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Fix flowgraph

This commit is contained in:
Carles Fernandez 2021-12-19 17:29:00 +01:00
parent 1b4390b16c
commit df4c965447
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
1 changed files with 113 additions and 92 deletions
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205
src/core/receiver/gnss_flowgraph.cc
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@ -1348,31 +1348,31 @@ int GNSSFlowgraph::assign_channels()
}
}
if (configuration_->property("Channels_1C.count", uint64_t(0ULL)) > available_GPS_1C_signals_.size())
if (configuration_->property("Channels_1C.count", uint64_t(0ULL)) > available_GPS_1C_signals_.size() - 1)
{
help_hint_ += " * The number of GPS L1 channels is set to Channels_1C.count=" + std::to_string(configuration_->property("Channels_1C.count", 0));
help_hint_ += " but the maximum number of available GPS satellites is " + std::to_string(available_GPS_1C_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_1C.count=" + std::to_string(available_GPS_1C_signals_.size()) + " or lower in your configuration file.\n";
help_hint_ += " Please set Channels_1C.count=" + std::to_string(available_GPS_1C_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_2S.count", uint64_t(0ULL)) > available_GPS_2S_signals_.size())
if (configuration_->property("Channels_2S.count", uint64_t(0ULL)) > available_GPS_2S_signals_.size() - 1)
{
help_hint_ += " * The number of GPS L2 channels is set to Channels_2S.count=" + std::to_string(configuration_->property("Channels_2S.count", 0));
help_hint_ += " but the maximum number of available GPS satellites is " + std::to_string(available_GPS_2S_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_2S.count=" + std::to_string(available_GPS_2S_signals_.size()) + " or lower in your configuration file.\n";
help_hint_ += " Please set Channels_2S.count=" + std::to_string(available_GPS_2S_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_L5.count", uint64_t(0ULL)) > available_GPS_L5_signals_.size())
if (configuration_->property("Channels_L5.count", uint64_t(0ULL)) > available_GPS_L5_signals_.size() - 1)
{
help_hint_ += " * The number of GPS L5 channels is set to Channels_L5.count=" + std::to_string(configuration_->property("Channels_L5.count", 0));
help_hint_ += " but the maximum number of available GPS satellites is " + std::to_string(available_GPS_L5_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_L5.count=" + std::to_string(available_GPS_L5_signals_.size()) + " or lower in your configuration file.\n";
help_hint_ += " Please set Channels_L5.count=" + std::to_string(available_GPS_L5_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_1B.count", uint64_t(0ULL)) > available_GAL_1B_signals_.size())
if (configuration_->property("Channels_1B.count", uint64_t(0ULL)) > available_GAL_1B_signals_.size() - 1)
{
help_hint_ += " * The number of Galileo E1 channels is set to Channels_1B.count=" + std::to_string(configuration_->property("Channels_1B.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_1B_signals_.size()) + ".\n";
@ -1380,59 +1380,59 @@ int GNSSFlowgraph::assign_channels()
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_5X.count", uint64_t(0ULL)) > available_GAL_5X_signals_.size())
if (configuration_->property("Channels_5X.count", uint64_t(0ULL)) > available_GAL_5X_signals_.size() - 1)
{
help_hint_ += " * The number of Galileo E5a channels is set to Channels_5X.count=" + std::to_string(configuration_->property("Channels_5X.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_5X_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_5X.count=" + std::to_string(available_GAL_5X_signals_.size()) + " or lower in your configuration file.\n";
help_hint_ += " Please set Channels_5X.count=" + std::to_string(available_GAL_5X_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_7X.count", uint64_t(0ULL)) > available_GAL_7X_signals_.size())
if (configuration_->property("Channels_7X.count", uint64_t(0ULL)) > available_GAL_7X_signals_.size() - 1)
{
help_hint_ += " * The number of Galileo E5b channels is set to Channels_7X.count=" + std::to_string(configuration_->property("Channels_7X.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_7X_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_7X.count=" + std::to_string(available_GAL_7X_signals_.size()) + " or lower in your configuration file.\n";
help_hint_ += " Please set Channels_7X.count=" + std::to_string(available_GAL_7X_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_E6.count", uint64_t(0ULL)) > available_GAL_E6_signals_.size())
if (configuration_->property("Channels_E6.count", uint64_t(0ULL)) > available_GAL_E6_signals_.size() - 1)
{
help_hint_ += " * The number of Galileo E6 channels is set to Channels_7X.count=" + std::to_string(configuration_->property("Channels_E6.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_E6_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_E6.count=" + std::to_string(available_GAL_E6_signals_.size()) + " or lower in your configuration file.\n";
help_hint_ += " Please set Channels_E6.count=" + std::to_string(available_GAL_E6_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_1G.count", uint64_t(0ULL)) > available_GLO_1G_signals_.size() + 8) // satellites sharing same frequency number
if (configuration_->property("Channels_1G.count", uint64_t(0ULL)) > available_GLO_1G_signals_.size() + 7) // satellites sharing same frequency number
{
help_hint_ += " * The number of Glonass L1 channels is set to Channels_1G.count=" + std::to_string(configuration_->property("Channels_1G.count", 0));
help_hint_ += " but the maximum number of available Glonass satellites is " + std::to_string(available_GLO_1G_signals_.size() + 8) + ".\n";
help_hint_ += " Please set Channels_1G.count=" + std::to_string(available_GLO_1G_signals_.size() + 8) + " or lower in your configuration file.\n";
help_hint_ += " Please set Channels_1G.count=" + std::to_string(available_GLO_1G_signals_.size() + 7) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_2G.count", uint64_t(0ULL)) > available_GLO_2G_signals_.size() + 8) // satellites sharing same frequency number
if (configuration_->property("Channels_2G.count", uint64_t(0ULL)) > available_GLO_2G_signals_.size() + 7) // satellites sharing same frequency number
{
help_hint_ += " * The number of Glonass L2 channels is set to Channels_2G.count=" + std::to_string(configuration_->property("Channels_2G.count", 0));
help_hint_ += " but the maximum number of available Glonass satellites is " + std::to_string(available_GLO_2G_signals_.size() + 8) + ".\n";
help_hint_ += " Please set Channels_2G.count=" + std::to_string(available_GLO_2G_signals_.size() + 8) + " or lower in your configuration file.\n";
help_hint_ += " Please set Channels_2G.count=" + std::to_string(available_GLO_2G_signals_.size() + 7) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_B1.count", uint64_t(0ULL)) > available_BDS_B1_signals_.size())
if (configuration_->property("Channels_B1.count", uint64_t(0ULL)) > available_BDS_B1_signals_.size() - 1)
{
help_hint_ += " * The number of BeiDou B1 channels is set to Channels_B1.count=" + std::to_string(configuration_->property("Channels_B1.count", 0));
help_hint_ += " but the maximum number of available BeiDou satellites is " + std::to_string(available_BDS_B1_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_B1.count=" + std::to_string(available_BDS_B1_signals_.size()) + " or lower in your configuration file.\n";
help_hint_ += " Please set Channels_B1.count=" + std::to_string(available_BDS_B1_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_B3.count", uint64_t(0ULL)) > available_BDS_B3_signals_.size())
if (configuration_->property("Channels_B3.count", uint64_t(0ULL)) > available_BDS_B3_signals_.size() - 1)
{
help_hint_ += " * The number of BeiDou B3 channels is set to Channels_B3.count=" + std::to_string(configuration_->property("Channels_B3.count", 0));
help_hint_ += " but the maximum number of available BeiDou satellites is " + std::to_string(available_BDS_B3_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_B3.count=" + std::to_string(available_BDS_B3_signals_.size()) + " or lower in your configuration file.\n";
help_hint_ += " Please set Channels_B3.count=" + std::to_string(available_BDS_B3_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
@ -1440,7 +1440,7 @@ int GNSSFlowgraph::assign_channels()
// Assign satellites to channels in the initialization
for (unsigned int& i : vector_of_channels)
{
const std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal
const std::string gnss_signal_str = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal
unsigned int sat = 0;
try
{
@ -1456,89 +1456,89 @@ int GNSSFlowgraph::assign_channels()
float estimated_doppler;
double RX_time;
bool is_primary_freq;
channels_.at(i)->set_signal(search_next_signal(gnss_signal, is_primary_freq, assistance_available, estimated_doppler, RX_time));
channels_.at(i)->set_signal(search_next_signal(gnss_signal_str, is_primary_freq, assistance_available, estimated_doppler, RX_time));
}
else
{
std::string gnss_system;
Gnss_Signal signal_value;
switch (mapStringValues_[gnss_signal])
std::string gnss_system_str;
Gnss_Signal gnss_signal;
switch (mapStringValues_[gnss_signal_str])
{
case evGPS_1C:
gnss_system = "GPS";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GPS_1C_signals_.remove(signal_value);
gnss_system_str = "GPS";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GPS_1C_signals_.remove(gnss_signal);
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);
gnss_system_str = "GPS";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GPS_2S_signals_.remove(gnss_signal);
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);
gnss_system_str = "GPS";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GPS_L5_signals_.remove(gnss_signal);
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);
gnss_system_str = "Galileo";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GAL_1B_signals_.remove(gnss_signal);
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);
gnss_system_str = "Galileo";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GAL_5X_signals_.remove(gnss_signal);
break;
case evGAL_7X:
gnss_system = "Galileo";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GAL_7X_signals_.remove(signal_value);
gnss_system_str = "Galileo";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GAL_7X_signals_.remove(gnss_signal);
break;
case evGAL_E6:
gnss_system = "Galileo";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GAL_E6_signals_.remove(signal_value);
gnss_system_str = "Galileo";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GAL_E6_signals_.remove(gnss_signal);
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);
gnss_system_str = "Glonass";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GLO_1G_signals_.remove(gnss_signal);
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);
gnss_system_str = "Glonass";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GLO_2G_signals_.remove(gnss_signal);
break;
case evBDS_B1:
gnss_system = "Beidou";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_BDS_B1_signals_.remove(signal_value);
gnss_system_str = "Beidou";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_BDS_B1_signals_.remove(gnss_signal);
break;
case evBDS_B3:
gnss_system = "Beidou";
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_BDS_B3_signals_.remove(signal_value);
gnss_system_str = "Beidou";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_BDS_B3_signals_.remove(gnss_signal);
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);
gnss_system_str = "GPS";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GPS_1C_signals_.remove(gnss_signal);
break;
}
channels_.at(i)->set_signal(signal_value);
channels_.at(i)->set_signal(gnss_signal);
}
}
return 0;
@ -2525,16 +2525,17 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
{
is_primary_frequency = false;
assistance_available = false;
Gnss_Signal result;
Gnss_Signal result{};
bool found_signal = false;
switch (mapStringValues_[searched_signal])
{
case evGPS_1C:
// todo: assist the satellite selection with almanac and current PVT here (reuse priorize_satellite function used in control_thread)
result = available_GPS_1C_signals_.front();
if (available_GPS_1C_signals_.size() > 1)
if (!available_GPS_1C_signals_.empty())
{
result = available_GPS_1C_signals_.front();
available_GPS_1C_signals_.pop_front();
available_GPS_1C_signals_.push_back(result);
}
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
@ -2569,19 +2570,21 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
// fallback: pick the front satellite because there is no tracked satellites in L1 to assist L2
if (found_signal == false)
{
result = available_GPS_2S_signals_.front();
if (available_GPS_2S_signals_.size() > 1)
if (!available_GPS_2S_signals_.empty())
{
result = available_GPS_2S_signals_.front();
available_GPS_2S_signals_.pop_front();
available_GPS_2S_signals_.push_back(result);
}
}
}
else
{
result = available_GPS_2S_signals_.front();
if (available_GPS_2S_signals_.size() > 1)
else
{
available_GPS_2S_signals_.pop_front();
if (!available_GPS_2S_signals_.empty())
{
result = available_GPS_2S_signals_.front();
available_GPS_2S_signals_.pop_front();
available_GPS_2S_signals_.push_back(result);
}
}
}
break;
@ -2618,19 +2621,21 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
// fallback: pick the front satellite because there is no tracked satellites in L1 to assist L5
if (found_signal == false)
{
result = available_GPS_L5_signals_.front();
if (available_GPS_L5_signals_.size() > 1)
if (!available_GPS_L5_signals_.empty())
{
result = available_GPS_L5_signals_.front();
available_GPS_L5_signals_.pop_front();
available_GPS_L5_signals_.push_back(result);
}
}
break;
case evGAL_1B:
result = available_GAL_1B_signals_.front();
if (available_GAL_1B_signals_.size() > 1)
if (!available_GAL_1B_signals_.empty())
{
result = available_GAL_1B_signals_.front();
available_GAL_1B_signals_.pop_front();
available_GAL_1B_signals_.push_back(result);
}
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
@ -2667,10 +2672,11 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
// fallback: pick the front satellite because there is no tracked satellites in E1 to assist E5
if (found_signal == false)
{
result = available_GAL_5X_signals_.front();
if (available_GAL_5X_signals_.size() > 1)
if (!available_GAL_5X_signals_.empty())
{
result = available_GAL_5X_signals_.front();
available_GAL_5X_signals_.pop_front();
available_GAL_5X_signals_.push_back(result);
}
}
break;
@ -2707,10 +2713,11 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
// fallback: pick the front satellite because there is no tracked satellites in E1 to assist E5
if (found_signal == false)
{
result = available_GAL_7X_signals_.front();
if (available_GAL_7X_signals_.size() > 1)
if (!available_GAL_7X_signals_.empty())
{
result = available_GAL_7X_signals_.front();
available_GAL_7X_signals_.pop_front();
available_GAL_7X_signals_.push_back(result);
}
}
break;
@ -2747,46 +2754,60 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
// fallback: pick the front satellite because there is no tracked satellites in E1 to assist E6
if (found_signal == false)
{
result = available_GAL_E6_signals_.front();
if (available_GAL_E6_signals_.size() > 1)
if (!available_GAL_E6_signals_.empty())
{
result = available_GAL_E6_signals_.front();
available_GAL_E6_signals_.pop_front();
available_GAL_E6_signals_.push_back(result);
}
}
break;
case evGLO_1G:
result = available_GLO_1G_signals_.front();
if (!available_GLO_1G_signals_.empty())
{
result = available_GLO_1G_signals_.front();
available_GLO_1G_signals_.pop_front();
available_GLO_1G_signals_.push_back(result);
}
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evGLO_2G:
result = available_GLO_2G_signals_.front();
if (!available_GLO_2G_signals_.empty())
{
result = available_GLO_2G_signals_.front();
available_GLO_2G_signals_.pop_front();
available_GLO_2G_signals_.push_back(result);
}
break;
case evBDS_B1:
result = available_BDS_B1_signals_.front();
if (available_BDS_B1_signals_.size() > 1)
if (!available_BDS_B1_signals_.empty())
{
result = available_BDS_B1_signals_.front();
available_BDS_B1_signals_.pop_front();
available_BDS_B1_signals_.push_back(result);
}
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evBDS_B3:
result = available_BDS_B3_signals_.front();
if (available_BDS_B3_signals_.size() > 1)
if (!available_BDS_B3_signals_.empty())
{
result = available_BDS_B3_signals_.front();
available_BDS_B3_signals_.pop_front();
available_BDS_B3_signals_.push_back(result);
}
break;
default:
LOG(ERROR) << "This should not happen :-(";
result = available_GPS_1C_signals_.front();
if (available_GPS_1C_signals_.size() > 1)
if (!available_GPS_1C_signals_.empty())
{
result = available_GPS_1C_signals_.front();
available_GPS_1C_signals_.pop_front();
available_GPS_1C_signals_.push_back(result);
}
break;
}