mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-16 04:05:46 +00:00
Generic name for channel finite state machine, since it applies to all signals and not only to GPS L1 C/A
This commit is contained in:
Carles Fernandez
parent
114c7c5518
commit
dcd59ed9bd
@ -190,7 +190,7 @@ void Channel::set_signal(const Gnss_Signal& gnss_signal)
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void Channel::start_acquisition()
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{
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channel_fsm_.Event_gps_start_acquisition();
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channel_fsm_.Event_start_acquisition();
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}
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@ -215,7 +215,7 @@ void Channel::run()
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void Channel::standby()
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{
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channel_fsm_.Event_gps_failed_tracking_standby();
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channel_fsm_.Event_failed_tracking_standby();
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}
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@ -260,18 +260,18 @@ void Channel::process_channel_messages()
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case 1:
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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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channel_fsm_.Event_gps_valid_acquisition();
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channel_fsm_.Event_valid_acquisition();
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break;
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case 2:
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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 (repeat_ == true)
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{
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channel_fsm_.Event_gps_failed_acquisition_repeat();
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channel_fsm_.Event_failed_acquisition_repeat();
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}
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else
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{
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channel_fsm_.Event_gps_failed_acquisition_no_repeat();
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channel_fsm_.Event_failed_acquisition_no_repeat();
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}
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break;
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default:
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@ -38,7 +38,7 @@
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#include <string>
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#include <gnuradio/msg_queue.h>
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#include "channel_interface.h"
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#include "gps_l1_ca_channel_fsm.h"
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#include "channel_fsm.h"
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#include "control_message_factory.h"
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#include "concurrent_queue.h"
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#include "gnss_signal.h"
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@ -104,7 +104,7 @@ private:
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bool stop_;
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int message_;
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bool repeat_;
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GpsL1CaChannelFsm channel_fsm_;
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ChannelFsm channel_fsm_;
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boost::shared_ptr<gr::msg_queue> queue_;
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concurrent_queue<int> channel_internal_queue_;
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boost::thread ch_thread_;
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@ -16,7 +16,7 @@
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# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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#
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set(CHANNEL_FSM_SOURCES gps_l1_ca_channel_fsm.cc )
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set(CHANNEL_FSM_SOURCES channel_fsm.cc )
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include_directories(
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$(CMAKE_CURRENT_SOURCE_DIR)
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@ -33,4 +33,4 @@ include_directories(
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file(GLOB CHANNEL_FSM_HEADERS "*.h")
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add_library(channel_fsm ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
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source_group(Headers FILES ${CHANNEL_FSM_HEADERS})
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add_dependencies(channel_fsm glog-${glog_RELEASE})
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add_dependencies(channel_fsm glog-${glog_RELEASE})
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222
src/algorithms/channel/libs/channel_fsm.cc
Normal file
222
src/algorithms/channel/libs/channel_fsm.cc
Normal file
@ -0,0 +1,222 @@
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/*!
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* \file channel_fsm.cc
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* \brief Implementation of a State Machine for channel using boost::statechart
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* \author Luis Esteve, 2011. luis(at)epsilon-formacion.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "channel_fsm.h"
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#include <list>
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#include <memory>
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#include <glog/logging.h>
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#include "control_message_factory.h"
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#include "channel.h"
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struct Ev_channel_start_acquisition: sc::event<Ev_channel_start_acquisition>
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{};
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struct Ev_channel_valid_acquisition: sc::event<Ev_channel_valid_acquisition>
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{};
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struct Ev_channel_failed_acquisition_repeat: sc::event<Ev_channel_failed_acquisition_repeat>
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{};
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struct Ev_channel_failed_acquisition_no_repeat: sc::event<Ev_channel_failed_acquisition_no_repeat>
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{};
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struct Ev_channel_failed_tracking_standby: sc::event<Ev_channel_failed_tracking_standby>
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{};
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//struct Ev_channel_failed_tracking_reacq: sc::event<Ev_channel_failed_tracking_reacq>
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//{};
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struct channel_idle_fsm_S0: public sc::state<channel_idle_fsm_S0, ChannelFsm>
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{
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public:
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// sc::transition(event, next state)
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typedef sc::transition<Ev_channel_start_acquisition, channel_acquiring_fsm_S1> reactions;
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channel_idle_fsm_S0(my_context ctx) : my_base(ctx)
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{
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//std::cout << "Enter Channel_Idle_S0 " << std::endl;
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}
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};
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struct channel_acquiring_fsm_S1: public sc::state<channel_acquiring_fsm_S1, ChannelFsm>
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{
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public:
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typedef mpl::list<sc::transition<Ev_channel_failed_acquisition_no_repeat, channel_waiting_fsm_S3>,
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sc::transition<Ev_channel_failed_acquisition_repeat, channel_acquiring_fsm_S1>,
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sc::transition<Ev_channel_valid_acquisition, channel_tracking_fsm_S2> > reactions;
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channel_acquiring_fsm_S1(my_context ctx) : my_base(ctx)
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{
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//std::cout << "Enter Channel_Acq_S1 " << std::endl;
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context<ChannelFsm> ().start_acquisition();
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}
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};
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struct channel_tracking_fsm_S2: public sc::state<channel_tracking_fsm_S2, ChannelFsm>
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{
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public:
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typedef mpl::list<sc::transition<Ev_channel_failed_tracking_standby, channel_idle_fsm_S0>,
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sc::transition<Ev_channel_start_acquisition, channel_acquiring_fsm_S1>> reactions;
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channel_tracking_fsm_S2(my_context ctx) : my_base(ctx)
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{
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//std::cout << "Enter Channel_tracking_S2 " << std::endl;
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context<ChannelFsm> ().start_tracking();
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}
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};
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struct channel_waiting_fsm_S3: public sc::state<channel_waiting_fsm_S3, ChannelFsm>
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{
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public:
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typedef sc::transition<Ev_channel_start_acquisition,
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channel_acquiring_fsm_S1> reactions;
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channel_waiting_fsm_S3(my_context ctx) :
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my_base(ctx)
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{
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//std::cout << "Enter Channel_waiting_S3 " << std::endl;
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context<ChannelFsm> ().request_satellite();
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}
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~channel_waiting_fsm_S3(){}
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};
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ChannelFsm::ChannelFsm()
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{
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acq_ = nullptr;
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trk_ = nullptr;
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channel_ = 0;
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initiate(); //start the FSM
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}
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ChannelFsm::ChannelFsm(AcquisitionInterface *acquisition) :
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acq_(acquisition)
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{
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trk_ = nullptr;
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channel_ = 0;
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initiate(); //start the FSM
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}
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void ChannelFsm::Event_start_acquisition()
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{
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this->process_event(Ev_channel_start_acquisition());
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}
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void ChannelFsm::Event_valid_acquisition()
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{
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this->process_event(Ev_channel_valid_acquisition());
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}
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void ChannelFsm::Event_failed_acquisition_repeat()
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{
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this->process_event(Ev_channel_failed_acquisition_repeat());
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}
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void ChannelFsm::Event_failed_acquisition_no_repeat()
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{
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this->process_event(Ev_channel_failed_acquisition_no_repeat());
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}
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// Something is wrong here, we are using a memory after it ts freed
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void ChannelFsm::Event_failed_tracking_standby()
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{
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this->process_event(Ev_channel_failed_tracking_standby());
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}
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//void ChannelFsm::Event_failed_tracking_reacq() {
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// this->process_event(Ev_channel_failed_tracking_reacq());
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//}
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void ChannelFsm::set_acquisition(AcquisitionInterface *acquisition)
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{
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acq_ = acquisition;
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}
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void ChannelFsm::set_tracking(TrackingInterface *tracking)
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{
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trk_ = tracking;
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}
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void ChannelFsm::set_queue(boost::shared_ptr<gr::msg_queue> queue)
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{
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queue_ = queue;
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}
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void ChannelFsm::set_channel(unsigned int channel)
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{
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channel_ = channel;
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}
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void ChannelFsm::start_acquisition()
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{
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acq_->reset();
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}
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void ChannelFsm::start_tracking()
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{
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//LOG_AT_LEVEL(INFO) << "Channel " << channel_
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//<< " passing prn code phase " << acq_->prn_code_phase();
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//LOG_AT_LEVEL(INFO) << "Channel " << channel_
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//<< " passing doppler freq shift " << acq_->doppler_freq_shift();
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//LOG_AT_LEVEL(INFO) << "Channel " << channel_
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//<< " passing acquisition sample stamp "
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//<< acq_->get_sample_stamp();
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//trk_->set_prn_code_phase(acq_->prn_code_phase());
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//trk_->set_doppler_freq_shift(acq_->doppler_freq_shift());
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//trk_->set_acq_sample_stamp(acq_->get_sample_stamp());
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trk_->start_tracking();
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std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
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if (queue_ != gr::msg_queue::make())
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{
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queue_->handle(cmf->GetQueueMessage(channel_, 1));
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}
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}
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void ChannelFsm::request_satellite()
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{
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std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
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if (queue_ != gr::msg_queue::make())
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{
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queue_->handle(cmf->GetQueueMessage(channel_, 0));
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}
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}
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@ -1,5 +1,5 @@
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/*!
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* \file gps_l1_ca_channel_fsm.h
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* \file channel_fsm.h
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* \brief Interface of the State Machine for channel using boost::statechart
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* \author Luis Esteve, 2011. luis(at)epsilon-formacion.com
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*
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@ -29,8 +29,8 @@
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GPS_L1_CA_CHANNEL_FSM_H
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#define GNSS_SDR_GPS_L1_CA_CHANNEL_FSM_H
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#ifndef GNSS_SDR_CHANNEL_FSM_H
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#define GNSS_SDR_CHANNEL_FSM_H
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#include <cstring>
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#include <iostream>
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@ -52,19 +52,19 @@
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namespace sc = boost::statechart;
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namespace mpl = boost::mpl;
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struct gps_channel_idle_fsm_S0;
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struct gps_channel_acquiring_fsm_S1;
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struct gps_channel_tracking_fsm_S2;
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struct gps_channel_waiting_fsm_S3;
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struct channel_idle_fsm_S0;
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struct channel_acquiring_fsm_S1;
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struct channel_tracking_fsm_S2;
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struct channel_waiting_fsm_S3;
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/*!
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* \brief This class implements a State Machine for channel using boost::statechart
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*/
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class GpsL1CaChannelFsm: public sc::state_machine<GpsL1CaChannelFsm, gps_channel_idle_fsm_S0>
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class ChannelFsm: public sc::state_machine<ChannelFsm, channel_idle_fsm_S0>
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{
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public:
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GpsL1CaChannelFsm();
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GpsL1CaChannelFsm(AcquisitionInterface *acquisition);
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ChannelFsm();
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ChannelFsm(AcquisitionInterface *acquisition);
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void set_acquisition(AcquisitionInterface *acquisition);
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void set_tracking(TrackingInterface *tracking);
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@ -75,12 +75,12 @@ public:
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void request_satellite();
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//FSM EVENTS
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void Event_gps_start_acquisition();
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void Event_gps_valid_acquisition();
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void Event_gps_failed_acquisition_repeat();
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void Event_gps_failed_acquisition_no_repeat();
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void Event_start_acquisition();
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void Event_valid_acquisition();
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void Event_failed_acquisition_repeat();
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void Event_failed_acquisition_no_repeat();
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//void Event_gps_failed_tracking_reacq();
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void Event_gps_failed_tracking_standby();
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void Event_failed_tracking_standby();
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private:
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AcquisitionInterface *acq_;
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@ -89,4 +89,4 @@ private:
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unsigned int channel_;
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};
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#endif /*GNSS_SDR_GPS_L1_CA_CHANNEL_FSM_H*/
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#endif /*GNSS_SDR_CHANNEL_FSM_H*/
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@ -1,222 +0,0 @@
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/*!
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* \file gps_l1_ca_channel_fsm.cc
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* \brief Implementation of a State Machine for channel using boost::statechart
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* \author Luis Esteve, 2011. luis(at)epsilon-formacion.com
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
|
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* the Free Software Foundation, either version 3 of the License, or
|
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
|
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
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* GNU General Public License for more details.
|
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*
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* You should have received a copy of the GNU General Public License
|
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_channel_fsm.h"
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#include <list>
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#include <memory>
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#include <glog/logging.h>
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#include "control_message_factory.h"
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#include "channel.h"
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struct Ev_gps_channel_start_acquisition: sc::event<Ev_gps_channel_start_acquisition>
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{};
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struct Ev_gps_channel_valid_acquisition: sc::event<Ev_gps_channel_valid_acquisition>
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{};
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struct Ev_gps_channel_failed_acquisition_repeat: sc::event<Ev_gps_channel_failed_acquisition_repeat>
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{};
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struct Ev_gps_channel_failed_acquisition_no_repeat: sc::event<Ev_gps_channel_failed_acquisition_no_repeat>
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{};
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struct Ev_gps_channel_failed_tracking_standby: sc::event<Ev_gps_channel_failed_tracking_standby>
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{};
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//struct Ev_gps_channel_failed_tracking_reacq: sc::event<Ev_gps_channel_failed_tracking_reacq>
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//{};
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struct gps_channel_idle_fsm_S0: public sc::state<gps_channel_idle_fsm_S0, GpsL1CaChannelFsm>
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{
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public:
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// sc::transition(event, next state)
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typedef sc::transition<Ev_gps_channel_start_acquisition, gps_channel_acquiring_fsm_S1> reactions;
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gps_channel_idle_fsm_S0(my_context ctx) : my_base(ctx)
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{
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//std::cout << "Enter Channel_Idle_S0 " << std::endl;
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}
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};
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struct gps_channel_acquiring_fsm_S1: public sc::state<gps_channel_acquiring_fsm_S1, GpsL1CaChannelFsm>
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{
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public:
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typedef mpl::list<sc::transition<Ev_gps_channel_failed_acquisition_no_repeat, gps_channel_waiting_fsm_S3>,
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sc::transition<Ev_gps_channel_failed_acquisition_repeat, gps_channel_acquiring_fsm_S1>,
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sc::transition<Ev_gps_channel_valid_acquisition, gps_channel_tracking_fsm_S2> > reactions;
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gps_channel_acquiring_fsm_S1(my_context ctx) : my_base(ctx)
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{
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//std::cout << "Enter Channel_Acq_S1 " << std::endl;
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context<GpsL1CaChannelFsm> ().start_acquisition();
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}
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};
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struct gps_channel_tracking_fsm_S2: public sc::state<gps_channel_tracking_fsm_S2, GpsL1CaChannelFsm>
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{
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public:
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typedef mpl::list<sc::transition<Ev_gps_channel_failed_tracking_standby, gps_channel_idle_fsm_S0>,
|
||||
sc::transition<Ev_gps_channel_start_acquisition, gps_channel_acquiring_fsm_S1>> reactions;
|
||||
|
||||
gps_channel_tracking_fsm_S2(my_context ctx) : my_base(ctx)
|
||||
{
|
||||
//std::cout << "Enter Channel_tracking_S2 " << std::endl;
|
||||
context<GpsL1CaChannelFsm> ().start_tracking();
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
struct gps_channel_waiting_fsm_S3: public sc::state<gps_channel_waiting_fsm_S3, GpsL1CaChannelFsm>
|
||||
{
|
||||
public:
|
||||
typedef sc::transition<Ev_gps_channel_start_acquisition,
|
||||
gps_channel_acquiring_fsm_S1> reactions;
|
||||
|
||||
gps_channel_waiting_fsm_S3(my_context ctx) :
|
||||
my_base(ctx)
|
||||
{
|
||||
//std::cout << "Enter Channel_waiting_S3 " << std::endl;
|
||||
context<GpsL1CaChannelFsm> ().request_satellite();
|
||||
}
|
||||
~gps_channel_waiting_fsm_S3(){}
|
||||
};
|
||||
|
||||
|
||||
|
||||
GpsL1CaChannelFsm::GpsL1CaChannelFsm()
|
||||
{
|
||||
acq_ = nullptr;
|
||||
trk_ = nullptr;
|
||||
channel_ = 0;
|
||||
initiate(); //start the FSM
|
||||
}
|
||||
|
||||
|
||||
|
||||
GpsL1CaChannelFsm::GpsL1CaChannelFsm(AcquisitionInterface *acquisition) :
|
||||
acq_(acquisition)
|
||||
{
|
||||
trk_ = nullptr;
|
||||
channel_ = 0;
|
||||
initiate(); //start the FSM
|
||||
}
|
||||
|
||||
|
||||
|
||||
void GpsL1CaChannelFsm::Event_gps_start_acquisition()
|
||||
{
|
||||
this->process_event(Ev_gps_channel_start_acquisition());
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaChannelFsm::Event_gps_valid_acquisition()
|
||||
{
|
||||
this->process_event(Ev_gps_channel_valid_acquisition());
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaChannelFsm::Event_gps_failed_acquisition_repeat()
|
||||
{
|
||||
this->process_event(Ev_gps_channel_failed_acquisition_repeat());
|
||||
}
|
||||
|
||||
void GpsL1CaChannelFsm::Event_gps_failed_acquisition_no_repeat()
|
||||
{
|
||||
this->process_event(Ev_gps_channel_failed_acquisition_no_repeat());
|
||||
}
|
||||
|
||||
|
||||
// Something is wrong here, we are using a memory after it ts freed
|
||||
void GpsL1CaChannelFsm::Event_gps_failed_tracking_standby()
|
||||
{
|
||||
this->process_event(Ev_gps_channel_failed_tracking_standby());
|
||||
}
|
||||
|
||||
//void GpsL1CaChannelFsm::Event_gps_failed_tracking_reacq() {
|
||||
// this->process_event(Ev_gps_channel_failed_tracking_reacq());
|
||||
//}
|
||||
|
||||
void GpsL1CaChannelFsm::set_acquisition(AcquisitionInterface *acquisition)
|
||||
{
|
||||
acq_ = acquisition;
|
||||
}
|
||||
|
||||
void GpsL1CaChannelFsm::set_tracking(TrackingInterface *tracking)
|
||||
{
|
||||
trk_ = tracking;
|
||||
}
|
||||
|
||||
void GpsL1CaChannelFsm::set_queue(boost::shared_ptr<gr::msg_queue> queue)
|
||||
{
|
||||
queue_ = queue;
|
||||
}
|
||||
|
||||
void GpsL1CaChannelFsm::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
}
|
||||
|
||||
void GpsL1CaChannelFsm::start_acquisition()
|
||||
{
|
||||
acq_->reset();
|
||||
}
|
||||
|
||||
void GpsL1CaChannelFsm::start_tracking()
|
||||
{
|
||||
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
|
||||
//<< " passing prn code phase " << acq_->prn_code_phase();
|
||||
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
|
||||
//<< " passing doppler freq shift " << acq_->doppler_freq_shift();
|
||||
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
|
||||
//<< " passing acquisition sample stamp "
|
||||
//<< acq_->get_sample_stamp();
|
||||
//trk_->set_prn_code_phase(acq_->prn_code_phase());
|
||||
//trk_->set_doppler_freq_shift(acq_->doppler_freq_shift());
|
||||
//trk_->set_acq_sample_stamp(acq_->get_sample_stamp());
|
||||
trk_->start_tracking();
|
||||
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
|
||||
if (queue_ != gr::msg_queue::make())
|
||||
{
|
||||
queue_->handle(cmf->GetQueueMessage(channel_, 1));
|
||||
}
|
||||
}
|
||||
|
||||
void GpsL1CaChannelFsm::request_satellite()
|
||||
{
|
||||
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
|
||||
if (queue_ != gr::msg_queue::make())
|
||||
{
|
||||
queue_->handle(cmf->GetQueueMessage(channel_, 0));
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user