/*! * \file control_thread.h * \brief Interface of the receiver control plane * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com * * GNSS Receiver Control Plane: connects the flowgraph, starts running it, * and while it does not stop, reads the control messages generated by the blocks, * processes them, and applies the corresponding actions. * * ------------------------------------------------------------------------- * * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver * * This file is part of GNSS-SDR. * * SPDX-License-Identifier: GPL-3.0-or-later * * ------------------------------------------------------------------------- */ #ifndef GNSS_SDR_CONTROL_THREAD_H_ #define GNSS_SDR_CONTROL_THREAD_H_ #include "agnss_ref_location.h" // for Agnss_Ref_Location #include "agnss_ref_time.h" // for Agnss_Ref_Time #include "concurrent_queue.h" // for Concurrent_Queue #include "gnss_sdr_supl_client.h" // for Gnss_Sdr_Supl_Client #include "tcp_cmd_interface.h" // for TcpCmdInterface #include #include // for array #include // for time_t (gmtime, strftime in implementation) #include // for shared_ptr #include // for string #include // for std::thread #include // for pair #include // for vector #ifdef ENABLE_FPGA #include // for boost::thread #endif class ConfigurationInterface; class GNSSFlowgraph; class Gnss_Satellite; /*! * \brief This class represents the main thread of the application, so the name is ControlThread. * This is the GNSS Receiver Control Plane: it connects the flowgraph, starts running it, * and while it does not stop, reads the control messages generated by the blocks, * processes them, and applies the corresponding actions. */ class ControlThread { public: /*! * \brief Default constructor */ ControlThread(); /*! * \brief Constructor that initializes the class with parameters * * \param[in] configuration Pointer to a ConfigurationInterface */ explicit ControlThread(const std::shared_ptr &configuration); /*! * \brief Destructor */ ~ControlThread(); /*! \brief Runs the control thread * * This is the main loop that reads and process the control messages: * * - Connect the GNSS receiver flowgraph; * * - Start the GNSS receiver flowgraph; * * while (flowgraph_->running() && !stop_){ * * - Read control messages and process them; } */ int run(); /*! * \brief Sets the control_queue * * \param[in] std::shared_ptr> control_queue */ void set_control_queue(const std::shared_ptr> control_queue); // NOLINT(performance-unnecessary-value-param) unsigned int processed_control_messages() const { return processed_control_messages_; } unsigned int applied_actions() const { return applied_actions_; } /*! * \brief Instantiates a flowgraph * * \return Returns a smart pointer to a flowgraph object */ std::shared_ptr flowgraph() { return flowgraph_; } private: // Telecommand TCP interface TcpCmdInterface cmd_interface_; void telecommand_listener(); /* * New receiver event dispatcher */ bool receiver_on_standby_; void event_dispatcher(bool &valid_event, pmt::pmt_t &msg); std::thread cmd_interface_thread_; // SUPL assistance classes Gnss_Sdr_Supl_Client supl_client_acquisition_; Gnss_Sdr_Supl_Client supl_client_ephemeris_; int supl_mcc; // Current network MCC (Mobile country code), 3 digits. int supl_mns; // Current network MNC (Mobile Network code), 2 or 3 digits. int supl_lac; // Current network LAC (Location area code),16 bits, 1-65520 are valid values. int supl_ci; // Cell Identity (16 bits, 0-65535 are valid values). void init(); // Read {ephemeris, iono, utc, ref loc, ref time} assistance from a local XML file previously recorded bool read_assistance_from_XML(); /* * Blocking function that reads the GPS assistance queue */ void gps_acq_assist_data_collector(); /* * Compute elevations for the specified time and position for all the available satellites in ephemeris and almanac queues * returns a vector filled with the available satellites ordered from high elevation to low elevation angle. */ std::vector> get_visible_sats(time_t rx_utc_time, const std::array &LLH); /* * Read initial GNSS assistance from SUPL server or local XML files */ void assist_GNSS(); void apply_action(unsigned int what); std::shared_ptr flowgraph_; std::shared_ptr configuration_; std::shared_ptr> control_queue_; bool pre_2009_file_; // to override the system time to postprocess old gnss records and avoid wrong week rollover bool stop_; bool restart_; bool delete_configuration_; unsigned int processed_control_messages_; unsigned int applied_actions_; std::thread keyboard_thread_; std::thread sysv_queue_thread_; std::thread gps_acq_assist_data_collector_thread_; void keyboard_listener(); void sysv_queue_listener(); int msqid; // default filename for assistance data const std::string eph_default_xml_filename = "./gps_ephemeris.xml"; const std::string utc_default_xml_filename = "./gps_utc_model.xml"; const std::string iono_default_xml_filename = "./gps_iono.xml"; const std::string ref_time_default_xml_filename = "./gps_ref_time.xml"; const std::string ref_location_default_xml_filename = "./gps_ref_location.xml"; const std::string eph_gal_default_xml_filename = "./gal_ephemeris.xml"; const std::string eph_cnav_default_xml_filename = "./gps_cnav_ephemeris.xml"; const std::string gal_iono_default_xml_filename = "./gal_iono.xml"; const std::string gal_utc_default_xml_filename = "./gal_utc_model.xml"; const std::string cnav_utc_default_xml_filename = "./gps_cnav_utc_model.xml"; const std::string eph_glo_gnav_default_xml_filename = "./glo_gnav_ephemeris.xml"; const std::string glo_utc_default_xml_filename = "./glo_utc_model.xml"; const std::string gal_almanac_default_xml_filename = "./gal_almanac.xml"; const std::string gps_almanac_default_xml_filename = "./gps_almanac.xml"; Agnss_Ref_Location agnss_ref_location_; Agnss_Ref_Time agnss_ref_time_; #ifdef ENABLE_FPGA boost::thread fpga_helper_thread_; #endif }; #endif // GNSS_SDR_CONTROL_THREAD_H_