mirror of https://github.com/gnss-sdr/gnss-sdr
293 lines
8.2 KiB
C++
293 lines
8.2 KiB
C++
/*!
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* \file gps_l1_ca_subframe_fsm.cc
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* \brief Implementation of a GPS NAV message word-to-subframe decoder state machine
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (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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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_subframe_fsm.h"
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#include <string>
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#include <boost/statechart/simple_state.hpp>
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#include <boost/statechart/state.hpp>
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#include <boost/statechart/transition.hpp>
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#include <boost/statechart/custom_reaction.hpp>
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#include <boost/mpl/list.hpp>
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#include "gnss_satellite.h"
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//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
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struct Ev_gps_word_valid : sc::event<Ev_gps_word_valid> {};
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struct Ev_gps_word_invalid : sc::event<Ev_gps_word_invalid>{};
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struct Ev_gps_word_preamble : sc::event<Ev_gps_word_preamble>{};
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struct gps_subframe_fsm_S0: public sc::state<gps_subframe_fsm_S0, GpsL1CaSubframeFsm>
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{
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public:
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// sc::transition(event,next_status)
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typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
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gps_subframe_fsm_S0(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S0 "<<std::endl;
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}
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};
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struct gps_subframe_fsm_S1: public sc::state<gps_subframe_fsm_S1, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S2 > > reactions;
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gps_subframe_fsm_S1(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S1 "<<std::endl;
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}
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};
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struct gps_subframe_fsm_S2: public sc::state<gps_subframe_fsm_S2, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S3 > > reactions;
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gps_subframe_fsm_S2(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S2 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(0);
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}
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};
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struct gps_subframe_fsm_S3: public sc::state<gps_subframe_fsm_S3, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S4 > > reactions;
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gps_subframe_fsm_S3(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S3 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(1);
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}
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};
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struct gps_subframe_fsm_S4: public sc::state<gps_subframe_fsm_S4, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S5 > > reactions;
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gps_subframe_fsm_S4(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S4 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(2);
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}
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};
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struct gps_subframe_fsm_S5: public sc::state<gps_subframe_fsm_S5, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S6 > > reactions;
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gps_subframe_fsm_S5(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S5 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(3);
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}
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};
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struct gps_subframe_fsm_S6: public sc::state<gps_subframe_fsm_S6, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S7 > > reactions;
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gps_subframe_fsm_S6(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S6 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(4);
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}
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};
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struct gps_subframe_fsm_S7: public sc::state<gps_subframe_fsm_S7, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S8 > > reactions;
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gps_subframe_fsm_S7(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S7 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(5);
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}
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};
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struct gps_subframe_fsm_S8: public sc::state<gps_subframe_fsm_S8, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S9 > > reactions;
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gps_subframe_fsm_S8(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S8 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(6);
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}
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};
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struct gps_subframe_fsm_S9: public sc::state<gps_subframe_fsm_S9, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S10 > > reactions;
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gps_subframe_fsm_S9(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S9 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(7);
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}
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};
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struct gps_subframe_fsm_S10: public sc::state<gps_subframe_fsm_S10, GpsL1CaSubframeFsm>
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{
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S11 > > reactions;
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gps_subframe_fsm_S10(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Enter S10 "<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(8);
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}
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};
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struct gps_subframe_fsm_S11: public sc::state<gps_subframe_fsm_S11, GpsL1CaSubframeFsm>
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{
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public:
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typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
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gps_subframe_fsm_S11(my_context ctx): my_base( ctx )
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{
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//std::cout<<"Completed GPS Subframe!"<<std::endl;
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(9);
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context< GpsL1CaSubframeFsm >().gps_subframe_to_nav_msg(); //decode the subframe
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// DECODE SUBFRAME
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//std::cout<<"Enter S11"<<std::endl;
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}
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};
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GpsL1CaSubframeFsm::GpsL1CaSubframeFsm()
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{
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d_nav.reset();
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i_channel_ID = 0;
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i_satellite_PRN = 0;
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d_preamble_time_ms = 0;
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d_subframe_ID=0;
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d_flag_new_subframe=false;
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initiate(); //start the FSM
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}
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void GpsL1CaSubframeFsm::gps_word_to_subframe(int position)
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{
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// insert the word in the correct position of the subframe
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std::memcpy(&d_subframe[position*GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char)*GPS_WORD_LENGTH);
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}
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void GpsL1CaSubframeFsm::clear_flag_new_subframe()
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{
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d_flag_new_subframe=false;
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}
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void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
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{
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//int subframe_ID;
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// NEW GPS SUBFRAME HAS ARRIVED!
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d_subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe
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std::cout << "NAV Message: received subframe "
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<< d_subframe_ID << " from satellite "
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<< Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
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d_nav.i_satellite_PRN = i_satellite_PRN;
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d_nav.i_channel_ID = i_channel_ID;
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d_nav.d_subframe_timestamp_ms = this->d_preamble_time_ms;
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d_flag_new_subframe=true;
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}
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void GpsL1CaSubframeFsm::Event_gps_word_valid()
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{
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this->process_event(Ev_gps_word_valid());
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}
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void GpsL1CaSubframeFsm::Event_gps_word_invalid()
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{
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this->process_event(Ev_gps_word_invalid());
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}
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void GpsL1CaSubframeFsm::Event_gps_word_preamble()
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{
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this->process_event(Ev_gps_word_preamble());
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}
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