/*!
* \file gnss_flowgraph.h
* \brief Interface of a GNSS receiver flow graph.
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Luis Esteve, 2011. luis(at)epsilon-formacion.com
* Carles Fernandez-Prades, 2014-2020. cfernandez(at)cttc.es
* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
*
* It contains a signal source,
* a signal conditioner, a set of channels, an observables block and a pvt.
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GNSS_FLOWGRAPH_H
#define GNSS_SDR_GNSS_FLOWGRAPH_H
#include "channel_status_msg_receiver.h"
#include "concurrent_queue.h"
#include "galileo_e6_has_msg_receiver.h"
#include "galileo_tow_map.h"
#include "gnss_sdr_sample_counter.h"
#include "gnss_signal.h"
#include "pvt_interface.h"
#include <gnuradio/blocks/null_sink.h> // for null_sink
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <pmt/pmt.h> // for pmt_t
#include <list> // for list
#include <map> // for map
#include <memory> // for for shared_ptr, dynamic_pointer_cast
#include <mutex> // for mutex
#include <string> // for string
#include <utility> // for pair
#include <vector> // for vector
#if ENABLE_FPGA
#include "gnss_sdr_fpga_sample_counter.h"
#endif
/** \addtogroup Core
* \{ */
/** \addtogroup Core_Receiver
* \{ */
class ChannelInterface;
class ConfigurationInterface;
class GNSSBlockInterface;
class Gnss_Satellite;
class SignalSourceInterface;
/*! \brief This class represents a GNSS flow graph.
*
* It contains a signal source,
* a signal conditioner, a set of channels, a PVT and an output filter.
*/
class GNSSFlowgraph
{
public:
/*!
* \brief Constructor that initializes the receiver flow graph
*/
GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
/*!
* \brief Destructor
*/
~GNSSFlowgraph();
/*!
* \brief Start the flow graph
*/
void start();
/*!
* \brief Stop the flow graph
*/
void stop();
/*!
* \brief Connects the defined blocks in the flow graph
*
* Signal Source > Signal conditioner > Channels >> Observables >> PVT > Output filter
*/
void connect();
/*!
* \brief Disconnect the blocks in the flow graph
*/
void disconnect();
/*!
* \brief Wait for a flowgraph to complete.
*
* Flowgraphs complete when either
* (1) all blocks indicate that they are done, or
* (2) after stop() has been called to request shutdown.
*/
void wait();
/*!
* \brief Manage satellite acquisition
*
* \param[in] who Channel ID
*/
void acquisition_manager(unsigned int who);
/*!
* \brief Applies an action to the flow graph
*
* \param[in] who Who generated the action
* \param[in] what What is the action. 0: acquisition failed; 1: acquisition success; 2: tracking lost
*/
void apply_action(unsigned int who, unsigned int what);
/*!
* \brief Set flow graph configuratiob
*/
void set_configuration(const std::shared_ptr<ConfigurationInterface>& configuration);
bool connected() const
{
return connected_;
}
bool running() const
{
return running_;
}
/*!
* \brief Sends a GNU Radio asynchronous message from telemetry to PVT
*
* It is used to assist the receiver with external ephemeris data
*/
bool send_telemetry_msg(const pmt::pmt_t& msg);
/*!
* \brief Returns a smart pointer to the PVT object
*/
std::shared_ptr<PvtInterface> get_pvt()
{
return std::dynamic_pointer_cast<PvtInterface>(pvt_);
}
/*!
* \brief Priorize visible satellites in the specified vector
*/
void priorize_satellites(const std::vector<std::pair<int, Gnss_Satellite>>& visible_satellites);
#if ENABLE_FPGA
void start_acquisition_helper();
void perform_hw_reset();
#endif
private:
void init(); // Populates the SV PRN list available for acquisition and tracking
int connect_desktop_flowgraph();
int connect_signal_sources();
int connect_signal_conditioners();
int connect_channels();
int connect_observables();
int connect_pvt();
int connect_sample_counter();
int connect_galileo_tow_map();
int connect_signal_sources_to_signal_conditioners();
int connect_signal_conditioners_to_channels();
int connect_channels_to_observables();
int connect_observables_to_pvt();
int connect_monitors();
int connect_gal_e6_has();
int connect_gnss_synchro_monitor();
int connect_acquisition_monitor();
int connect_tracking_monitor();
int connect_navdata_monitor();
#if ENABLE_FPGA
int connect_fpga_flowgraph();
int connect_fpga_sample_counter();
#endif
int assign_channels();
void check_signal_conditioners();
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(const std::string& searched_signal,
bool& is_primary_frequency,
bool& assistance_available,
float& estimated_doppler,
double& RX_time);
void push_back_signal(const Gnss_Signal& gs);
void remove_signal(const Gnss_Signal& gs);
void print_help();
void check_desktop_conf_in_fpga_env();
double project_doppler(const std::string& searched_signal, double primary_freq_doppler_hz);
bool is_multiband() const;
std::vector<std::string> split_string(const std::string& s, char delim);
std::vector<bool> signal_conditioner_connected_;
gr::top_block_sptr top_block_;
std::shared_ptr<ConfigurationInterface> configuration_;
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
std::vector<std::shared_ptr<SignalSourceInterface>> sig_source_;
std::vector<std::shared_ptr<GNSSBlockInterface>> sig_conditioner_;
std::vector<std::shared_ptr<ChannelInterface>> channels_;
std::shared_ptr<GNSSBlockInterface> observables_;
std::shared_ptr<GNSSBlockInterface> pvt_;
std::map<std::string, gr::basic_block_sptr> acq_resamplers_;
std::vector<gr::blocks::null_sink::sptr> null_sinks_;
gr::basic_block_sptr GnssSynchroMonitor_;
gr::basic_block_sptr GnssSynchroAcquisitionMonitor_;
gr::basic_block_sptr GnssSynchroTrackingMonitor_;
gr::basic_block_sptr NavDataMonitor_;
channel_status_msg_receiver_sptr channels_status_; // class that receives and stores the current status of the receiver channels
galileo_e6_has_msg_receiver_sptr gal_e6_has_rx_;
galileo_tow_map_sptr galileo_tow_map_;
gnss_sdr_sample_counter_sptr ch_out_sample_counter_;
#if ENABLE_FPGA
gnss_sdr_fpga_sample_counter_sptr ch_out_fpga_sample_counter_;
#endif
std::vector<unsigned int> channels_state_;
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_GAL_7X_signals_;
std::list<Gnss_Signal> available_GAL_E6_signals_;
std::list<Gnss_Signal> available_GLO_1G_signals_;
std::list<Gnss_Signal> available_GLO_2G_signals_;
std::list<Gnss_Signal> available_BDS_B1_signals_;
std::list<Gnss_Signal> available_BDS_B3_signals_;
enum StringValue
{
evGPS_1C,
evGPS_2S,
evGPS_L5,
evSBAS_1C,
evGAL_1B,
evGAL_5X,
evGAL_7X,
evGAL_E6,
evGLO_1G,
evGLO_2G,
evBDS_B1,
evBDS_B3
};
std::map<std::string, StringValue> mapStringValues_;
std::string config_file_;
std::string help_hint_;
std::mutex signal_list_mutex_;
int sources_count_;
int channels_count_;
int acq_channels_count_;
int max_acq_channels_;
bool connected_;
bool running_;
bool multiband_;
bool enable_monitor_;
bool enable_acquisition_monitor_;
bool enable_tracking_monitor_;
bool enable_navdata_monitor_;
bool enable_fpga_offloading_;
bool enable_e6_has_rx_;
};
/** \} */
/** \} */
#endif // GNSS_SDR_GNSS_FLOWGRAPH_H