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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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This commit is contained in:
Javier Arribas 2016-04-25 20:43:52 +02:00
commit d2fdc16e2a
5 changed files with 69 additions and 63 deletions
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28
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
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@ -54,29 +54,29 @@ void hybrid_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
{
// ### GPS EPHEMERIS ###
std::shared_ptr<Gps_Ephemeris> gps_eph;
gps_eph= boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
gps_eph = boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
<< gps_eph->i_satellite_PRN << " (Block "
<< gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
<< "inserted with Toe="<< gps_eph->d_Toe<<" and GPS Week="
<< gps_eph->i_GPS_week;
// update/insert new ephemeris record to the global ephemeris map
d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN]=*gps_eph;
d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>) )
{
// ### GPS IONO ###
std::shared_ptr<Gps_Iono> gps_iono;
gps_iono= boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
d_ls_pvt->gps_iono=*gps_iono;
gps_iono = boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
d_ls_pvt->gps_iono = *gps_iono;
DLOG(INFO) << "New IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
{
// ### GPS UTC MODEL ###
std::shared_ptr<Gps_Utc_Model> gps_utc_model;
gps_utc_model= boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
d_ls_pvt->gps_utc_model=*gps_utc_model;
gps_utc_model = boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
d_ls_pvt->gps_utc_model = *gps_utc_model;
DLOG(INFO) << "New UTC record has arrived ";
}
@ -84,37 +84,37 @@ void hybrid_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
{
// ### Galileo EPHEMERIS ###
std::shared_ptr<Galileo_Ephemeris> galileo_eph;
galileo_eph= boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
// insert new ephemeris record
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
<< ", GALILEO Week Number =" << galileo_eph->WN_5
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
// update/insert new ephemeris record to the global ephemeris map
d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN]=*galileo_eph;
d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>) )
{
// ### Galileo IONO ###
std::shared_ptr<Galileo_Iono> galileo_iono;
galileo_iono= boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
d_ls_pvt->galileo_iono=*galileo_iono;
galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
d_ls_pvt->galileo_iono = *galileo_iono;
DLOG(INFO) << "New IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>) )
{
// ### Galileo UTC MODEL ###
std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
galileo_utc_model= boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
d_ls_pvt->galileo_utc_model=*galileo_utc_model;
galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
d_ls_pvt->galileo_utc_model = *galileo_utc_model;
DLOG(INFO) << "New UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>) )
{
// ### Galileo Almanac ###
std::shared_ptr<Galileo_Almanac> galileo_almanac;
galileo_almanac= boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
galileo_almanac = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
// update/insert new ephemeris record to the global ephemeris map
d_ls_pvt->galileo_almanac=*galileo_almanac;
d_ls_pvt->galileo_almanac = *galileo_almanac;
DLOG(INFO) << "New Galileo Almanac has arrived ";
}
else

27
src/algorithms/channel/adapters/channel.cc
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@ -48,14 +48,14 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
std::string role, std::string implementation, boost::shared_ptr<gr::msg_queue> queue)
{
pass_through_=pass_through;
acq_=acq;
trk_=trk;
nav_=nav;
role_=role;
implementation_=implementation;
channel_=channel;
queue_=queue;
pass_through_ = pass_through;
acq_ = acq;
trk_ = trk;
nav_ = nav;
role_ = role;
implementation_ = implementation;
channel_ = channel;
queue_ = queue;
acq_->set_channel(channel_);
trk_->set_channel(channel_);
@ -97,7 +97,7 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
gnss_signal_ = Gnss_Signal(implementation_);
chennel_msg_rx= channel_msg_receiver_make_cc(&channel_fsm_, repeat_);
channel_msg_rx = channel_msg_receiver_make_cc(&channel_fsm_, repeat_);
}
@ -128,12 +128,12 @@ void Channel::connect(gr::top_block_sptr top_block)
DLOG(INFO) << "tracking -> telemetry_decoder";
// Message ports
top_block->msg_connect(nav_->get_left_block(),pmt::mp("preamble_timestamp_s"),trk_->get_right_block(),pmt::mp("preamble_timestamp_s"));
top_block->msg_connect(nav_->get_left_block(), pmt::mp("preamble_timestamp_s"), trk_->get_right_block(), pmt::mp("preamble_timestamp_s"));
DLOG(INFO) << "MSG FEEDBACK CHANNEL telemetry_decoder -> tracking";
//std::cout<<"has port: "<<trk_->get_right_block()->has_msg_port(pmt::mp("events"))<<std::endl;
top_block->msg_connect(acq_->get_right_block(),pmt::mp("events"), chennel_msg_rx,pmt::mp("events"));
top_block->msg_connect(trk_->get_right_block(),pmt::mp("events"), chennel_msg_rx,pmt::mp("events"));
top_block->msg_connect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
connected_ = true;
}
@ -156,11 +156,13 @@ void Channel::disconnect(gr::top_block_sptr top_block)
connected_ = false;
}
gr::basic_block_sptr Channel::get_left_block()
{
return pass_through_->get_left_block();
}
gr::basic_block_sptr Channel::get_right_block()
{
return nav_->get_right_block();
@ -180,6 +182,7 @@ void Channel::set_signal(const Gnss_Signal& gnss_signal)
nav_->set_satellite(gnss_signal_.get_satellite());
}
void Channel::start_acquisition()
{
channel_fsm_.Event_start_acquisition();

2
src/algorithms/channel/adapters/channel.h
View File

@ -87,7 +87,7 @@ public:
private:
channel_msg_receiver_cc_sptr chennel_msg_rx;
channel_msg_receiver_cc_sptr channel_msg_rx;
GNSSBlockInterface *pass_through_;
AcquisitionInterface *acq_;
TrackingInterface *trk_;

71
src/algorithms/channel/libs/channel_msg_receiver_cc.cc
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@ -1,6 +1,6 @@
/*!
* \file channel_msg_receiver_cc.cc
* \brief GNURadio block that receives asynchronous channel messages from acquisition and tracking blocks
* \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
* \author Javier Arribas, 2016. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
@ -44,51 +44,54 @@ channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(ChannelFsm* channel_fs
void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
{
try {
long int message=pmt::to_long(msg);
switch (message)
{
case 1: //positive acquisition
//DLOG(INFO) << "Channel " << channel_ << " ACQ SUCCESS satellite " <<
// gnss_synchro_.System << " " << gnss_synchro_.PRN;
d_channel_fsm->Event_valid_acquisition();
break;
case 2: //negative acquisition
//DLOG(INFO) << "Channel " << channel_
// << " ACQ FAILED satellite " << gnss_synchro_.System << " " << gnss_synchro_.PRN;
if (d_repeat == true)
{
d_channel_fsm->Event_failed_acquisition_repeat();
}
else
{
d_channel_fsm->Event_failed_acquisition_no_repeat();
}
break;
case 3: // tracking loss of lock event
d_channel_fsm->Event_failed_tracking_standby();
break;
default:
LOG(WARNING) << "Default case, invalid message.";
break;
}
}catch(boost::bad_any_cast& e)
try
{
LOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
long int message = pmt::to_long(msg);
switch (message)
{
case 1: //positive acquisition
//DLOG(INFO) << "Channel " << channel_ << " ACQ SUCCESS satellite " <<
// gnss_synchro_.System << " " << gnss_synchro_.PRN;
d_channel_fsm->Event_valid_acquisition();
break;
case 2: //negative acquisition
//DLOG(INFO) << "Channel " << channel_
// << " ACQ FAILED satellite " << gnss_synchro_.System << " " << gnss_synchro_.PRN;
if (d_repeat == true)
{
d_channel_fsm->Event_failed_acquisition_repeat();
}
else
{
d_channel_fsm->Event_failed_acquisition_no_repeat();
}
break;
case 3: // tracking loss of lock event
d_channel_fsm->Event_failed_tracking_standby();
break;
default:
LOG(WARNING) << "Default case, invalid message.";
break;
}
}
catch(boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
}
}
channel_msg_receiver_cc::channel_msg_receiver_cc(ChannelFsm* channel_fsm, bool repeat) :
gr::block("channel_msg_receiver_cc", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1));
d_channel_fsm=channel_fsm;
d_repeat=repeat;
d_channel_fsm = channel_fsm;
d_repeat = repeat;
}
channel_msg_receiver_cc::~channel_msg_receiver_cc()
{}

4
src/algorithms/channel/libs/channel_msg_receiver_cc.h
View File

@ -1,6 +1,6 @@
/*!
* \file channel_msg_receiver_cc.h
* \brief GNURadio block that receives asynchronous channel messages from acquisition and tracking blocks
* \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
* \author Javier Arribas, 2016. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
@ -41,7 +41,7 @@ typedef boost::shared_ptr<channel_msg_receiver_cc> channel_msg_receiver_cc_sptr;
channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(ChannelFsm* channel_fsm, bool repeat);
/*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
* \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
*/
class channel_msg_receiver_cc : public gr::block
{