mirror of https://github.com/gnss-sdr/gnss-sdr
119 lines
4.5 KiB
C++
119 lines
4.5 KiB
C++
/*!
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* \file channel_status_msg_receiver.cc
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* \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
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* \author Javier Arribas, 2019. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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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 "channel_status_msg_receiver.h"
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#include <boost/any.hpp>
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#include <glog/logging.h>
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#include <gnuradio/gr_complex.h>
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#include <gnuradio/io_signature.h>
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#include <cstdint>
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#include <utility>
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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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channel_status_msg_receiver_sptr channel_status_msg_receiver_make()
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{
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return channel_status_msg_receiver_sptr(new channel_status_msg_receiver());
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}
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channel_status_msg_receiver::channel_status_msg_receiver() : gr::block("channel_status_msg_receiver", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
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{
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this->message_port_register_in(pmt::mp("status"));
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this->set_msg_handler(pmt::mp("status"),
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#if HAS_GENERIC_LAMBDA
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[this](auto&& PH1) { msg_handler_events(PH1); });
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#else
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&channel_status_msg_receiver::msg_handler_events, this, boost::placeholders::_1));
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#else
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boost::bind(&channel_status_msg_receiver::msg_handler_events, this, _1));
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#endif
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#endif
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d_pvt_status.RX_time = -1; // to indicate that the PVT is not available
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}
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void channel_status_msg_receiver::msg_handler_events(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_events function called by the scheduler
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try
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{
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// ************* Gnss_Synchro received *****************
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if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gnss_Synchro>))
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{
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std::shared_ptr<Gnss_Synchro> gnss_synchro_obj;
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gnss_synchro_obj = boost::any_cast<std::shared_ptr<Gnss_Synchro>>(pmt::any_ref(msg));
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if (gnss_synchro_obj->Flag_valid_pseudorange == true)
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{
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d_channel_status_map[gnss_synchro_obj->Channel_ID] = gnss_synchro_obj;
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}
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else
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{
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d_channel_status_map.erase(gnss_synchro_obj->Channel_ID);
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}
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// std::cout << "-------- " << std::endl << std::endl;
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// for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = d_channel_status_map.begin(); it != d_channel_status_map.end(); ++it)
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// {
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// std::cout << " Channel: " << it->first << " => Doppler: " << it->second->Carrier_Doppler_hz << "[Hz] " << std::endl;
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// }
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// std::cout << "-------- " << std::endl << std::endl;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Monitor_Pvt>))
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{
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// ************* Monitor_Pvt received *****************
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std::shared_ptr<Monitor_Pvt> monitor_pvt_obj;
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monitor_pvt_obj = boost::any_cast<std::shared_ptr<Monitor_Pvt>>(pmt::any_ref(msg));
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d_pvt_status = *monitor_pvt_obj.get();
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// std::cout << "-------- " << std::endl << std::endl;
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// std::cout << "PVT TOW: " << d_pvt_status->TOW_at_current_symbol_ms << std::endl;
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// std::cout << "-------- " << std::endl << std::endl;
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}
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else
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{
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LOG(WARNING) << "channel_status_msg_receiver unknown object type!";
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}
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}
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catch (boost::bad_any_cast& e)
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{
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LOG(WARNING) << "channel_status_msg_receiver Bad any cast!";
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}
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}
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std::map<int, std::shared_ptr<Gnss_Synchro>> channel_status_msg_receiver::get_current_status_map()
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{
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gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_events function called by the scheduler
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return d_channel_status_map;
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}
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Monitor_Pvt channel_status_msg_receiver::get_current_status_pvt()
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{
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gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_events function called by the scheduler
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return d_pvt_status;
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}
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