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https://github.com/gnss-sdr/gnss-sdr
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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
Javier Arribas
commit
d2fdc16e2a
@ -54,29 +54,29 @@ void hybrid_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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{
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// ### GPS EPHEMERIS ###
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std::shared_ptr<Gps_Ephemeris> gps_eph;
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gps_eph= boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
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gps_eph = boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
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DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
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<< gps_eph->i_satellite_PRN << " (Block "
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<< gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
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<< "inserted with Toe="<< gps_eph->d_Toe<<" and GPS Week="
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<< gps_eph->i_GPS_week;
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// update/insert new ephemeris record to the global ephemeris map
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d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN]=*gps_eph;
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d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>) )
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{
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// ### GPS IONO ###
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std::shared_ptr<Gps_Iono> gps_iono;
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gps_iono= boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
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d_ls_pvt->gps_iono=*gps_iono;
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gps_iono = boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
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d_ls_pvt->gps_iono = *gps_iono;
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DLOG(INFO) << "New IONO record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
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{
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// ### GPS UTC MODEL ###
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std::shared_ptr<Gps_Utc_Model> gps_utc_model;
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gps_utc_model= boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
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d_ls_pvt->gps_utc_model=*gps_utc_model;
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gps_utc_model = boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
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d_ls_pvt->gps_utc_model = *gps_utc_model;
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DLOG(INFO) << "New UTC record has arrived ";
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}
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@ -84,37 +84,37 @@ void hybrid_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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{
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// ### Galileo EPHEMERIS ###
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std::shared_ptr<Galileo_Ephemeris> galileo_eph;
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galileo_eph= boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
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galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
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// insert new ephemeris record
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DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
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<< ", GALILEO Week Number =" << galileo_eph->WN_5
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<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
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// update/insert new ephemeris record to the global ephemeris map
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d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN]=*galileo_eph;
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d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>) )
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{
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// ### Galileo IONO ###
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std::shared_ptr<Galileo_Iono> galileo_iono;
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galileo_iono= boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
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d_ls_pvt->galileo_iono=*galileo_iono;
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galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
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d_ls_pvt->galileo_iono = *galileo_iono;
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DLOG(INFO) << "New IONO record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>) )
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{
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// ### Galileo UTC MODEL ###
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std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
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galileo_utc_model= boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
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d_ls_pvt->galileo_utc_model=*galileo_utc_model;
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galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
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d_ls_pvt->galileo_utc_model = *galileo_utc_model;
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DLOG(INFO) << "New UTC record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>) )
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{
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// ### Galileo Almanac ###
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std::shared_ptr<Galileo_Almanac> galileo_almanac;
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galileo_almanac= boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
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galileo_almanac = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
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// update/insert new ephemeris record to the global ephemeris map
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d_ls_pvt->galileo_almanac=*galileo_almanac;
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d_ls_pvt->galileo_almanac = *galileo_almanac;
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DLOG(INFO) << "New Galileo Almanac has arrived ";
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}
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else
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@ -48,14 +48,14 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
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std::string role, std::string implementation, boost::shared_ptr<gr::msg_queue> queue)
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{
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pass_through_=pass_through;
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acq_=acq;
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trk_=trk;
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nav_=nav;
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role_=role;
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implementation_=implementation;
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channel_=channel;
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queue_=queue;
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pass_through_ = pass_through;
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acq_ = acq;
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trk_ = trk;
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nav_ = nav;
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role_ = role;
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implementation_ = implementation;
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channel_ = channel;
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queue_ = queue;
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acq_->set_channel(channel_);
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trk_->set_channel(channel_);
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@ -97,7 +97,7 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
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gnss_signal_ = Gnss_Signal(implementation_);
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chennel_msg_rx= channel_msg_receiver_make_cc(&channel_fsm_, repeat_);
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channel_msg_rx = channel_msg_receiver_make_cc(&channel_fsm_, repeat_);
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}
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@ -128,12 +128,12 @@ void Channel::connect(gr::top_block_sptr top_block)
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DLOG(INFO) << "tracking -> telemetry_decoder";
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// Message ports
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top_block->msg_connect(nav_->get_left_block(),pmt::mp("preamble_timestamp_s"),trk_->get_right_block(),pmt::mp("preamble_timestamp_s"));
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top_block->msg_connect(nav_->get_left_block(), pmt::mp("preamble_timestamp_s"), trk_->get_right_block(), pmt::mp("preamble_timestamp_s"));
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DLOG(INFO) << "MSG FEEDBACK CHANNEL telemetry_decoder -> tracking";
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//std::cout<<"has port: "<<trk_->get_right_block()->has_msg_port(pmt::mp("events"))<<std::endl;
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top_block->msg_connect(acq_->get_right_block(),pmt::mp("events"), chennel_msg_rx,pmt::mp("events"));
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top_block->msg_connect(trk_->get_right_block(),pmt::mp("events"), chennel_msg_rx,pmt::mp("events"));
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top_block->msg_connect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
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top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
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connected_ = true;
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}
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@ -156,11 +156,13 @@ void Channel::disconnect(gr::top_block_sptr top_block)
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connected_ = false;
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}
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gr::basic_block_sptr Channel::get_left_block()
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{
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return pass_through_->get_left_block();
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}
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gr::basic_block_sptr Channel::get_right_block()
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{
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return nav_->get_right_block();
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@ -180,6 +182,7 @@ void Channel::set_signal(const Gnss_Signal& gnss_signal)
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nav_->set_satellite(gnss_signal_.get_satellite());
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}
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void Channel::start_acquisition()
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{
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channel_fsm_.Event_start_acquisition();
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@ -87,7 +87,7 @@ public:
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private:
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channel_msg_receiver_cc_sptr chennel_msg_rx;
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channel_msg_receiver_cc_sptr channel_msg_rx;
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GNSSBlockInterface *pass_through_;
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AcquisitionInterface *acq_;
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TrackingInterface *trk_;
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@ -1,6 +1,6 @@
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/*!
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* \file channel_msg_receiver_cc.cc
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* \brief GNURadio block that receives asynchronous channel messages from acquisition and tracking blocks
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* \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
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* \author Javier Arribas, 2016. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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@ -44,51 +44,54 @@ channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(ChannelFsm* channel_fs
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void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
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{
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try {
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long int message=pmt::to_long(msg);
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switch (message)
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{
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case 1: //positive acquisition
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//DLOG(INFO) << "Channel " << channel_ << " ACQ SUCCESS satellite " <<
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// gnss_synchro_.System << " " << gnss_synchro_.PRN;
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d_channel_fsm->Event_valid_acquisition();
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break;
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case 2: //negative acquisition
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//DLOG(INFO) << "Channel " << channel_
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// << " ACQ FAILED satellite " << gnss_synchro_.System << " " << gnss_synchro_.PRN;
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if (d_repeat == true)
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{
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d_channel_fsm->Event_failed_acquisition_repeat();
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}
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else
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{
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d_channel_fsm->Event_failed_acquisition_no_repeat();
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}
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break;
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case 3: // tracking loss of lock event
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d_channel_fsm->Event_failed_tracking_standby();
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break;
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default:
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LOG(WARNING) << "Default case, invalid message.";
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break;
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}
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}catch(boost::bad_any_cast& e)
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try
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{
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LOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
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long int message = pmt::to_long(msg);
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switch (message)
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{
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case 1: //positive acquisition
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//DLOG(INFO) << "Channel " << channel_ << " ACQ SUCCESS satellite " <<
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// gnss_synchro_.System << " " << gnss_synchro_.PRN;
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d_channel_fsm->Event_valid_acquisition();
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break;
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case 2: //negative acquisition
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//DLOG(INFO) << "Channel " << channel_
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// << " ACQ FAILED satellite " << gnss_synchro_.System << " " << gnss_synchro_.PRN;
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if (d_repeat == true)
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{
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d_channel_fsm->Event_failed_acquisition_repeat();
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}
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else
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{
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d_channel_fsm->Event_failed_acquisition_no_repeat();
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}
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break;
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case 3: // tracking loss of lock event
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d_channel_fsm->Event_failed_tracking_standby();
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break;
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default:
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LOG(WARNING) << "Default case, invalid message.";
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break;
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}
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}
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catch(boost::bad_any_cast& e)
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{
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LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
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}
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}
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channel_msg_receiver_cc::channel_msg_receiver_cc(ChannelFsm* channel_fsm, bool repeat) :
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gr::block("channel_msg_receiver_cc", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
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{
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this->message_port_register_in(pmt::mp("events"));
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this->set_msg_handler(pmt::mp("events"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1));
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d_channel_fsm=channel_fsm;
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d_repeat=repeat;
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d_channel_fsm = channel_fsm;
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d_repeat = repeat;
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}
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channel_msg_receiver_cc::~channel_msg_receiver_cc()
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{}
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@ -1,6 +1,6 @@
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/*!
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* \file channel_msg_receiver_cc.h
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* \brief GNURadio block that receives asynchronous channel messages from acquisition and tracking blocks
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* \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
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* \author Javier Arribas, 2016. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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@ -41,7 +41,7 @@ typedef boost::shared_ptr<channel_msg_receiver_cc> channel_msg_receiver_cc_sptr;
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channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(ChannelFsm* channel_fsm, bool repeat);
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/*!
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* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
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* \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
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*/
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class channel_msg_receiver_cc : public gr::block
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{
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