mirror of https://github.com/gnss-sdr/gnss-sdr
89 lines
2.9 KiB
C++
89 lines
2.9 KiB
C++
/*!
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* \file nav_message_monitor.cc
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* \brief GNU Radio block that processes Nav_Message_Packet received from
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* telemetry blocks and sends them via UDP.
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* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "nav_message_monitor.h"
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#include "gnss_sdr_make_unique.h"
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#include <gnuradio/io_signature.h>
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#include <cstddef> // size_t
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#include <typeinfo> // typeid
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#if USE_GLOG_AND_GFLAGS
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#include <glog/logging.h>
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#else
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#include <absl/log/log.h>
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#endif
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#if HAS_GENERIC_LAMBDA
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#else
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#include <boost/bind/bind.hpp>
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#endif
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#if PMT_USES_BOOST_ANY
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#include <boost/any.hpp>
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namespace wht = boost;
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#else
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#include <any>
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namespace wht = std;
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#endif
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nav_message_monitor_sptr nav_message_monitor_make(const std::vector<std::string>& addresses, uint16_t port)
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{
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return nav_message_monitor_sptr(new nav_message_monitor(addresses, port));
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}
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nav_message_monitor::nav_message_monitor(const std::vector<std::string>& addresses, uint16_t port) : gr::block("nav_message_monitor", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
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{
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// register Nav_msg_from_TLM input message port from telemetry blocks
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this->message_port_register_in(pmt::mp("Nav_msg_from_TLM"));
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this->set_msg_handler(pmt::mp("Nav_msg_from_TLM"),
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#if HAS_GENERIC_LAMBDA
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[this](auto&& PH1) { msg_handler_nav_message(PH1); });
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#else
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&nav_message_monitor::msg_handler_nav_message, this, boost::placeholders::_1));
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#else
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boost::bind(&nav_message_monitor::msg_handler_nav_message, this, _1));
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#endif
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#endif
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nav_message_udp_sink_ = std::make_unique<Nav_Message_Udp_Sink>(addresses, port);
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}
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void nav_message_monitor::msg_handler_nav_message(const pmt::pmt_t& msg)
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{
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gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_galileo_e6_has function called by the scheduler
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try
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{
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const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
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if (msg_type_hash_code == typeid(std::shared_ptr<Nav_Message_Packet>).hash_code())
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{
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const auto nav_message_packet = wht::any_cast<std::shared_ptr<Nav_Message_Packet>>(pmt::any_ref(msg));
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nav_message_udp_sink_->write_nav_message(nav_message_packet);
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}
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else
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{
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LOG(WARNING) << "nav_message_monitor received an unknown object type!";
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}
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}
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catch (const wht::bad_any_cast& e)
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{
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LOG(WARNING) << "nav_message_monitor Bad any_cast: " << e.what();
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}
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}
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