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gnss-sdr/src/core/receiver/control_thread.cc

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/*!
* \file control_thread.cc
* \brief This class implements 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,
* process them, and apply the corresponding actions.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (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.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "control_thread.h"
#include <boost/lexical_cast.hpp>
#include "gps_ephemeris.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "gps_almanac.h"
#include "concurrent_queue.h"
#include "concurrent_map.h"
#include <unistd.h>
#include <gnuradio/gr_message.h>
#include <gflags/gflags.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "gnss_flowgraph.h"
#include "file_configuration.h"
#include "control_message_factory.h"
#include <boost/thread/thread.hpp>
#include <iostream>
extern concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
extern concurrent_map<Gps_Iono> global_gps_iono_map;
extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
extern concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
extern concurrent_queue<Gps_Iono> global_gps_iono_queue;
extern concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
extern concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
using google::LogMessage;
DEFINE_string(config_file, "../conf/gnss-sdr.conf",
"Path to the file containing the configuration parameters");
ControlThread::ControlThread()
{
configuration_ = new FileConfiguration(FLAGS_config_file);
delete_configuration_ = true;
init();
}
ControlThread::ControlThread(ConfigurationInterface *configuration)
{
configuration_ = configuration;
delete_configuration_ = false;
init();
}
ControlThread::~ControlThread()
{
delete flowgraph_;
if (delete_configuration_) delete configuration_;
delete control_message_factory_;
}
/*
* Runs the control thread that manages the receiver control plane
*
* This is the main loop that reads and process the control messages
* 1- Connect the GNSS receiver flowgraph
* 2- Start the GNSS receiver flowgraph
* while (flowgraph_->running() && !stop)_{
* 3- Read control messages and process them }
*/
void ControlThread::run()
{
// Connect the flowgraph
flowgraph_->connect();
if (flowgraph_->connected())
{
LOG_AT_LEVEL(INFO) << "Flowgraph connected";
}
else
{
LOG_AT_LEVEL(ERROR) << "Unable to connect flowgraph";
return;
}
// Start the flowgraph
flowgraph_->start();
if (flowgraph_->running())
{
LOG_AT_LEVEL(INFO) << "Flowgraph started";
}
else
{
LOG_AT_LEVEL(ERROR) << "Unable to start flowgraph";
return;
}
// start the keyboard_listener thread
keyboard_thread_ = boost::thread(&ControlThread::keyboard_listener, this);
//start the GNSS SV data collector thread
gps_ephemeris_data_collector_thread_ =boost::thread(&ControlThread::gps_ephemeris_data_collector, this);
gps_iono_data_collector_thread_ =boost::thread(&ControlThread::gps_iono_data_collector, this);
gps_utc_model_data_collector_thread_ =boost::thread(&ControlThread::gps_utc_model_data_collector, this);
// Main loop to read and process the control messages
while (flowgraph_->running() && !stop_)
{
//TODO re-enable the blocking read messages functions and fork the process
read_control_messages();
if (control_messages_ != 0) process_control_messages();
}
std::cout<<"Stopping GNSS-SDR, please wait!"<<std::endl;
gps_ephemeris_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
gps_iono_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
gps_utc_model_data_collector_thread_.timed_join(boost::posix_time::seconds(1));
keyboard_thread_.timed_join(boost::posix_time::seconds(1));
flowgraph_->stop();
LOG_AT_LEVEL(INFO) << "Flowgraph stopped";
}
void ControlThread::set_control_queue(gr_msg_queue_sptr control_queue)
{
if (flowgraph_->running())
{
LOG_AT_LEVEL(WARNING) << "Unable to set control queue while flowgraph is running";
return;
}
control_queue_ = control_queue;
}
bool ControlThread::read_assistance_from_XML()
{
std::string eph_xml_filename="gps_ephemeris.xml";
std::cout<< "SUPL: Try read GPS ephemeris from XML file "<<eph_xml_filename<<std::endl;
if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename)==true)
{
std::map<int,Gps_Ephemeris>::iterator gps_eph_iter;
for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin();
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end();
gps_eph_iter++)
{
std::cout<<"SUPL: Read XML Ephemeris for GPS SV "<<gps_eph_iter->first<<std::endl;
global_gps_ephemeris_queue.push(gps_eph_iter->second);
}
return false;
}else{
std::cout<< "ERROR: SUPL client error reading XML"<<std::endl;
std::cout<< "Disabling SUPL assistance.."<<std::endl;
return false;
}
}
void ControlThread::init()
{
// Instantiates a control queue, a GNSS flowgraph, and a control message factory
control_queue_ = gr_make_msg_queue(0);
flowgraph_ = new GNSSFlowgraph(configuration_, control_queue_);
control_message_factory_ = new ControlMessageFactory();
stop_ = false;
processed_control_messages_ = 0;
applied_actions_ = 0;
// GNSS Assistance configuration
bool enable_gps_supl_assistance=configuration_->property("GNSS-SDR.SUPL_gps_enabled",false);
if (enable_gps_supl_assistance==true)
//SUPL SERVER TEST. Not operational yet!
{
std::cout<< "SUPL RRLP GPS assistance enabled!"<<std::endl;
std::string default_acq_server="supl.nokia.com";
std::string default_eph_server="supl.google.com";
supl_client_ephemeris_.server_name=configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_server",default_acq_server);
supl_client_acquisition_.server_name=configuration_->property("GNSS-SDR.SUPL_gps_acquisition_server",default_eph_server);
supl_client_ephemeris_.server_port=configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_port",7275);
supl_client_acquisition_.server_port=configuration_->property("GNSS-SDR.SUPL_gps_acquisition_port",7275);
supl_mcc=configuration_->property("GNSS-SDR.SUPL_MCC",244);
supl_mns=configuration_->property("GNSS-SDR.SUPL_MNS",5);
std::string default_lac="0x59e2";
std::string default_ci="0x31b0";
try {
supl_lac = boost::lexical_cast<int>(configuration_->property("GNSS-SDR.SUPL_LAC",default_lac));
} catch(boost::bad_lexical_cast &) {
supl_lac=0x59e2;
}
try {
supl_ci = boost::lexical_cast<int>(configuration_->property("GNSS-SDR.SUPL_CI",default_ci));
} catch(boost::bad_lexical_cast &) {
supl_ci=0x31b0;
}
bool SUPL_read_gps_assistance_xml=configuration_->property("GNSS-SDR.SUPL_read_gps_assistance_xml",false);
if (SUPL_read_gps_assistance_xml==true)
{
// read assistance from file
read_assistance_from_XML();
}else{
// Request ephemeris from SUPL server
int error;
supl_client_ephemeris_.request=1;
std::cout<< "SUPL: Try read GPS ephemeris from SUPL server.."<<std::endl;
error=supl_client_ephemeris_.get_assistance(supl_mcc,supl_mns,supl_lac,supl_ci);
if (error==0)
{
std::map<int,Gps_Ephemeris>::iterator gps_eph_iter;
for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin();
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end();
gps_eph_iter++)
{
std::cout<<"SUPL: Received Ephemeris for GPS SV "<<gps_eph_iter->first<<std::endl;
global_gps_ephemeris_queue.push(gps_eph_iter->second);
}
//Save ephemeris to XML file
std::string eph_xml_filename="gps_ephemeris.xml";
if (supl_client_ephemeris_.save_ephemeris_xml(eph_xml_filename)==true)
{
std::cout<<"SUPL: XML Ephemeris file created"<<std::endl;
}
}else{
std::cout<< "ERROR: SUPL client for Ephemeris returned "<<error<<std::endl;
std::cout<< "Please check internet connection and SUPL server configuration"<<error<<std::endl;
std::cout<< "Trying to read ephemeris from XML file"<<std::endl;
if (read_assistance_from_XML()==false)
{
std::cout<< "ERROR: Could not read Ephemeris file: Disabling SUPL assistance.."<<std::endl;
enable_gps_supl_assistance=false;
stop_=true;
}
}
// Request almanac , IONO and UTC Model
supl_client_ephemeris_.request=0;
std::cout<< "SUPL: Try read Almanac, Iono, Utc Model, Ref Time and Ref Location from SUPL server.."<<std::endl;
error=supl_client_ephemeris_.get_assistance(supl_mcc,supl_mns,supl_lac,supl_ci);
if (error==0)
{
std::map<int,Gps_Almanac>::iterator gps_alm_iter;
for(gps_alm_iter = supl_client_ephemeris_.gps_almanac_map.begin();
gps_alm_iter != supl_client_ephemeris_.gps_almanac_map.end();
gps_alm_iter++)
{
std::cout<<"SUPL: Received Almanac for GPS SV "<<gps_alm_iter->first<<std::endl;
global_gps_almanac_queue.push(gps_alm_iter->second);
}
if (supl_client_ephemeris_.gps_iono.valid==true)
{
std::cout<<"SUPL: Received GPS Iono"<<std::endl;
global_gps_iono_queue.push(supl_client_ephemeris_.gps_iono);
}
if (supl_client_ephemeris_.gps_utc.valid==true)
{
std::cout<<"SUPL: Received GPS UTC Model"<<std::endl;
global_gps_utc_model_queue.push(supl_client_ephemeris_.gps_utc);
}
}else{
std::cout<< "ERROR: SUPL client for Almanac returned "<<error<<std::endl;
std::cout<< "Please check internet connection and SUPL server configuration"<<error<<std::endl;
std::cout<< "Disabling SUPL assistance.."<<std::endl;
enable_gps_supl_assistance=false;
stop_=true;
}
}
}
}
void ControlThread::read_control_messages()
{
DLOG(INFO) << "Reading control messages from queue";
gr_message_sptr queue_message = control_queue_->delete_head();
if (queue_message != 0)
{
control_messages_ = control_message_factory_->GetControlMessages(
queue_message);
}
else
{
control_messages_ = 0;
}
}
// Apply the corresponding control actions
// TODO: May be it is better to move the apply_action state machine to the control_thread
void ControlThread::process_control_messages()
{
for (unsigned int i = 0; i < control_messages_->size(); i++)
{
if (stop_) break;
if (control_messages_->at(i)->who == 200)
{
apply_action(control_messages_->at(i)->what);
}
else
{
flowgraph_->apply_action(control_messages_->at(i)->who,
control_messages_->at(i)->what);
}
delete control_messages_->at(i);
processed_control_messages_++;
}
control_messages_->clear();
delete control_messages_;
DLOG(INFO) << "Processed all control messages";
}
void ControlThread::apply_action(unsigned int what)
{
switch (what)
{
case 0:
DLOG(INFO) << "Received action STOP";
stop_ = true;
applied_actions_++;
break;
default:
DLOG(INFO) << "Unrecognized action.";
break;
}
}
void ControlThread::gps_ephemeris_data_collector()
{
// ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
Gps_Ephemeris gps_eph;
Gps_Ephemeris gps_eph_old;
while(stop_==false)
{
global_gps_ephemeris_queue.wait_and_pop(gps_eph);
// DEBUG MESSAGE
std::cout << "Ephemeris record has arrived from SAT ID "
<< gps_eph.i_satellite_PRN << " (Block "
<< gps_eph.satelliteBlock[gps_eph.i_satellite_PRN]
<< ")" << std::endl;
// insert new ephemeris record to the global ephemeris map
if (global_gps_ephemeris_map.read(gps_eph.i_satellite_PRN,gps_eph_old))
{
// Check the EPHEMERIS timestamp. If it is newer, then update the ephemeris
if (gps_eph.i_GPS_week > gps_eph_old.i_GPS_week)
{
std::cout << "Ephemeris record updated (GPS week="<<gps_eph.i_GPS_week<<std::endl;
global_gps_ephemeris_map.write(gps_eph.i_satellite_PRN,gps_eph);
}else{
if (gps_eph.d_Toe>gps_eph_old.d_Toe)
{
std::cout << "Ephemeris record updated (Toe="<<gps_eph.d_Toe<<std::endl;
global_gps_ephemeris_map.write(gps_eph.i_satellite_PRN,gps_eph);
}else{
std::cout<<"Not updating the existing ephemeris"<<std::endl;
}
}
}else{
// insert new ephemeris record
std::cout << "New Ephemeris record inserted with Toe="<<gps_eph.d_Toe<<" and GPS Week="<<gps_eph.i_GPS_week<<std::endl;
global_gps_ephemeris_map.write(gps_eph.i_satellite_PRN,gps_eph);
}
}
}
void ControlThread::gps_iono_data_collector()
{
// ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
Gps_Iono gps_iono;
Gps_Iono gps_iono_old;
while(stop_==false)
{
global_gps_iono_queue.wait_and_pop(gps_iono);
std::cout << "New IONO record has arrived "<< std::endl;
// insert new ephemeris record to the global ephemeris map
if (global_gps_iono_map.read(0,gps_iono_old))
{
// TODO: Check the IONO timestamp. If it is newer, then update the iono
global_gps_iono_map.write(0,gps_iono);
}else{
// insert new ephemeris record
global_gps_iono_map.write(0,gps_iono);
}
}
}
void ControlThread::gps_utc_model_data_collector()
{
// ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
Gps_Utc_Model gps_utc;
Gps_Utc_Model gps_utc_old;
while(stop_==false)
{
global_gps_utc_model_queue.wait_and_pop(gps_utc);
std::cout << "New UTC MODEL record has arrived "<< std::endl;
// insert new ephemeris record to the global ephemeris map
if (global_gps_utc_model_map.read(0,gps_utc_old))
{
// TODO: Check the UTC MODEL timestamp. If it is newer, then update the UTC MODEL
global_gps_utc_model_map.write(0,gps_utc_old);
}else{
// insert new ephemeris record
global_gps_utc_model_map.write(0,gps_utc_old);
}
}
}
void ControlThread::keyboard_listener()
{
bool read_keys = true;
char c;
while(read_keys)
{
c = std::cin.get();
if (c =='q')
{
std::cout << "Quit keystroke order received, stopping GNSS-SDR !!" << std::endl;
ControlMessageFactory* cmf = new ControlMessageFactory();
if (control_queue_ != gr_msg_queue_sptr())
{
control_queue_->handle(cmf->GetQueueMessage(200, 0));
}
delete cmf;
read_keys = false;
}
}
}
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