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Merge branch 'better_flowgraph' into next

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Improve flowgraph in multisystem and multiband configurations.
If a satellite is acquited, it is immediately searched in other bands
If no satellite is found from the first system, the receiver got stalled. This commit fixes the issue.
This commit is contained in:
Carles Fernandez 2018-06-15 18:31:36 +02:00
commit d6a3175fbc
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GPG Key ID: 4C583C52B0C3877D
3 changed files with 400 additions and 60 deletions
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2
docs/changelog
View File

@ -14,6 +14,7 @@ Next release will have several improvements in different dimensions, addition of
- Internal Finite State Machines rewritten for improved continuity in delivering position fixes. This fixes a bug that was stalling the receiver after about six hours of continuous operation.
- Redesign of the time counter for enhanced continuity.
- Improved flow graph in multisystem configurations: the receiver does not get stalled anymore if no signal is found from the first system.
- Improved acquisition and tracking sensitivity.
- Other minor bug fixes.
@ -21,6 +22,7 @@ Next release will have several improvements in different dimensions, addition of
### Improvements in Efficiency:
- Added the possibility of non-blocking acquisition, which works well when using real-time data from an RF front-end.
- Improved flow graph in multiband configurations: satellites acquired in one band are immediately searched in others.
- Complex local codes have been replaced by real codes, alleviating the computational burden.
- New volk_gnsssdr kernels: volk_gnsssdr_16i_xn_resampler_16i_xn.h, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h, volk_gnsssdr_32f_xn_resampler_32f_xn.h, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn.h
- Some AVX2 implementations added to the volk_gnsssdr library.

432
src/core/receiver/gnss_flowgraph.cc
View File

@ -422,11 +422,59 @@ void GNSSFlowgraph::connect()
else
{
std::string gnss_system;
if ((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) or (gnss_signal.compare("L5") == 0)) gnss_system = "GPS";
if ((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0)) gnss_system = "Galileo";
if ((gnss_signal.compare("1G") == 0) or (gnss_signal.compare("2G") == 0)) gnss_system = "Glonass";
Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GNSS_signals_.remove(signal_value);
Gnss_Signal signal_value;
switch (mapStringValues_[gnss_signal])
{
case evGPS_1C:
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_1C_signals_.remove(signal_value);
break;
case evGPS_2S:
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_2S_signals_.remove(signal_value);
break;
case evGPS_L5:
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_L5_signals_.remove(signal_value);
break;
case evGAL_1B:
gnss_system = "Galileo";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GAL_1B_signals_.remove(signal_value);
break;
case evGAL_5X:
gnss_system = "Galileo";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GAL_5X_signals_.remove(signal_value);
break;
case evGLO_1G:
gnss_system = "Glonass";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GLO_1G_signals_.remove(signal_value);
break;
case evGLO_2G:
gnss_system = "Glonass";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GLO_2G_signals_.remove(signal_value);
break;
default:
LOG(ERROR) << "This should not happen :-(";
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_1C_signals_.remove(signal_value);
break;
}
channels_.at(i)->set_signal(signal_value);
}
}
@ -755,18 +803,75 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
LOG(WARNING) << e.what();
}
std::lock_guard<std::mutex> lock(signal_list_mutex);
switch (what)
{
case 0:
DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
if (sat == 0)
{
std::lock_guard<std::mutex> lock(signal_list_mutex);
available_GNSS_signals_.push_back(channels_[who]->get_signal());
channels_[who]->set_signal(search_next_signal(channels_[who]->get_signal().get_signal_str(), true));
switch (mapStringValues_[channels_[who]->get_signal().get_signal_str()])
{
case evGPS_1C:
available_GPS_1C_signals_.push_back(channels_[who]->get_signal());
break;
case evGPS_2S:
available_GPS_2S_signals_.push_back(channels_[who]->get_signal());
break;
case evGPS_L5:
available_GPS_L5_signals_.push_back(channels_[who]->get_signal());
break;
case evGAL_1B:
available_GAL_1B_signals_.push_back(channels_[who]->get_signal());
break;
case evGAL_5X:
available_GAL_5X_signals_.push_back(channels_[who]->get_signal());
break;
case evGLO_1G:
available_GLO_1G_signals_.push_back(channels_[who]->get_signal());
break;
case evGLO_2G:
available_GLO_2G_signals_.push_back(channels_[who]->get_signal());
break;
default:
LOG(ERROR) << "This should not happen :-(";
break;
}
}
channels_state_[who] = 0;
acq_channels_count_--;
for (unsigned int i = 0; i < channels_count_; i++)
{
unsigned int ch_index = (who + i + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
{
channels_state_[ch_index] = 1;
if (sat_ == 0)
{
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
channels_[ch_index]->start_acquisition();
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
channels_[who]->start_acquisition();
break;
case 1:
@ -784,13 +889,12 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
LOG(WARNING) << e.what();
}
if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
{
channels_state_[i] = 1;
if (sat_ == 0)
{
std::lock_guard<std::mutex> lock(signal_list_mutex);
channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true));
channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true, true));
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str();
@ -817,8 +921,40 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
LOG(INFO) << "Channel " << who << " Idle state";
if (sat == 0)
{
std::lock_guard<std::mutex> lock(signal_list_mutex);
available_GNSS_signals_.push_back(channels_[who]->get_signal());
switch (mapStringValues_[channels_[who]->get_signal().get_signal_str()])
{
case evGPS_1C:
available_GPS_1C_signals_.push_back(channels_[who]->get_signal());
break;
case evGPS_2S:
available_GPS_2S_signals_.push_back(channels_[who]->get_signal());
break;
case evGPS_L5:
available_GPS_L5_signals_.push_back(channels_[who]->get_signal());
break;
case evGAL_1B:
available_GAL_1B_signals_.push_back(channels_[who]->get_signal());
break;
case evGAL_5X:
available_GAL_5X_signals_.push_back(channels_[who]->get_signal());
break;
case evGLO_1G:
available_GLO_1G_signals_.push_back(channels_[who]->get_signal());
break;
case evGLO_2G:
available_GLO_2G_signals_.push_back(channels_[who]->get_signal());
break;
default:
LOG(ERROR) << "This should not happen :-(";
break;
}
}
}
break;
@ -826,7 +962,6 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
default:
break;
}
DLOG(INFO) << "Number of available signals: " << available_GNSS_signals_.size();
applied_actions_++;
}
@ -943,7 +1078,15 @@ void GNSSFlowgraph::init()
top_block_ = gr::make_top_block("GNSSFlowgraph");
// fill the available_GNSS_signals_ queue with the satellites ID's to be searched by the acquisition
mapStringValues_["1C"] = evGPS_1C;
mapStringValues_["2S"] = evGPS_2S;
mapStringValues_["L5"] = evGPS_L5;
mapStringValues_["1B"] = evGAL_1B;
mapStringValues_["5X"] = evGAL_5X;
mapStringValues_["1G"] = evGLO_1G;
mapStringValues_["2G"] = evGLO_2G;
// fill the signals queue with the satellites ID's to be searched by the acquisition
set_signals_list();
set_channels_state();
applied_actions_ = 0;
@ -1036,14 +1179,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_1C.count", 0) > 0)
{
/*
* Loop to create GPS L1 C/A signals
*/
// Loop to create GPS L1 C/A signals
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GPS_1C_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("1C")));
}
@ -1051,14 +1192,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_2S.count", 0) > 0)
{
/*
* Loop to create GPS L2C M signals
*/
// Loop to create GPS L2C M signals
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GPS_2S_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("2S")));
}
@ -1066,14 +1205,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_L5.count", 0) > 0)
{
/*
* Loop to create GPS L5 signals
*/
// Loop to create GPS L5 signals
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GPS_L5_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("L5")));
}
@ -1081,14 +1218,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_SBAS.count", 0) > 0)
{
/*
* Loop to create SBAS L1 C/A signals
*/
// Loop to create SBAS L1 C/A signals
for (available_gnss_prn_iter = available_sbas_prn.cbegin();
available_gnss_prn_iter != available_sbas_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_SBAS_1C_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("SBAS"), *available_gnss_prn_iter),
std::string("1C")));
}
@ -1096,14 +1231,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_1B.count", 0) > 0)
{
/*
* Loop to create the list of Galileo E1B signals
*/
// Loop to create the list of Galileo E1B signals
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
available_gnss_prn_iter != available_galileo_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GAL_1B_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
std::string("1B")));
}
@ -1111,14 +1244,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_5X.count", 0) > 0)
{
/*
* Loop to create the list of Galileo E5a signals
*/
// Loop to create the list of Galileo E5a signals
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
available_gnss_prn_iter != available_galileo_prn.cend();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GAL_5X_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
std::string("5X")));
}
@ -1126,14 +1257,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_1G.count", 0) > 0)
{
/*
* Loop to create the list of GLONASS L1 C/A signals
*/
// Loop to create the list of GLONASS L1 C/A signals
for (available_gnss_prn_iter = available_glonass_prn.begin();
available_gnss_prn_iter != available_glonass_prn.end();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GLO_1G_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
std::string("1G")));
}
@ -1141,14 +1270,12 @@ void GNSSFlowgraph::set_signals_list()
if (configuration_->property("Channels_2G.count", 0) > 0)
{
/*
* Loop to create the list of GLONASS L2 C/A signals
*/
// Loop to create the list of GLONASS L2 C/A signals
for (available_gnss_prn_iter = available_glonass_prn.begin();
available_gnss_prn_iter != available_glonass_prn.end();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(
available_GLO_2G_signals_.push_back(Gnss_Signal(
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
std::string("2G")));
}
@ -1182,17 +1309,206 @@ void GNSSFlowgraph::set_channels_state()
}
Gnss_Signal GNSSFlowgraph::search_next_signal(std::string searched_signal, bool pop)
Gnss_Signal GNSSFlowgraph::search_next_signal(std::string searched_signal, bool pop, bool tracked)
{
while (searched_signal.compare(available_GNSS_signals_.front().get_signal_str()) != 0)
Gnss_Signal result;
bool untracked_satellite = true;
switch (mapStringValues_[searched_signal])
{
available_GNSS_signals_.push_back(available_GNSS_signals_.front());
available_GNSS_signals_.pop_front();
}
Gnss_Signal result = available_GNSS_signals_.front();
if (pop)
{
available_GNSS_signals_.pop_front();
case evGPS_1C:
result = available_GPS_1C_signals_.front();
if (pop)
{
available_GPS_1C_signals_.pop_front();
}
if (tracked)
{
if ((configuration_->property("Channels_2S.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("1C") != 0)) untracked_satellite = false;
}
if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
available_GPS_2S_signals_.remove(gs);
available_GPS_2S_signals_.push_front(gs);
}
if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
available_GPS_L5_signals_.remove(gs);
available_GPS_L5_signals_.push_front(gs);
}
}
}
break;
case evGPS_2S:
result = available_GPS_2S_signals_.front();
if (pop)
{
available_GPS_2S_signals_.pop_front();
}
if (tracked)
{
if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("2S") != 0)) untracked_satellite = false;
}
if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
available_GPS_1C_signals_.remove(gs);
available_GPS_1C_signals_.push_front(gs);
}
if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
available_GPS_L5_signals_.remove(gs);
available_GPS_L5_signals_.push_front(gs);
}
}
}
break;
case evGPS_L5:
result = available_GPS_L5_signals_.front();
if (pop)
{
available_GPS_L5_signals_.pop_front();
}
if (tracked)
{
if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_2S.count", 0) > 0))
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("L5") != 0)) untracked_satellite = false;
}
if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
available_GPS_1C_signals_.remove(gs);
available_GPS_1C_signals_.push_front(gs);
}
if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
available_GPS_2S_signals_.remove(gs);
available_GPS_2S_signals_.push_front(gs);
}
}
}
break;
case evGAL_1B:
result = available_GAL_1B_signals_.front();
if (pop)
{
available_GAL_1B_signals_.pop_front();
}
if (tracked)
{
if (configuration_->property("Channels_5X.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("1B") != 0)) untracked_satellite = false;
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "5X");
available_GAL_5X_signals_.remove(gs);
available_GAL_5X_signals_.push_front(gs);
}
}
}
break;
case evGAL_5X:
result = available_GAL_5X_signals_.front();
if (pop)
{
available_GAL_5X_signals_.pop_front();
}
if (tracked)
{
if (configuration_->property("Channels_1B.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("5X") != 0)) untracked_satellite = false;
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1B");
available_GAL_1B_signals_.remove(gs);
available_GAL_1B_signals_.push_front(gs);
}
}
}
break;
case evGLO_1G:
result = available_GLO_1G_signals_.front();
if (pop)
{
available_GLO_1G_signals_.pop_front();
}
if (tracked)
{
if (configuration_->property("Channels_2G.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("1G") != 0)) untracked_satellite = false;
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2G");
available_GLO_2G_signals_.remove(gs);
available_GLO_2G_signals_.push_front(gs);
}
}
}
break;
case evGLO_2G:
result = available_GLO_2G_signals_.front();
if (pop)
{
available_GLO_2G_signals_.pop_front();
}
if (tracked)
{
if (configuration_->property("Channels_1G.count", 0) > 0)
{
for (unsigned int ch = 0; ch < channels_count_; ch++)
{
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("2G") != 0)) untracked_satellite = false;
}
if (untracked_satellite)
{
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1G");
available_GLO_1G_signals_.remove(gs);
available_GLO_1G_signals_.push_front(gs);
}
}
}
break;
default:
LOG(ERROR) << "This should not happen :-(";
result = available_GPS_1C_signals_.front();
if (pop)
{
available_GPS_1C_signals_.pop_front();
}
break;
}
return result;
}

26
src/core/receiver/gnss_flowgraph.h
View File

@ -44,6 +44,7 @@
#include <gnuradio/blocks/null_source.h>
#include <gnuradio/blocks/throttle.h>
#include <list>
#include <map>
#include <memory>
#include <mutex>
#include <queue>
@ -133,7 +134,7 @@ private:
void set_signals_list();
void set_channels_state(); // Initializes the channels state (start acquisition or keep standby)
// using the configuration parameters (number of channels and max channels in acquisition)
Gnss_Signal search_next_signal(std::string searched_signal, bool pop);
Gnss_Signal search_next_signal(std::string searched_signal, bool pop, bool tracked = false);
bool connected_;
bool running_;
int sources_count_;
@ -160,7 +161,28 @@ private:
gr::blocks::throttle::sptr throttle_;
gr::top_block_sptr top_block_;
gr::msg_queue::sptr queue_;
std::list<Gnss_Signal> available_GNSS_signals_;
std::list<Gnss_Signal> available_GPS_1C_signals_;
std::list<Gnss_Signal> available_GPS_2S_signals_;
std::list<Gnss_Signal> available_GPS_L5_signals_;
std::list<Gnss_Signal> available_SBAS_1C_signals_;
std::list<Gnss_Signal> available_GAL_1B_signals_;
std::list<Gnss_Signal> available_GAL_5X_signals_;
std::list<Gnss_Signal> available_GLO_1G_signals_;
std::list<Gnss_Signal> available_GLO_2G_signals_;
enum StringValue
{
evGPS_1C,
evGPS_2S,
evGPS_L5,
evSBAS_1C,
evGAL_1B,
evGAL_5X,
evGLO_1G,
evGLO_2G
};
std::map<std::string, StringValue> mapStringValues_;
std::vector<unsigned int> channels_state_;
std::mutex signal_list_mutex;
};