mirror of https://github.com/gnss-sdr/gnss-sdr
232 lines
7.6 KiB
C++
232 lines
7.6 KiB
C++
/*!
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* \file control_thread.h
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* \brief Interface of the receiver control plane
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* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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*
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* GNSS Receiver Control Plane: connects the flowgraph, starts running it,
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* and while it does not stop, reads the control messages generated by the blocks,
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* processes them, and applies the corresponding actions.
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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) 2010-2020 (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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#ifndef GNSS_SDR_CONTROL_THREAD_H
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#define GNSS_SDR_CONTROL_THREAD_H
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#include "agnss_ref_location.h" // for Agnss_Ref_Location
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#include "agnss_ref_time.h" // for Agnss_Ref_Time
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#include "channel_event.h" // for channel_event_sptr
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#include "command_event.h" // for command_event_sptr
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#include "concurrent_queue.h" // for Concurrent_Queue
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#include "gnss_sdr_supl_client.h" // for Gnss_Sdr_Supl_Client
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#include "tcp_cmd_interface.h" // for TcpCmdInterface
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#include <pmt/pmt.h>
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#include <array> // for array
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#include <cstddef> // for size_t
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#include <memory> // for shared_ptr
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#include <string> // for string
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#include <thread> // for std::thread
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#include <typeinfo> // for std::type_info, typeid
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#include <utility> // for pair
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#include <vector> // for vector
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#ifdef ENABLE_FPGA
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#include <boost/thread.hpp> // for boost::thread
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#endif
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/** \addtogroup Core Core GNSS Receiver
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* Core GNSS Receiver.
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* \{ */
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/** \addtogroup Core_Receiver
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* Classes for the core GNSS receiver.
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* \{ */
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class ConfigurationInterface;
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class GNSSFlowgraph;
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class Gnss_Satellite;
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/*!
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* \brief This class represents the main thread of the application, so the name is ControlThread.
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* This is the GNSS Receiver Control Plane: it connects the flowgraph, starts running it,
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* and while it does not stop, reads the control messages generated by the blocks,
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* processes them, and applies the corresponding actions.
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*/
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class ControlThread
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{
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public:
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static ControlThread *me;
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/*!
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* \brief Default constructor
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*/
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ControlThread();
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/*!
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* \brief Constructor that initializes the class with parameters
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*
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* \param[in] configuration Pointer to a ConfigurationInterface
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*/
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explicit ControlThread(std::shared_ptr<ConfigurationInterface> configuration);
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/*!
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* \brief Destructor
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*/
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~ControlThread();
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/*! \brief Runs the control thread
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*
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* This is the main loop that reads and process the control messages:
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*
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* - Connect the GNSS receiver flowgraph;
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*
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* - Start the GNSS receiver flowgraph;
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*
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* while (flowgraph_->running() && !stop_){
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*
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* - Read control messages and process them; }
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*/
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int run();
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/*!
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* \brief Sets the control_queue
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*
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* \param[in] std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue
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*/
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void set_control_queue(std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue);
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unsigned int processed_control_messages() const
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{
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return processed_control_messages_;
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}
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unsigned int applied_actions() const
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{
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return applied_actions_;
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}
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/*!
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* \brief Instantiates a flowgraph
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*
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* \return Returns a smart pointer to a flowgraph object
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*/
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std::shared_ptr<GNSSFlowgraph> flowgraph()
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{
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return flowgraph_;
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}
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private:
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/*
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* Callback function for handling signals.
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* sig identifier of signal
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*/
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static void handle_signal(int sig);
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void init();
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void apply_action(unsigned int what);
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/*
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* New receiver event dispatcher
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*/
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void event_dispatcher(bool &valid_event, pmt::pmt_t &msg);
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// Read {ephemeris, iono, utc, ref loc, ref time} assistance from a local XML file previously recorded
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bool read_assistance_from_XML();
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/*
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* Blocking function that reads the GPS assistance queue
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*/
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void gps_acq_assist_data_collector() const;
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/*
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* Compute elevations for the specified time and position for all the available satellites in ephemeris and almanac queues
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* returns a vector filled with the available satellites ordered from high elevation to low elevation angle.
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*/
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std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, const std::array<float, 3> &LLH);
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/*
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* Read initial GNSS assistance from SUPL server or local XML files
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*/
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void assist_GNSS();
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void telecommand_listener();
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void keyboard_listener();
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void sysv_queue_listener();
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void print_help_at_exit() const;
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// default filename for assistance data
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const std::string eph_default_xml_filename_ = "./gps_ephemeris.xml";
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const std::string utc_default_xml_filename_ = "./gps_utc_model.xml";
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const std::string iono_default_xml_filename_ = "./gps_iono.xml";
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const std::string ref_time_default_xml_filename_ = "./gps_ref_time.xml";
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const std::string ref_location_default_xml_filename_ = "./gps_ref_location.xml";
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const std::string eph_gal_default_xml_filename_ = "./gal_ephemeris.xml";
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const std::string eph_cnav_default_xml_filename_ = "./gps_cnav_ephemeris.xml";
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const std::string gal_iono_default_xml_filename_ = "./gal_iono.xml";
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const std::string gal_utc_default_xml_filename_ = "./gal_utc_model.xml";
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const std::string cnav_utc_default_xml_filename_ = "./gps_cnav_utc_model.xml";
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const std::string eph_glo_gnav_default_xml_filename_ = "./glo_gnav_ephemeris.xml";
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const std::string glo_utc_default_xml_filename_ = "./glo_utc_model.xml";
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const std::string gal_almanac_default_xml_filename_ = "./gal_almanac.xml";
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const std::string gps_almanac_default_xml_filename_ = "./gps_almanac.xml";
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const size_t channel_event_type_hash_code_ = typeid(channel_event_sptr).hash_code();
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const size_t command_event_type_hash_code_ = typeid(command_event_sptr).hash_code();
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std::shared_ptr<ConfigurationInterface> configuration_;
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std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue_;
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std::shared_ptr<GNSSFlowgraph> flowgraph_;
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std::thread cmd_interface_thread_;
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std::thread keyboard_thread_;
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std::thread sysv_queue_thread_;
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std::thread gps_acq_assist_data_collector_thread_;
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#ifdef ENABLE_FPGA
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boost::thread fpga_helper_thread_;
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#endif
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TcpCmdInterface cmd_interface_;
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// SUPL assistance classes
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Gnss_Sdr_Supl_Client supl_client_acquisition_;
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Gnss_Sdr_Supl_Client supl_client_ephemeris_;
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int supl_mcc_; // Current network MCC (Mobile country code), 3 digits.
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int supl_mns_; // Current network MNC (Mobile Network code), 2 or 3 digits.
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int supl_lac_; // Current network LAC (Location area code),16 bits, 1-65520 are valid values.
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int supl_ci_; // Cell Identity (16 bits, 0-65535 are valid values).
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Agnss_Ref_Location agnss_ref_location_;
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Agnss_Ref_Time agnss_ref_time_;
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unsigned int processed_control_messages_;
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unsigned int applied_actions_;
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int msqid_;
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bool well_formatted_configuration_;
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bool conf_file_has_section_;
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bool conf_file_has_mandatory_globals_;
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bool conf_has_signal_sources_;
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bool conf_has_observables_;
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bool conf_has_pvt_;
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bool receiver_on_standby_;
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bool stop_;
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bool restart_;
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bool telecommand_enabled_;
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bool pre_2009_file_; // to override the system time to postprocess old gnss records and avoid wrong week rollover
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};
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/** \} */
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/** \} */
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#endif // GNSS_SDR_CONTROL_THREAD_H
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