + observables_ = block_factory_->GetObservables(configuration_, queue_); + pvt_ = block_factory_->GetPVT(configuration_, queue_); + output_filter_ = block_factory_->GetOutputFilter(configuration_, queue_); std::shared_ptr>> channels = block_factory_->GetChannels(configuration_, queue_); channels_count_ = channels->size(); for (unsigned int i = 0; i < channels_count_; i++) { - std::shared_ptr chan_ = std::move(channels->at(i)); - blocks_->push_back(chan_); + std::shared_ptr chan_ = std::move(channels->at(i)); + channels_.push_back(std::dynamic_pointer_cast(chan_)); } top_block_ = gr::make_top_block("GNSSFlowgraph"); @@ -478,7 +494,6 @@ void GNSSFlowgraph::init() set_signals_list(); set_channels_state(); applied_actions_ = 0; - std::vector> channels_(channels_count_); DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels."; } @@ -610,7 +625,6 @@ void GNSSFlowgraph::set_signals_list() } - void GNSSFlowgraph::set_channels_state() { max_acq_channels_ = (configuration_->property("Channels.in_acquisition", channels_count_)); diff --git a/src/core/receiver/gnss_flowgraph.h b/src/core/receiver/gnss_flowgraph.h index c402c567d..e6913e117 100644 --- a/src/core/receiver/gnss_flowgraph.h +++ b/src/core/receiver/gnss_flowgraph.h @@ -115,6 +115,8 @@ private: // using the configuration parameters (number of channels and max channels in acquisition) bool connected_; bool running_; + int sources_count_; + unsigned int channels_count_; unsigned int acq_channels_count_; unsigned int max_acq_channels_; @@ -122,12 +124,15 @@ private: std::string config_file_; std::shared_ptr configuration_; std::shared_ptr block_factory_; - std::shared_ptr>> blocks_ = std::make_shared>>(); - std::shared_ptr sig_source_; - std::shared_ptr sig_conditioner_; + //std::shared_ptr>> blocks_ = std::make_shared>>(); + + std::vector> sig_source_; + std::vector> sig_conditioner_; + std::shared_ptr observables_; std::shared_ptr pvt_; std::shared_ptr output_filter_; + std::vector> channels_; gr::top_block_sptr top_block_; boost::shared_ptr queue_;