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

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/*!
* \file gnss_flowgraph.cc
* \brief Implementation of a GNSS receiver flow graph
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
* Carles Fernandez-Prades, 2014-2020. cfernandez(at)cttc.es
* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
* Javier Arribas, 2018. javiarribas(at)gmail.com
*
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "gnss_flowgraph.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
#include "GPS_L5.h"
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "Galileo_E5b.h"
#include "Galileo_E6.h"
#include "channel.h"
#include "channel_fsm.h"
#include "channel_interface.h"
#include "configuration_interface.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_satellite.h"
#include "gnss_sdr_make_unique.h"
#include "gnss_synchro_monitor.h"
#include "nav_message_monitor.h"
#include "signal_source_interface.h"
#include <boost/lexical_cast.hpp> // for boost::lexical_cast
#include <boost/tokenizer.hpp> // for boost::tokenizer
#include <glog/logging.h> // for LOG
#include <gnuradio/basic_block.h> // for basic_block
#include <gnuradio/filter/firdes.h> // for gr::filter::firdes
#include <gnuradio/io_signature.h> // for io_signature
#include <gnuradio/top_block.h> // for top_block, make_top_block
#include <pmt/pmt_sugar.h> // for mp
#include <algorithm> // for transform, sort, unique
#include <cmath> // for floor
#include <cstddef> // for size_t
#include <exception> // for exception
#include <iostream> // for operator<<
#include <iterator> // for insert_iterator, inserter
#include <memory> // for std::shared_ptr
#include <set> // for set
#include <sstream> // for std::stringstream
#include <stdexcept> // for invalid_argument
#include <thread> // for std::thread
#include <utility> // for std::move
#ifdef GR_GREATER_38
#include <gnuradio/filter/fir_filter_blk.h>
#else
#include <gnuradio/filter/fir_filter_ccf.h>
#endif
#define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS 8
GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration,
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) // NOLINT(performance-unnecessary-value-param)
: configuration_(std::move(configuration)),
queue_(std::move(queue)),
connected_(false),
running_(false),
multiband_(GNSSFlowgraph::is_multiband()),
enable_e6_has_rx_(false)
{
enable_fpga_offloading_ = configuration_->property("GNSS-SDR.enable_FPGA", false);
init();
}
GNSSFlowgraph::~GNSSFlowgraph()
{
DLOG(INFO) << "GNSSFlowgraph destructor called";
if (connected_)
{
GNSSFlowgraph::disconnect();
}
}
void GNSSFlowgraph::init()
{
/*
* Instantiates the receiver blocks
*/
auto block_factory = std::make_unique<GNSSBlockFactory>();
channels_status_ = channel_status_msg_receiver_make();
if (configuration_->property("Channels_E6.count", 0) > 0)
{
enable_e6_has_rx_ = true;
gal_e6_has_rx_ = galileo_e6_has_msg_receiver_make();
}
else
{
gal_e6_has_rx_ = nullptr;
}
// 1. read the number of RF front-ends available (one file_source per RF front-end)
int sources_count_deprecated = configuration_->property("Receiver.sources_count", 1);
sources_count_ = configuration_->property("GNSS-SDR.num_sources", sources_count_deprecated);
int signal_conditioner_ID = 0;
for (int i = 0; i < sources_count_; i++)
{
DLOG(INFO) << "Creating source " << i;
sig_source_.push_back(block_factory->GetSignalSource(configuration_.get(), queue_.get(), i));
if (enable_fpga_offloading_ == false)
{
auto& src = sig_source_.back();
auto RF_Channels = src->getRfChannels();
if (sources_count_ == 1)
{
std::cout << "RF Channels: " << RF_Channels << '\n';
}
for (auto j = 0U; j < RF_Channels; ++j)
{
sig_conditioner_.push_back(block_factory->GetSignalConditioner(configuration_.get(), signal_conditioner_ID));
signal_conditioner_ID++;
}
}
}
if (sources_count_ != 1 && !enable_fpga_offloading_)
{
std::cout << "RF Channels: " << sources_count_ << '\n';
}
if (!sig_conditioner_.empty())
{
signal_conditioner_connected_ = std::vector<bool>(sig_conditioner_.size(), false);
}
observables_ = block_factory->GetObservables(configuration_.get());
pvt_ = block_factory->GetPVT(configuration_.get());
auto channels = block_factory->GetChannels(configuration_.get(), queue_.get());
channels_count_ = static_cast<int>(channels->size());
for (int i = 0; i < channels_count_; i++)
{
std::shared_ptr<GNSSBlockInterface> chan_ = std::move(channels->at(i));
channels_.push_back(std::dynamic_pointer_cast<ChannelInterface>(chan_));
}
top_block_ = gr::make_top_block("GNSSFlowgraph");
mapStringValues_["1C"] = evGPS_1C;
mapStringValues_["2S"] = evGPS_2S;
mapStringValues_["L5"] = evGPS_L5;
mapStringValues_["1B"] = evGAL_1B;
mapStringValues_["5X"] = evGAL_5X;
mapStringValues_["7X"] = evGAL_7X;
mapStringValues_["E6"] = evGAL_E6;
mapStringValues_["1G"] = evGLO_1G;
mapStringValues_["2G"] = evGLO_2G;
mapStringValues_["B1"] = evBDS_B1;
mapStringValues_["B3"] = evBDS_B3;
// fill the signals queue with the satellites ID's to be searched by the acquisition
set_signals_list();
set_channels_state();
DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
/*
* Instantiate the receiver monitor block, if required
*/
enable_monitor_ = configuration_->property("Monitor.enable_monitor", false);
if (enable_monitor_)
{
// Retrieve monitor properties
bool enable_protobuf = configuration_->property("Monitor.enable_protobuf", true);
if (configuration_->property("PVT.enable_protobuf", false) == true)
{
enable_protobuf = true;
}
std::string address_string = configuration_->property("Monitor.client_addresses", std::string("127.0.0.1"));
std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
// Instantiate monitor object
GnssSynchroMonitor_ = gnss_synchro_make_monitor(channels_count_,
configuration_->property("Monitor.decimation_factor", 1),
configuration_->property("Monitor.udp_port", 1234),
udp_addr_vec, enable_protobuf);
}
/*
* Instantiate the receiver acquisition monitor block, if required
*/
enable_acquisition_monitor_ = configuration_->property("AcquisitionMonitor.enable_monitor", false);
if (enable_acquisition_monitor_)
{
// Retrieve monitor properties
bool enable_protobuf = configuration_->property("AcquisitionMonitor.enable_protobuf", true);
if (configuration_->property("PVT.enable_protobuf", false) == true)
{
enable_protobuf = true;
}
std::string address_string = configuration_->property("AcquisitionMonitor.client_addresses", std::string("127.0.0.1"));
std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
GnssSynchroAcquisitionMonitor_ = gnss_synchro_make_monitor(channels_count_,
configuration_->property("AcquisitionMonitor.decimation_factor", 1),
configuration_->property("AcquisitionMonitor.udp_port", 1235),
udp_addr_vec, enable_protobuf);
}
/*
* Instantiate the receiver tracking monitor block, if required
*/
enable_tracking_monitor_ = configuration_->property("TrackingMonitor.enable_monitor", false);
if (enable_tracking_monitor_)
{
// Retrieve monitor properties
bool enable_protobuf = configuration_->property("TrackingMonitor.enable_protobuf", true);
if (configuration_->property("PVT.enable_protobuf", false) == true)
{
enable_protobuf = true;
}
std::string address_string = configuration_->property("TrackingMonitor.client_addresses", std::string("127.0.0.1"));
std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
GnssSynchroTrackingMonitor_ = gnss_synchro_make_monitor(channels_count_,
configuration_->property("TrackingMonitor.decimation_factor", 1),
configuration_->property("TrackingMonitor.udp_port", 1236),
udp_addr_vec, enable_protobuf);
}
/*
* Instantiate the receiver av message monitor block, if required
*/
enable_navdata_monitor_ = configuration_->property("NavDataMonitor.enable_monitor", false);
if (enable_navdata_monitor_)
{
// Retrieve monitor properties
std::string address_string = configuration_->property("NavDataMonitor.client_addresses", std::string("127.0.0.1"));
std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
NavDataMonitor_ = nav_message_monitor_make(udp_addr_vec, configuration_->property("NavDataMonitor.port", 1237));
}
}
void GNSSFlowgraph::start()
{
if (running_)
{
LOG(WARNING) << "Already running";
return;
}
try
{
top_block_->start();
}
catch (const std::exception& e)
{
LOG(ERROR) << "Unable to start flowgraph: " << e.what();
print_help();
return;
}
if (enable_fpga_offloading_ == true)
{
// start the DMA if the receiver is in post-processing mode
if (configuration_->property(sig_source_.at(0)->role() + ".switch_position", 0) == 0)
{
sig_source_.at(0)->start();
}
}
running_ = true;
}
void GNSSFlowgraph::stop()
{
for (const auto& chan : channels_)
{
chan->stop_channel(); // stop the acquisition or tracking operation
}
top_block_->stop();
if (enable_fpga_offloading_ == false)
{
top_block_->wait();
}
running_ = false;
}
void GNSSFlowgraph::wait()
{
if (!running_)
{
LOG(WARNING) << "Can't apply wait. Flowgraph is not running";
return;
}
top_block_->wait();
DLOG(INFO) << "Flowgraph finished calculations";
running_ = false;
}
void GNSSFlowgraph::connect()
{
// Connects the blocks in the flow graph
LOG(INFO) << "Connecting flowgraph";
if (connected_)
{
LOG(WARNING) << "flowgraph already connected";
return;
}
#if ENABLE_FPGA
if (enable_fpga_offloading_ == true)
{
if (connect_fpga_flowgraph() != 0)
{
std::cerr << "Unable to connect flowgraph with FPGA off-loading\n";
print_help();
return;
}
}
else
{
if (connect_desktop_flowgraph() != 0)
{
std::cerr << "Unable to connect flowgraph\n";
print_help();
return;
}
}
#else
if (connect_desktop_flowgraph() != 0)
{
std::cerr << "Unable to connect flowgraph\n";
print_help();
return;
}
#endif
connected_ = true;
LOG(INFO) << "Flowgraph connected";
top_block_->dump();
}
void GNSSFlowgraph::disconnect()
{
LOG(INFO) << "Disconnecting flowgraph";
if (!connected_)
{
LOG(INFO) << "Flowgraph was not connected";
return;
}
connected_ = false;
try
{
top_block_->disconnect_all();
}
catch (const std::exception& e)
{
LOG(INFO) << "Problem disconnecting the flowgraph: " << e.what();
}
LOG(INFO) << "Flowgraph disconnected";
}
int GNSSFlowgraph::connect_desktop_flowgraph()
{
// Connect blocks to the top_block
const int max_channels_in_acq = configuration_->property("Channels.in_acquisition", 0);
if (max_channels_in_acq > channels_count_)
{
help_hint_ += " * The maximum number of channels with concurrent signal acquisition is set to Channels.in_acquisition=" + std::to_string(max_channels_in_acq) + ",\n";
help_hint_ += " but the total number of channels is set to " + std::to_string(channels_count_) + ".\n";
help_hint_ += " Please set Channels.in_acquisition to " + std::to_string(channels_count_) + " or lower, or increment the number of channels in your configuration file.\n";
return 1;
}
if (connect_signal_sources() != 0)
{
return 1;
}
if (connect_signal_conditioners() != 0)
{
return 1;
}
if (connect_channels() != 0)
{
return 1;
}
if (connect_observables() != 0)
{
return 1;
}
if (connect_pvt() != 0)
{
return 1;
}
// Connect blocks between them to form the flow graph
if (connect_signal_sources_to_signal_conditioners() != 0)
{
return 1;
}
if (connect_sample_counter() != 0)
{
return 1;
}
if (connect_signal_conditioners_to_channels() != 0)
{
return 1;
}
if (connect_channels_to_observables() != 0)
{
return 1;
}
check_signal_conditioners();
if (assign_channels() != 0)
{
return 1;
}
if (connect_observables_to_pvt() != 0)
{
return 1;
}
if (connect_monitors() != 0)
{
return 1;
}
if (enable_e6_has_rx_)
{
if (connect_gal_e6_has() != 0)
{
return 1;
}
}
// Activate acquisition in enabled channels
for (int i = 0; i < channels_count_; i++)
{
LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
if (channels_state_[i] == 1)
{
channels_.at(i)->start_acquisition();
LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
}
else
{
LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
}
}
LOG(INFO) << "The GNU Radio flowgraph for the current GNSS-SDR configuration has been successfully connected";
return 0;
}
#if ENABLE_FPGA
int GNSSFlowgraph::connect_fpga_flowgraph()
{
const int max_channels_in_acq = configuration_->property("Channels.in_acquisition", 0);
if (max_channels_in_acq != 1)
{
help_hint_ += " * The maximum number of channels with concurrent signal acquisition is set to Channels.in_acquisition=" + std::to_string(max_channels_in_acq) + ",\n";
help_hint_ += " but it must be set to 1 in the FPGA flow graph.\n";
help_hint_ += " Please set Channels.in_acquisition=1 in your configuration file.\n";
return 1;
}
// Check that the Signal Source has been instantiated successfully
for (auto& src : sig_source_)
{
if (src == nullptr)
{
help_hint_ += " * Check implementation name for SignalSource block.\n";
help_hint_ += " Signal Source block implementation for FPGA off-loading should be Ad9361_Fpga_Signal_Source\n";
return 1;
}
if (src->item_size() == 0)
{
help_hint_ += " * The global configuration parameter GNSS-SDR.enable_FPGA is set to true,\n";
help_hint_ += " but gnss-sdr does not appear to be executed in an FPGA-equipped platform,\n";
help_hint_ += " or there are some required files that are missing.\n";
return 1;
}
}
// Connect blocks to the top_block
if (connect_channels() != 0)
{
return 1;
}
if (connect_observables() != 0)
{
return 1;
}
if (connect_pvt() != 0)
{
return 1;
}
DLOG(INFO) << "Blocks connected internally to the top_block";
// Connect the counter
if (connect_fpga_sample_counter() != 0)
{
return 1;
}
if (connect_channels_to_observables() != 0)
{
return 1;
}
if (assign_channels() != 0)
{
return 1;
}
if (connect_observables_to_pvt() != 0)
{
return 1;
}
if (connect_monitors() != 0)
{
return 1;
}
check_desktop_conf_in_fpga_env();
LOG(INFO) << "The GNU Radio flowgraph for the current GNSS-SDR configuration with FPGA off-loading has been successfully connected";
return 0;
}
#endif
int GNSSFlowgraph::connect_signal_sources()
{
for (int i = 0; i < sources_count_; i++)
{
if (sig_source_.at(i) != nullptr)
{
try
{
sig_source_.at(i)->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect signal source block " << i << " internally: " << e.what();
top_block_->disconnect_all();
return 1;
}
}
else
{
help_hint_ += " * Check implementation name for SignalSource" + (i == 0 ? " " : (std::to_string(i) + " ")) + "block\n";
help_hint_ += " Signal Source blocks documentation at https://gnss-sdr.org/docs/sp-blocks/signal-source/\n";
top_block_->disconnect_all();
return 1;
}
}
DLOG(INFO) << "Signal Source blocks successfully connected to the top_block";
return 0;
}
int GNSSFlowgraph::connect_signal_conditioners()
{
int error = 1; // this should be bool (true)
try
{
for (auto& sig : sig_conditioner_)
{
if (sig == nullptr)
{
help_hint_ += " * The Signal_Conditioner implementation set in the configuration file does not exist.\n";
help_hint_ += " Check the Signal Conditioner documentation at https://gnss-sdr.org/docs/sp-blocks/signal-conditioner/\n";
return error;
}
sig->connect(top_block_);
}
DLOG(INFO) << "Signal Conditioner blocks successfully connected to the top_block";
error = 0; // false
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect signal conditioner block internally: " << e.what();
top_block_->disconnect_all();
std::string reported_error(e.what());
if (std::string::npos != reported_error.find(std::string("itemsize mismatch")))
{
std::string replace_me("copy");
size_t pos = reported_error.find(replace_me);
while (pos != std::string::npos)
{
size_t len = replace_me.length();
reported_error.replace(pos, len, "Pass_Through");
pos = reported_error.find(replace_me, pos + 1);
}
help_hint_ += " * Blocks within the Signal Conditioner are connected with mismatched input/ouput item size\n";
help_hint_ += " Reported error: " + reported_error + '\n';
help_hint_ += " Check the Signal Conditioner documentation at https://gnss-sdr.org/docs/sp-blocks/signal-conditioner/\n";
}
if (std::string::npos != reported_error.find(std::string("DataTypeAdapter")))
{
help_hint_ += " * The DataTypeAdapter implementation set in the configuration file does not exist\n";
help_hint_ += " Check the DataTypeAdapter documentation at https://gnss-sdr.org/docs/sp-blocks/data-type-adapter/\n";
}
if (std::string::npos != reported_error.find(std::string("InputFilter")))
{
if (std::string::npos != reported_error.find(std::string("itemsize mismatch")))
{
help_hint_ += " * The configured InputFilter input/output item types are not well defined.\n";
}
else
{
help_hint_ += " * The InputFilter implementation set in the configuration file does not exist\n";
}
help_hint_ += " Check the InputFilter documentation at https://gnss-sdr.org/docs/sp-blocks/input-filter/\n";
}
if (std::string::npos != reported_error.find(std::string("Resampler")))
{
if (std::string::npos != reported_error.find(std::string("itemsize mismatch")))
{
help_hint_ += " * The configured Resampler item type is not well defined.\n";
}
else
{
help_hint_ += " * The Resampler implementation set in the configuration file does not exist\n";
}
help_hint_ += " Check the Resampler documentation at https://gnss-sdr.org/docs/sp-blocks/resampler/\n";
}
}
return error;
}
int GNSSFlowgraph::connect_channels()
{
if (channels_count_ <= 0)
{
LOG(ERROR) << "No channels have been assigned.";
help_hint_ += " * No channels have been assigned, check your configuration file.\n";
help_hint_ += " At least one of the Channels_XX.count must be > 0.\n";
help_hint_ += " Channels documentation at https://gnss-sdr.org/docs/sp-blocks/channels/\n";
top_block_->disconnect_all();
return 1;
}
for (int i = 0; i < channels_count_; i++)
{
if (channels_.at(i) != nullptr)
{
try
{
channels_.at(i)->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect channel " << i << " internally: " << e.what();
top_block_->disconnect_all();
return 1;
}
}
else
{
LOG(ERROR) << "Can't connect channel " << i << " internally";
help_hint_ += " * Check your configuration for Channel" + std::to_string(i) + " inner blocks.\n";
help_hint_ += " Acquisition blocks documentation at https://gnss-sdr.org/docs/sp-blocks/acquisition/\n";
help_hint_ += " Tracking blocks documentation at https://gnss-sdr.org/docs/sp-blocks/tracking/\n";
help_hint_ += " Telemetry Decoder blocks documentation at https://gnss-sdr.org/docs/sp-blocks/telemetry-decoder/\n";
top_block_->disconnect_all();
return 1;
}
}
DLOG(INFO) << "Channel blocks successfully connected to the top_block";
return 0;
}
int GNSSFlowgraph::connect_observables()
{
if (observables_ == nullptr)
{
help_hint_ += " * Check implementation name for the Observables block\n";
help_hint_ += " Observables block documentation at https://gnss-sdr.org/docs/sp-blocks/observables/\n";
top_block_->disconnect_all();
return 1;
}
try
{
observables_->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect observables block internally: " << e.what();
top_block_->disconnect_all();
return 1;
}
DLOG(INFO) << "Observables block successfully connected to the top_block";
return 0;
}
int GNSSFlowgraph::connect_pvt()
{
if (pvt_ == nullptr)
{
help_hint_ += " * Check implementation name for the PVT block\n";
help_hint_ += " PVT block documentation at https://gnss-sdr.org/docs/sp-blocks/pvt/\n";
top_block_->disconnect_all();
return 1;
}
try
{
pvt_->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect PVT block internally: " << e.what();
top_block_->disconnect_all();
return 1;
}
DLOG(INFO) << "PVT block successfully connected to the top_block";
return 0;
}
int GNSSFlowgraph::connect_sample_counter()
{
// connect the sample counter to the Signal Conditioner
// connect the sample counter to Observables
try
{
const double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
if (fs == 0.0)
{
LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file\n";
throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
}
const int observable_interval_ms = configuration_->property("GNSS-SDR.observable_interval_ms", 20);
ch_out_sample_counter_ = gnss_sdr_make_sample_counter(fs, observable_interval_ms, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter_, 0);
top_block_->connect(ch_out_sample_counter_, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect sample counter: " << e.what();
top_block_->disconnect_all();
return 1;
}
DLOG(INFO) << "sample counter successfully connected to Signal Conditioner and Observables blocks";
return 0;
}
#if ENABLE_FPGA
int GNSSFlowgraph::connect_fpga_sample_counter()
{
// create a hardware-defined gnss_synchro pulse for the observables block
try
{
const double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
if (fs == 0.0)
{
LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file\n";
throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
}
const int observable_interval_ms = configuration_->property("GNSS-SDR.observable_interval_ms", 20);
ch_out_fpga_sample_counter_ = gnss_sdr_make_fpga_sample_counter(fs, observable_interval_ms);
top_block_->connect(ch_out_fpga_sample_counter_, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse
}
catch (const std::exception& e)
{
std::string reported_error(e.what());
if (std::string::npos != reported_error.find(std::string("filesystem")))
{
help_hint_ += " * The global configuration parameter GNSS-SDR.enable_FPGA is set to true,\n";
help_hint_ += " but gnss-sdr does not appear to be executed in an FPGA-equipped platform.\n";
}
else
{
LOG(ERROR) << reported_error;
}
top_block_->disconnect_all();
return 1;
}
LOG(INFO) << "FPGA sample counter successfully connected";
return 0;
}
#endif
int GNSSFlowgraph::connect_signal_sources_to_signal_conditioners()
{
if (enable_fpga_offloading_)
{
help_hint_ += " * The global configuration parameter GNSS-SDR.enable_FPGA is set to true,\n";
help_hint_ += " but gnss-sdr was not compiled with the -DENABLE_FPGA=ON building option.\n";
top_block_->disconnect_all();
return 1;
}
unsigned int signal_conditioner_ID = 0;
for (int i = 0; i < sources_count_; i++)
{
try
{
auto& src = sig_source_.at(i);
// TODO: Remove this array implementation and create generic multistream connector
// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
if (src->implementation() == "Raw_Array_Signal_Source")
{
// Multichannel Array
std::cout << "ARRAY MODE\n";
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
{
std::cout << "connecting ch " << j << '\n';
top_block_->connect(src->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
}
}
else
{
auto RF_Channels = src->getRfChannels();
for (auto j = 0U; j < RF_Channels; ++j)
{
// Connect the multichannel signal source to multiple signal conditioners
// GNURADIO max_streams=-1 means infinite ports!
size_t output_size = src->get_right_block()->output_signature()->sizeof_stream_item(0);
size_t input_size = sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->sizeof_stream_item(0);
// Check configuration inconsistencies
if (output_size != input_size)
{
help_hint_ += " * The Signal Source implementation " + src->implementation() + " has an output with a ";
help_hint_ += src->role() + ".item_size of " + std::to_string(output_size);
help_hint_ += " bytes, but it is connected to the Signal Conditioner implementation ";
help_hint_ += sig_conditioner_.at(signal_conditioner_ID)->implementation() + " with input item size of " + std::to_string(input_size) + " bytes.\n";
help_hint_ += " Output ports must be connected to input ports with the same item size.\n";
top_block_->disconnect_all();
return 1;
}
if (src->get_right_block()->output_signature()->max_streams() > 1 or src->get_right_block()->output_signature()->max_streams() == -1)
{
if (sig_conditioner_.size() > signal_conditioner_ID)
{
LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << signal_conditioner_ID;
top_block_->connect(src->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
}
else
{
if (j == 0)
{
// RF_channel 0 backward compatibility with single channel sources
LOG(INFO) << "connecting sig_source_ " << i << " stream " << 0 << " to conditioner " << signal_conditioner_ID;
top_block_->connect(src->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
else
{
// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << signal_conditioner_ID;
top_block_->connect(src->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
}
signal_conditioner_ID++;
}
}
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect SignalSource" << (i == 0 ? " " : (std::to_string(i) + " ")) << "to SignalConditioner" << (i == 0 ? " " : (std::to_string(i) + " ")) << ": " << e.what();
std::string reported_error(e.what());
if (std::string::npos != reported_error.find(std::string("itemsize mismatch")))
{
std::string replace_me("copy");
size_t pos = reported_error.find(replace_me);
while (pos != std::string::npos)
{
size_t len = replace_me.length();
reported_error.replace(pos, len, "Pass_Through");
pos = reported_error.find(replace_me, pos + 1);
}
help_hint_ += " * The SignalSource output item size and the SignalConditioner input item size are mismatched\n";
help_hint_ += " Reported error: " + reported_error + '\n';
}
top_block_->disconnect_all();
return 1;
}
}
DLOG(INFO) << "Signal source(s) successfully connected to signal conditioner(s)";
return 0;
}
int GNSSFlowgraph::connect_signal_conditioners_to_channels()
{
for (int i = 0; i < channels_count_; i++)
{
int selected_signal_conditioner_ID = 0;
const bool use_acq_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
const uint32_t fs = configuration_->property("GNSS-SDR.internal_fs_sps", 0);
try
{
selected_signal_conditioner_ID = configuration_->property("Channel" + std::to_string(i) + ".RF_channel_ID", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
try
{
// Enable automatic resampler for the acquisition, if required
if (use_acq_resampler == true)
{
// create acquisition resamplers if required
double resampler_ratio = 1.0;
double acq_fs = fs;
// find the signal associated to this channel
switch (mapStringValues_[channels_.at(i)->get_signal().get_signal_str()])
{
case evGPS_1C:
acq_fs = GPS_L1_CA_OPT_ACQ_FS_SPS;
break;
case evGPS_2S:
acq_fs = GPS_L2C_OPT_ACQ_FS_SPS;
break;
case evGPS_L5:
acq_fs = GPS_L5_OPT_ACQ_FS_SPS;
break;
case evSBAS_1C:
acq_fs = GPS_L1_CA_OPT_ACQ_FS_SPS;
break;
case evGAL_1B:
acq_fs = GALILEO_E1_OPT_ACQ_FS_SPS;
break;
case evGAL_5X:
acq_fs = GALILEO_E5A_OPT_ACQ_FS_SPS;
break;
case evGAL_7X:
acq_fs = GALILEO_E5B_OPT_ACQ_FS_SPS;
break;
case evGAL_E6:
acq_fs = GALILEO_E6_OPT_ACQ_FS_SPS;
break;
case evGLO_1G:
case evGLO_2G:
case evBDS_B1:
case evBDS_B3:
acq_fs = fs;
break;
default:
break;
}
if (acq_fs < fs)
{
// check if the resampler is already created for the channel system/signal and for the specific RF Channel
const std::string map_key = channels_.at(i)->get_signal().get_signal_str() + std::to_string(selected_signal_conditioner_ID);
resampler_ratio = static_cast<double>(fs) / acq_fs;
int decimation = floor(resampler_ratio);
while (fs % decimation > 0)
{
decimation--;
};
const double acq_fs_decimated = static_cast<double>(fs) / static_cast<double>(decimation);
if (decimation > 1)
{
// create a FIR low pass filter
std::vector<float> taps = gr::filter::firdes::low_pass(1.0,
fs,
acq_fs_decimated / 2.1,
acq_fs_decimated / 2);
gr::basic_block_sptr fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(decimation, taps);
std::pair<std::map<std::string, gr::basic_block_sptr>::iterator, bool> ret;
ret = acq_resamplers_.insert(std::pair<std::string, gr::basic_block_sptr>(map_key, fir_filter_ccf_));
if (ret.second == true)
{
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
acq_resamplers_.at(map_key), 0);
LOG(INFO) << "Created "
<< channels_.at(i)->get_signal().get_signal_str()
<< " acquisition resampler for RF channel " << std::to_string(selected_signal_conditioner_ID) << " with " << taps.size() << " taps and decimation factor of " << decimation;
}
else
{
LOG(INFO) << "Found existing "
<< channels_.at(i)->get_signal().get_signal_str()
<< " acquisition resampler for RF channel " << std::to_string(selected_signal_conditioner_ID) << " with " << taps.size() << " taps and decimation factor of " << decimation;
}
top_block_->connect(acq_resamplers_.at(map_key), 0,
channels_.at(i)->get_left_block_acq(), 0);
std::shared_ptr<Channel> channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(i));
channel_ptr->acquisition()->set_resampler_latency((taps.size() - 1) / 2);
}
else
{
LOG(INFO) << "Disabled acquisition resampler because the input sampling frequency is too low";
// resampler not required!
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
}
}
else
{
LOG(INFO) << "Disabled acquisition resampler because the input sampling frequency is too low";
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
}
}
else
{
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
}
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i << ": " << e.what();
top_block_->disconnect_all();
return 1;
}
signal_conditioner_connected_.at(selected_signal_conditioner_ID) = true; // annotate that this signal conditioner is connected
DLOG(INFO) << "Signal conditioner " << selected_signal_conditioner_ID << " successfully connected to channel " << i;
}
return 0;
}
int GNSSFlowgraph::connect_channels_to_observables()
{
for (int i = 0; i < channels_count_; i++)
{
try
{
top_block_->connect(channels_.at(i)->get_right_block(), 0,
observables_->get_left_block(), i);
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect channel " << i << " to observables: " << e.what();
top_block_->disconnect_all();
return 1;
}
}
DLOG(INFO) << "Channel blocks successfully connected to the Observables block";
return 0;
}
int GNSSFlowgraph::connect_observables_to_pvt()
{
// Connect the observables output of each channel to the PVT block
try
{
for (int i = 0; i < channels_count_; i++)
{
top_block_->connect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
// experimental Vector Tracking Loop (VTL) messages from PVT to Tracking blocks
// not supported by all tracking algorithms
pmt::pmt_t ports_in = channels_.at(i)->get_left_block_trk()->message_ports_in();
for (size_t n = 0; n < pmt::length(ports_in); n++)
{
// std::cout << "pmt: " << pmt::symbol_to_string(pmt::vector_ref(ports_in, n)) << "\n";
if (pmt::symbol_to_string(pmt::vector_ref(ports_in, n)) == "pvt_to_trk")
{
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("pvt_to_trk"), channels_.at(i)->get_left_block_trk(), pmt::mp("pvt_to_trk"));
LOG(INFO) << "pvt_to_trk message port connected in " << channels_.at(i)->implementation();
}
}
}
top_block_->msg_connect(observables_->get_right_block(), pmt::mp("status"), channels_status_, pmt::mp("status"));
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("pvt_to_observables"), observables_->get_right_block(), pmt::mp("pvt_to_observables"));
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("status"), channels_status_, pmt::mp("status"));
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect observables to PVT: " << e.what();
top_block_->disconnect_all();
return 1;
}
DLOG(INFO) << "Observables successfully connected to the PVT block";
return 0;
}
int GNSSFlowgraph::connect_gnss_synchro_monitor()
{
try
{
for (int i = 0; i < channels_count_; i++)
{
top_block_->connect(observables_->get_right_block(), i, GnssSynchroMonitor_, i);
}
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect observables to Monitor block: " << e.what();
top_block_->disconnect_all();
return 1;
}
DLOG(INFO) << "gnss_synchro_monitor successfully connected to Observables block";
return 0;
}
int GNSSFlowgraph::connect_acquisition_monitor()
{
try
{
for (int i = 0; i < channels_count_; i++)
{
top_block_->connect(channels_.at(i)->get_right_block_acq(), 0, GnssSynchroAcquisitionMonitor_, i);
}
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect acquisition intermediate outputs to Monitor block: " << e.what();
top_block_->disconnect_all();
return 1;
}
DLOG(INFO) << "acqusition_monitor successfully connected to Channel blocks";
return 0;
}
int GNSSFlowgraph::connect_tracking_monitor()
{
try
{
for (int i = 0; i < channels_count_; i++)
{
top_block_->connect(channels_.at(i)->get_right_block_trk(), 0, GnssSynchroTrackingMonitor_, i);
}
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect tracking outputs to Monitor block: " << e.what();
top_block_->disconnect_all();
return 1;
}
DLOG(INFO) << "tracking_monitor successfully connected to Channel blocks";
return 0;
}
int GNSSFlowgraph::connect_navdata_monitor()
{
try
{
for (int i = 0; i < channels_count_; i++)
{
top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("Nav_msg_from_TLM"), NavDataMonitor_, pmt::mp("Nav_msg_from_TLM"));
}
if (enable_e6_has_rx_)
{
gal_e6_has_rx_->set_enable_navdata_monitor(true);
top_block_->msg_connect(gal_e6_has_rx_, pmt::mp("Nav_msg_from_TLM"), NavDataMonitor_, pmt::mp("Nav_msg_from_TLM"));
}
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect TlM outputs to Monitor block: " << e.what();
top_block_->disconnect_all();
return 1;
}
DLOG(INFO) << "navdata monitor successfully connected to Channel blocks";
return 0;
}
int GNSSFlowgraph::connect_monitors()
{
// GNSS SYNCHRO MONITOR
if (enable_monitor_)
{
if (connect_gnss_synchro_monitor() != 0)
{
return 1;
}
}
// GNSS SYNCHRO ACQUISITION MONITOR
if (enable_acquisition_monitor_)
{
if (connect_acquisition_monitor() != 0)
{
return 1;
}
}
// GNSS SYNCHRO TRACKING MONITOR
if (enable_tracking_monitor_)
{
if (connect_tracking_monitor() != 0)
{
return 1;
}
}
// NAVIGATION DATA MONITOR
if (enable_navdata_monitor_)
{
if (connect_navdata_monitor() != 0)
{
return 1;
}
}
return 0;
}
int GNSSFlowgraph::connect_gal_e6_has()
{
try
{
bool gal_e6_channels = false;
for (int i = 0; i < channels_count_; i++)
{
const std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str();
switch (mapStringValues_[gnss_signal])
{
case evGAL_E6:
top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("E6_HAS_from_TLM"), gal_e6_has_rx_, pmt::mp("E6_HAS_from_TLM"));
gal_e6_channels = true;
break;
default:
break;
}
}
if (gal_e6_channels == true)
{
top_block_->msg_connect(gal_e6_has_rx_, pmt::mp("E6_HAS_to_PVT"), pvt_->get_left_block(), pmt::mp("E6_HAS_to_PVT"));
}
}
catch (const std::exception& e)
{
LOG(ERROR) << "Can't connect Galileo E6 HAS msg ports: " << e.what();
top_block_->disconnect_all();
return 1;
}
DLOG(INFO) << "Galileo E6 HAS message ports connected";
return 0;
}
void GNSSFlowgraph::check_signal_conditioners()
{
// check for unconnected signal conditioners and connect null_sinks
// in order to provide configuration flexibility to multiband files or signal sources
for (size_t n = 0; n < sig_conditioner_.size(); n++)
{
if (signal_conditioner_connected_.at(n) == false)
{
null_sinks_.push_back(gr::blocks::null_sink::make(sizeof(gr_complex)));
top_block_->connect(sig_conditioner_.at(n)->get_right_block(), 0,
null_sinks_.back(), 0);
LOG(INFO) << "Null sink connected to signal conditioner " << n << " due to lack of connection to any channel\n";
}
}
}
int GNSSFlowgraph::assign_channels()
{
// Put channels fixed to a given satellite at the beginning of the vector, then the rest
std::vector<unsigned int> vector_of_channels;
for (int i = 0; i < channels_count_; i++)
{
unsigned int sat = 0;
try
{
sat = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if (sat == 0)
{
vector_of_channels.push_back(i);
}
else
{
auto it = vector_of_channels.begin();
it = vector_of_channels.insert(it, i);
}
}
if (configuration_->property("Channels_1C.count", uint64_t(0ULL)) > available_GPS_1C_signals_.size() - 1)
{
help_hint_ += " * The number of GPS L1 channels is set to Channels_1C.count=" + std::to_string(configuration_->property("Channels_1C.count", 0));
help_hint_ += " but the maximum number of available GPS satellites is " + std::to_string(available_GPS_1C_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_1C.count=" + std::to_string(available_GPS_1C_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_2S.count", uint64_t(0ULL)) > available_GPS_2S_signals_.size() - 1)
{
help_hint_ += " * The number of GPS L2 channels is set to Channels_2S.count=" + std::to_string(configuration_->property("Channels_2S.count", 0));
help_hint_ += " but the maximum number of available GPS satellites is " + std::to_string(available_GPS_2S_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_2S.count=" + std::to_string(available_GPS_2S_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_L5.count", uint64_t(0ULL)) > available_GPS_L5_signals_.size() - 1)
{
help_hint_ += " * The number of GPS L5 channels is set to Channels_L5.count=" + std::to_string(configuration_->property("Channels_L5.count", 0));
help_hint_ += " but the maximum number of available GPS satellites is " + std::to_string(available_GPS_L5_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_L5.count=" + std::to_string(available_GPS_L5_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_1B.count", uint64_t(0ULL)) > available_GAL_1B_signals_.size() - 1)
{
help_hint_ += " * The number of Galileo E1 channels is set to Channels_1B.count=" + std::to_string(configuration_->property("Channels_1B.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_1B_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_1B.count=" + std::to_string(available_GAL_1B_signals_.size()) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_5X.count", uint64_t(0ULL)) > available_GAL_5X_signals_.size() - 1)
{
help_hint_ += " * The number of Galileo E5a channels is set to Channels_5X.count=" + std::to_string(configuration_->property("Channels_5X.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_5X_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_5X.count=" + std::to_string(available_GAL_5X_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_7X.count", uint64_t(0ULL)) > available_GAL_7X_signals_.size() - 1)
{
help_hint_ += " * The number of Galileo E5b channels is set to Channels_7X.count=" + std::to_string(configuration_->property("Channels_7X.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_7X_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_7X.count=" + std::to_string(available_GAL_7X_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_E6.count", uint64_t(0ULL)) > available_GAL_E6_signals_.size() - 1)
{
help_hint_ += " * The number of Galileo E6 channels is set to Channels_7X.count=" + std::to_string(configuration_->property("Channels_E6.count", 0));
help_hint_ += " but the maximum number of available Galileo satellites is " + std::to_string(available_GAL_E6_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_E6.count=" + std::to_string(available_GAL_E6_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_1G.count", uint64_t(0ULL)) > available_GLO_1G_signals_.size() + 7) // satellites sharing same frequency number
{
help_hint_ += " * The number of Glonass L1 channels is set to Channels_1G.count=" + std::to_string(configuration_->property("Channels_1G.count", 0));
help_hint_ += " but the maximum number of available Glonass satellites is " + std::to_string(available_GLO_1G_signals_.size() + 8) + ".\n";
help_hint_ += " Please set Channels_1G.count=" + std::to_string(available_GLO_1G_signals_.size() + 7) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_2G.count", uint64_t(0ULL)) > available_GLO_2G_signals_.size() + 7) // satellites sharing same frequency number
{
help_hint_ += " * The number of Glonass L2 channels is set to Channels_2G.count=" + std::to_string(configuration_->property("Channels_2G.count", 0));
help_hint_ += " but the maximum number of available Glonass satellites is " + std::to_string(available_GLO_2G_signals_.size() + 8) + ".\n";
help_hint_ += " Please set Channels_2G.count=" + std::to_string(available_GLO_2G_signals_.size() + 7) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_B1.count", uint64_t(0ULL)) > available_BDS_B1_signals_.size() - 1)
{
help_hint_ += " * The number of BeiDou B1 channels is set to Channels_B1.count=" + std::to_string(configuration_->property("Channels_B1.count", 0));
help_hint_ += " but the maximum number of available BeiDou satellites is " + std::to_string(available_BDS_B1_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_B1.count=" + std::to_string(available_BDS_B1_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
if (configuration_->property("Channels_B3.count", uint64_t(0ULL)) > available_BDS_B3_signals_.size() - 1)
{
help_hint_ += " * The number of BeiDou B3 channels is set to Channels_B3.count=" + std::to_string(configuration_->property("Channels_B3.count", 0));
help_hint_ += " but the maximum number of available BeiDou satellites is " + std::to_string(available_BDS_B3_signals_.size()) + ".\n";
help_hint_ += " Please set Channels_B3.count=" + std::to_string(available_BDS_B3_signals_.size() - 1) + " or lower in your configuration file.\n";
top_block_->disconnect_all();
return 1;
}
// Assign satellites to channels in the initialization
for (unsigned int& i : vector_of_channels)
{
const std::string gnss_signal_str = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal
unsigned int sat = 0;
try
{
sat = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if (sat == 0)
{
bool assistance_available;
float estimated_doppler;
double RX_time;
bool is_primary_freq;
channels_.at(i)->set_signal(search_next_signal(gnss_signal_str, is_primary_freq, assistance_available, estimated_doppler, RX_time));
}
else
{
std::string gnss_system_str;
Gnss_Signal gnss_signal;
switch (mapStringValues_[gnss_signal_str])
{
case evGPS_1C:
gnss_system_str = "GPS";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GPS_1C_signals_.remove(gnss_signal);
break;
case evGPS_2S:
gnss_system_str = "GPS";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GPS_2S_signals_.remove(gnss_signal);
break;
case evGPS_L5:
gnss_system_str = "GPS";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GPS_L5_signals_.remove(gnss_signal);
break;
case evGAL_1B:
gnss_system_str = "Galileo";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GAL_1B_signals_.remove(gnss_signal);
break;
case evGAL_5X:
gnss_system_str = "Galileo";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GAL_5X_signals_.remove(gnss_signal);
break;
case evGAL_7X:
gnss_system_str = "Galileo";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GAL_7X_signals_.remove(gnss_signal);
break;
case evGAL_E6:
gnss_system_str = "Galileo";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GAL_E6_signals_.remove(gnss_signal);
break;
case evGLO_1G:
gnss_system_str = "Glonass";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GLO_1G_signals_.remove(gnss_signal);
break;
case evGLO_2G:
gnss_system_str = "Glonass";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GLO_2G_signals_.remove(gnss_signal);
break;
case evBDS_B1:
gnss_system_str = "Beidou";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_BDS_B1_signals_.remove(gnss_signal);
break;
case evBDS_B3:
gnss_system_str = "Beidou";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_BDS_B3_signals_.remove(gnss_signal);
break;
default:
LOG(ERROR) << "This should not happen :-(";
gnss_system_str = "GPS";
gnss_signal = Gnss_Signal(Gnss_Satellite(gnss_system_str, sat), gnss_signal_str);
available_GPS_1C_signals_.remove(gnss_signal);
break;
}
channels_.at(i)->set_signal(gnss_signal);
}
}
return 0;
}
void GNSSFlowgraph::print_help()
{
if (!help_hint_.empty())
{
std::cerr << "It seems that your configuration file is not well defined.\n";
std::cerr << "A hint to fix your configuration file:\n";
std::cerr << help_hint_;
}
}
void GNSSFlowgraph::check_desktop_conf_in_fpga_env()
{
int number_of_fpga_acq_channels = 0;
for (int i = 0; i < channels_count_; i++)
{
if (channels_.at(i)->get_left_block_acq() == nullptr)
{
number_of_fpga_acq_channels++;
}
}
if (number_of_fpga_acq_channels != channels_count_)
{
help_hint_ += " * The Acquisition block implementation is not suitable for GNSS-SDR flowgraph with FPGA off-loading\n";
help_hint_ += " If you want to use this configuration in an environment without FPGA, please rebuild GNSS-SDR with CMake option '-DENABLE_FPGA=OFF'\n";
}
}
bool GNSSFlowgraph::send_telemetry_msg(const pmt::pmt_t& msg)
{
// Push ephemeris to PVT telemetry msg in port using a channel out port
// it uses the first channel as a message producer (it is already connected to PVT)
channels_.at(0)->get_right_block()->message_port_pub(pmt::mp("telemetry"), msg);
return true;
}
void GNSSFlowgraph::push_back_signal(const Gnss_Signal& gs)
{
switch (mapStringValues_[gs.get_signal_str()])
{
case evGPS_1C:
available_GPS_1C_signals_.remove(gs);
available_GPS_1C_signals_.push_back(gs);
break;
case evGPS_2S:
available_GPS_2S_signals_.remove(gs);
available_GPS_2S_signals_.push_back(gs);
break;
case evGPS_L5:
available_GPS_L5_signals_.remove(gs);
available_GPS_L5_signals_.push_back(gs);
break;
case evGAL_1B:
available_GAL_1B_signals_.remove(gs);
available_GAL_1B_signals_.push_back(gs);
break;
case evGAL_5X:
available_GAL_5X_signals_.remove(gs);
available_GAL_5X_signals_.push_back(gs);
break;
case evGAL_7X:
available_GAL_7X_signals_.remove(gs);
available_GAL_7X_signals_.push_back(gs);
break;
case evGAL_E6:
available_GAL_E6_signals_.remove(gs);
available_GAL_E6_signals_.push_back(gs);
break;
case evGLO_1G:
available_GLO_1G_signals_.remove(gs);
available_GLO_1G_signals_.push_back(gs);
break;
case evGLO_2G:
available_GLO_2G_signals_.remove(gs);
available_GLO_2G_signals_.push_back(gs);
break;
case evBDS_B1:
available_BDS_B1_signals_.remove(gs);
available_BDS_B1_signals_.push_back(gs);
break;
case evBDS_B3:
available_BDS_B3_signals_.remove(gs);
available_BDS_B3_signals_.push_back(gs);
break;
default:
LOG(ERROR) << "This should not happen :-(";
break;
}
}
void GNSSFlowgraph::remove_signal(const Gnss_Signal& gs)
{
switch (mapStringValues_[gs.get_signal_str()])
{
case evGPS_1C:
available_GPS_1C_signals_.remove(gs);
break;
case evGPS_2S:
available_GPS_2S_signals_.remove(gs);
break;
case evGPS_L5:
available_GPS_L5_signals_.remove(gs);
break;
case evGAL_1B:
available_GAL_1B_signals_.remove(gs);
break;
case evGAL_5X:
available_GAL_5X_signals_.remove(gs);
break;
case evGAL_7X:
available_GAL_7X_signals_.remove(gs);
break;
case evGAL_E6:
available_GAL_E6_signals_.remove(gs);
break;
case evGLO_1G:
available_GLO_1G_signals_.remove(gs);
break;
case evGLO_2G:
available_GLO_2G_signals_.remove(gs);
break;
case evBDS_B1:
available_BDS_B1_signals_.remove(gs);
break;
case evBDS_B3:
available_BDS_B3_signals_.remove(gs);
break;
default:
LOG(ERROR) << "This should not happen :-(";
break;
}
}
// project Doppler from primary frequency to secondary frequency
double GNSSFlowgraph::project_doppler(const std::string& searched_signal, double primary_freq_doppler_hz)
{
switch (mapStringValues_[searched_signal])
{
case evGPS_L5:
case evGAL_5X:
return (primary_freq_doppler_hz / FREQ1) * FREQ5;
break;
case evGAL_7X:
return (primary_freq_doppler_hz / FREQ1) * FREQ7;
break;
case evGPS_2S:
return (primary_freq_doppler_hz / FREQ1) * FREQ2;
break;
case evGAL_E6:
return (primary_freq_doppler_hz / FREQ1) * FREQ6;
break;
default:
return primary_freq_doppler_hz;
}
}
void GNSSFlowgraph::acquisition_manager(unsigned int who)
{
unsigned int current_channel;
for (int i = 0; i < channels_count_; i++)
{
current_channel = (i + who + 1) % channels_count_;
unsigned int sat_ = 0;
try
{
sat_ = configuration_->property("Channel" + std::to_string(current_channel) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[current_channel] == 0))
{
bool is_primary_freq = true;
bool assistance_available = false;
bool start_acquisition = false;
Gnss_Signal gnss_signal;
float estimated_doppler;
double RX_time;
if (sat_ == 0)
{
gnss_signal = search_next_signal(channels_[current_channel]->get_signal().get_signal_str(),
is_primary_freq,
assistance_available,
estimated_doppler,
RX_time);
channels_[current_channel]->set_signal(gnss_signal);
start_acquisition = is_primary_freq or assistance_available or !configuration_->property("GNSS-SDR.assist_dual_frequency_acq", multiband_);
}
else
{
channels_[current_channel]->set_signal(channels_[current_channel]->get_signal());
start_acquisition = true;
}
if (start_acquisition == true)
{
channels_state_[current_channel] = 1;
acq_channels_count_++;
DLOG(INFO) << "Channel " << current_channel
<< " Starting acquisition " << channels_[current_channel]->get_signal().get_satellite()
<< ", Signal " << channels_[current_channel]->get_signal().get_signal_str();
if (assistance_available == true and configuration_->property("GNSS-SDR.assist_dual_frequency_acq", multiband_))
{
channels_[current_channel]->assist_acquisition_doppler(project_doppler(channels_[current_channel]->get_signal().get_signal_str(), estimated_doppler));
}
else
{
// set Doppler center to 0 Hz
channels_[current_channel]->assist_acquisition_doppler(0);
}
#if ENABLE_FPGA
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[current_channel]);
tmp_thread.detach();
#else
channels_[current_channel]->start_acquisition();
#endif
}
else
{
push_back_signal(gnss_signal);
DLOG(INFO) << "Channel " << current_channel
<< " secondary frequency acquisition assistance not available in "
<< channels_[current_channel]->get_signal().get_satellite()
<< ", Signal " << channels_[current_channel]->get_signal().get_signal_str();
}
}
DLOG(INFO) << "Channel " << current_channel << " in state " << channels_state_[current_channel];
}
}
/*
* Applies an action to the flow graph
*
* \param[in] who Who generated the action:
* -> 0-199 are the channels IDs
* -> 200 is the control_thread dispatched by the control_thread apply_action
* -> 300 is the telecommand system (TC) for receiver control
* -> 400 - 599 is the TC channel control for channels 0-199
* \param[in] what What is the action:
* --- actions from channels ---
* -> 0 acquisition failed
* -> 1 acquisition successful
* -> 2 tracking lost
* --- actions from TC receiver control ---
* -> 10 TC request standby mode
* -> 11 TC request coldstart
* -> 12 TC request hotstart
* -> 13 TC request warmstart
* --- actions from TC channel control ---
* -> 20 stop channel
* -> 21 start channel
*/
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
// todo: the acquisition events are initiated from the acquisition success or failure queued msg. If the acquisition is disabled for non-assisted secondary freq channels, the engine stops..
std::lock_guard<std::mutex> lock(signal_list_mutex_);
DLOG(INFO) << "Received " << what << " from " << who;
unsigned int sat = 0;
Gnss_Signal gs;
if (who < 200)
{
try
{
sat = configuration_->property("Channel" + std::to_string(who) + ".satellite", 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
}
}
switch (what)
{
case 0:
gs = channels_[who]->get_signal();
DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << gs.get_satellite() << ", Signal " << gs.get_signal_str();
channels_state_[who] = 0;
if (acq_channels_count_ > 0)
{
acq_channels_count_--;
}
// call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
// push back the old signal AFTER assigning a new one to avoid selecting the same signal
if (sat == 0)
{
push_back_signal(gs);
}
break;
case 1:
gs = channels_[who]->get_signal();
DLOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << gs.get_satellite();
// If the satellite is in the list of available ones, remove it.
remove_signal(gs);
channels_state_[who] = 2;
if (acq_channels_count_ > 0)
{
acq_channels_count_--;
}
// call the acquisition manager to assign new satellite and start next acquisition (if required)
acquisition_manager(who);
break;
case 2:
gs = channels_[who]->get_signal();
DLOG(INFO) << "Channel " << who << " TRK FAILED satellite " << gs.get_satellite();
if (acq_channels_count_ < max_acq_channels_)
{
// try to acquire the same satellite
channels_state_[who] = 1;
acq_channels_count_++;
DLOG(INFO) << "Channel " << who << " Starting acquisition " << gs.get_satellite() << ", Signal " << gs.get_signal_str();
channels_[who]->set_signal(channels_[who]->get_signal());
#if ENABLE_FPGA
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[who]);
tmp_thread.detach();
#else
channels_[who]->start_acquisition();
#endif
}
else
{
channels_state_[who] = 0;
LOG(INFO) << "Channel " << who << " Idle state";
if (sat == 0)
{
push_back_signal(channels_[who]->get_signal());
}
}
break;
case 10: // request standby mode
for (size_t n = 0; n < channels_.size(); n++)
{
if (channels_state_[n] == 1 or channels_state_[n] == 2) // channel in acquisition or in tracking
{
// recover the satellite assigned
Gnss_Signal gs_assigned = channels_[n]->get_signal();
push_back_signal(gs_assigned);
channels_[n]->stop_channel(); // stop the acquisition or tracking operation
channels_state_[n] = 0;
}
}
acq_channels_count_ = 0; // all channels are in standby now and no new acquisition should be started
break;
default:
break;
}
}
void GNSSFlowgraph::priorize_satellites(const std::vector<std::pair<int, Gnss_Satellite>>& visible_satellites)
{
size_t old_size;
Gnss_Signal gs;
for (const auto& visible_satellite : visible_satellites)
{
if (visible_satellite.second.get_system() == "GPS")
{
gs = Gnss_Signal(visible_satellite.second, "1C");
old_size = available_GPS_1C_signals_.size();
available_GPS_1C_signals_.remove(gs);
if (old_size > available_GPS_1C_signals_.size())
{
available_GPS_1C_signals_.push_front(gs);
}
gs = Gnss_Signal(visible_satellite.second, "2S");
old_size = available_GPS_2S_signals_.size();
available_GPS_2S_signals_.remove(gs);
if (old_size > available_GPS_2S_signals_.size())
{
available_GPS_2S_signals_.push_front(gs);
}
gs = Gnss_Signal(visible_satellite.second, "L5");
old_size = available_GPS_L5_signals_.size();
available_GPS_L5_signals_.remove(gs);
if (old_size > available_GPS_L5_signals_.size())
{
available_GPS_L5_signals_.push_front(gs);
}
}
else if (visible_satellite.second.get_system() == "Galileo")
{
gs = Gnss_Signal(visible_satellite.second, "1B");
old_size = available_GAL_1B_signals_.size();
available_GAL_1B_signals_.remove(gs);
if (old_size > available_GAL_1B_signals_.size())
{
available_GAL_1B_signals_.push_front(gs);
}
gs = Gnss_Signal(visible_satellite.second, "5X");
old_size = available_GAL_5X_signals_.size();
available_GAL_5X_signals_.remove(gs);
if (old_size > available_GAL_5X_signals_.size())
{
available_GAL_5X_signals_.push_front(gs);
}
gs = Gnss_Signal(visible_satellite.second, "7X");
old_size = available_GAL_7X_signals_.size();
available_GAL_7X_signals_.remove(gs);
if (old_size > available_GAL_7X_signals_.size())
{
available_GAL_7X_signals_.push_front(gs);
}
gs = Gnss_Signal(visible_satellite.second, "E6");
old_size = available_GAL_E6_signals_.size();
available_GAL_E6_signals_.remove(gs);
if (old_size > available_GAL_E6_signals_.size())
{
available_GAL_E6_signals_.push_front(gs);
}
}
}
}
void GNSSFlowgraph::set_configuration(const std::shared_ptr<ConfigurationInterface>& configuration)
{
if (running_)
{
LOG(WARNING) << "Unable to update configuration while flowgraph running";
return;
}
if (connected_)
{
LOG(WARNING) << "Unable to update configuration while flowgraph connected";
}
configuration_ = configuration;
}
#if ENABLE_FPGA
void GNSSFlowgraph::start_acquisition_helper()
{
for (int i = 0; i < channels_count_; i++)
{
if (channels_state_[i] == 1)
{
channels_.at(i)->start_acquisition();
}
}
}
void GNSSFlowgraph::perform_hw_reset()
{
// a stop acquisition command causes the SW to reset the HW
std::shared_ptr<Channel> channel_ptr;
for (int i = 0; i < channels_count_; i++)
{
channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(i));
channel_ptr->tracking()->stop_tracking();
}
std::this_thread::sleep_for(std::chrono::milliseconds(500));
channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(0));
channel_ptr->acquisition()->stop_acquisition();
}
#endif
std::vector<std::string> GNSSFlowgraph::split_string(const std::string& s, char delim)
{
std::vector<std::string> v;
std::stringstream ss(s);
std::string item;
while (std::getline(ss, item, delim))
{
*(std::back_inserter(v)++) = item;
}
return v;
}
void GNSSFlowgraph::set_signals_list()
{
// Set a sequential list of GNSS satellites
std::set<unsigned int>::const_iterator available_gnss_prn_iter;
// Create the lists of GNSS satellites
std::set<unsigned int> available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
29, 30, 31, 32};
std::set<unsigned int> available_sbas_prn = {123, 131, 135, 136, 138};
std::set<unsigned int> available_galileo_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
29, 30, 31, 32, 33, 34, 35, 36};
// Removing satellites sharing same frequency number(1 and 5, 2 and 6, 3 and 7, 4 and 6, 11 and 15, 12 and 16, 14 and 18, 17 and 21
std::set<unsigned int> available_glonass_prn = {1, 2, 3, 4, 9, 10, 11, 12, 18, 19, 20, 21, 24};
std::set<unsigned int> available_beidou_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49,
50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63};
std::string sv_list = configuration_->property("Galileo.prns", std::string(""));
if (sv_list.length() > 0)
{
// Reset the available prns:
std::set<unsigned int> tmp_set;
boost::tokenizer<> tok(sv_list);
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
boost::lexical_cast<unsigned int, std::string>);
if (!tmp_set.empty())
{
available_galileo_prn = tmp_set;
}
}
std::string sv_banned = configuration_->property("GNSS-SDR.Galileo_banned_prns", std::string(""));
if (!sv_banned.empty())
{
std::stringstream ss(sv_banned);
while (ss.good())
{
std::string substr;
std::getline(ss, substr, ',');
try
{
auto banned = static_cast<unsigned int>(std::stoi(substr));
available_galileo_prn.erase(banned);
}
catch (const std::invalid_argument& ia)
{
std::cerr << "Invalid argument at GNSS-SDR.Galileo_banned_prns configuration parameter: " << ia.what() << '\n';
}
catch (const std::out_of_range& oor)
{
std::cerr << "Out of range at GNSS-SDR.Galileo_banned_prns configuration parameter: " << oor.what() << '\n';
}
}
}
sv_list = configuration_->property("GPS.prns", std::string(""));
if (sv_list.length() > 0)
{
// Reset the available prns:
std::set<unsigned int> tmp_set;
boost::tokenizer<> tok(sv_list);
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
boost::lexical_cast<unsigned int, std::string>);
if (!tmp_set.empty())
{
available_gps_prn = tmp_set;
}
}
sv_banned = configuration_->property("GNSS-SDR.GPS_banned_prns", std::string(""));
if (!sv_banned.empty())
{
std::stringstream ss(sv_banned);
while (ss.good())
{
std::string substr;
std::getline(ss, substr, ',');
try
{
auto banned = static_cast<unsigned int>(std::stoi(substr));
available_gps_prn.erase(banned);
}
catch (const std::invalid_argument& ia)
{
std::cerr << "Invalid argument at GNSS-SDR.GPS_banned_prns configuration parameter: " << ia.what() << '\n';
}
catch (const std::out_of_range& oor)
{
std::cerr << "Out of range at GNSS-SDR.GPS_banned_prns configuration parameter: " << oor.what() << '\n';
}
}
}
sv_list = configuration_->property("SBAS.prns", std::string(""));
if (sv_list.length() > 0)
{
// Reset the available prns:
std::set<unsigned int> tmp_set;
boost::tokenizer<> tok(sv_list);
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
boost::lexical_cast<unsigned int, std::string>);
if (!tmp_set.empty())
{
available_sbas_prn = tmp_set;
}
}
sv_banned = configuration_->property("GNSS-SDR.SBAS_banned_prns", std::string(""));
if (!sv_banned.empty())
{
std::stringstream ss(sv_banned);
while (ss.good())
{
std::string substr;
std::getline(ss, substr, ',');
try
{
auto banned = static_cast<unsigned int>(std::stoi(substr));
available_sbas_prn.erase(banned);
}
catch (const std::invalid_argument& ia)
{
std::cerr << "Invalid argument at GNSS-SDR.SBAS_banned_prns configuration parameter: " << ia.what() << '\n';
}
catch (const std::out_of_range& oor)
{
std::cerr << "Out of range at GNSS-SDR.SBAS_banned_prns configuration parameter: " << oor.what() << '\n';
}
}
}
sv_list = configuration_->property("Glonass.prns", std::string(""));
if (sv_list.length() > 0)
{
// Reset the available prns:
std::set<unsigned int> tmp_set;
boost::tokenizer<> tok(sv_list);
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
boost::lexical_cast<unsigned int, std::string>);
if (!tmp_set.empty())
{
available_glonass_prn = tmp_set;
}
}
sv_banned = configuration_->property("GNSS-SDR.Glonass_banned_prns", std::string(""));
if (!sv_banned.empty())
{
std::stringstream ss(sv_banned);
while (ss.good())
{
std::string substr;
std::getline(ss, substr, ',');
try
{
auto banned = static_cast<unsigned int>(std::stoi(substr));
available_glonass_prn.erase(banned);
}
catch (const std::invalid_argument& ia)
{
std::cerr << "Invalid argument at GNSS-SDR.Glonass_banned_prns configuration parameter: " << ia.what() << '\n';
}
catch (const std::out_of_range& oor)
{
std::cerr << "Out of range at GNSS-SDR.Glonass_banned_prns configuration parameter: " << oor.what() << '\n';
}
}
}
sv_list = configuration_->property("Beidou.prns", std::string(""));
if (sv_list.length() > 0)
{
// Reset the available prns:
std::set<unsigned int> tmp_set;
boost::tokenizer<> tok(sv_list);
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
boost::lexical_cast<unsigned int, std::string>);
if (!tmp_set.empty())
{
available_beidou_prn = tmp_set;
}
}
sv_banned = configuration_->property("GNSS-SDR.Beidou_banned_prns", std::string(""));
if (!sv_banned.empty())
{
std::stringstream ss(sv_banned);
while (ss.good())
{
std::string substr;
std::getline(ss, substr, ',');
try
{
auto banned = static_cast<unsigned int>(std::stoi(substr));
available_beidou_prn.erase(banned);
}
catch (const std::invalid_argument& ia)
{
std::cerr << "Invalid argument at GNSS-SDR.Beidou_banned_prns configuration parameter: " << ia.what() << '\n';
}
catch (const std::out_of_range& oor)
{
std::cerr << "Out of range at GNSS-SDR.Beidou_banned_prns configuration parameter: " << oor.what() << '\n';
}
}
}
if (configuration_->property("Channels_1C.count", 0) > 0)
{
// Loop to create GPS L1 C/A signals
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
{
available_GPS_1C_signals_.emplace_back(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("1C"));
}
}
if (configuration_->property("Channels_2S.count", 0) > 0)
{
// Loop to create GPS L2C M signals
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
{
available_GPS_2S_signals_.emplace_back(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("2S"));
}
}
if (configuration_->property("Channels_L5.count", 0) > 0)
{
// Loop to create GPS L5 signals
for (available_gnss_prn_iter = available_gps_prn.cbegin();
available_gnss_prn_iter != available_gps_prn.cend();
available_gnss_prn_iter++)
{
available_GPS_L5_signals_.emplace_back(
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
std::string("L5"));
}
}
if (configuration_->property("Channels_SBAS.count", 0) > 0)
{
// Loop to create SBAS L1 C/A signals
for (available_gnss_prn_iter = available_sbas_prn.cbegin();
available_gnss_prn_iter != available_sbas_prn.cend();
available_gnss_prn_iter++)
{
available_SBAS_1C_signals_.emplace_back(
Gnss_Satellite(std::string("SBAS"), *available_gnss_prn_iter),
std::string("1C"));
}
}
if (configuration_->property("Channels_1B.count", 0) > 0)
{
// Loop to create the list of Galileo E1B signals
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
available_gnss_prn_iter != available_galileo_prn.cend();
available_gnss_prn_iter++)
{
available_GAL_1B_signals_.emplace_back(
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
std::string("1B"));
}
}
if (configuration_->property("Channels_5X.count", 0) > 0)
{
// Loop to create the list of Galileo E5a signals
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
available_gnss_prn_iter != available_galileo_prn.cend();
available_gnss_prn_iter++)
{
available_GAL_5X_signals_.emplace_back(
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
std::string("5X"));
}
}
if (configuration_->property("Channels_7X.count", 0) > 0)
{
// Loop to create the list of Galileo E5b signals
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
available_gnss_prn_iter != available_galileo_prn.cend();
available_gnss_prn_iter++)
{
available_GAL_7X_signals_.emplace_back(
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
std::string("7X"));
}
}
if (configuration_->property("Channels_E6.count", 0) > 0)
{
// Loop to create the list of Galileo E6 signals
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
available_gnss_prn_iter != available_galileo_prn.cend();
available_gnss_prn_iter++)
{
available_GAL_E6_signals_.emplace_back(
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
std::string("E6"));
}
}
if (configuration_->property("Channels_1G.count", 0) > 0)
{
// Loop to create the list of GLONASS L1 C/A signals
for (available_gnss_prn_iter = available_glonass_prn.cbegin();
available_gnss_prn_iter != available_glonass_prn.cend();
available_gnss_prn_iter++)
{
available_GLO_1G_signals_.emplace_back(
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
std::string("1G"));
}
}
if (configuration_->property("Channels_2G.count", 0) > 0)
{
// Loop to create the list of GLONASS L2 C/A signals
for (available_gnss_prn_iter = available_glonass_prn.cbegin();
available_gnss_prn_iter != available_glonass_prn.cend();
available_gnss_prn_iter++)
{
available_GLO_2G_signals_.emplace_back(
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
std::string("2G"));
}
}
if (configuration_->property("Channels_B1.count", 0) > 0)
{
// Loop to create the list of BeiDou B1C signals
for (available_gnss_prn_iter = available_beidou_prn.cbegin();
available_gnss_prn_iter != available_beidou_prn.cend();
available_gnss_prn_iter++)
{
available_BDS_B1_signals_.emplace_back(
Gnss_Satellite(std::string("Beidou"), *available_gnss_prn_iter),
std::string("B1"));
}
}
if (configuration_->property("Channels_B3.count", 0) > 0)
{
// Loop to create the list of BeiDou B1C signals
for (available_gnss_prn_iter = available_beidou_prn.cbegin();
available_gnss_prn_iter != available_beidou_prn.cend();
available_gnss_prn_iter++)
{
available_BDS_B3_signals_.emplace_back(
Gnss_Satellite(std::string("Beidou"), *available_gnss_prn_iter),
std::string("B3"));
}
}
}
void GNSSFlowgraph::set_channels_state()
{
std::lock_guard<std::mutex> lock(signal_list_mutex_);
max_acq_channels_ = configuration_->property("Channels.in_acquisition", channels_count_);
if (max_acq_channels_ > channels_count_)
{
max_acq_channels_ = channels_count_;
LOG(WARNING) << "Channels_in_acquisition is bigger than number of channels. Variable acq_channels_count_ is set to " << channels_count_;
}
channels_state_.reserve(channels_count_);
for (int i = 0; i < channels_count_; i++)
{
if (i < max_acq_channels_)
{
channels_state_.push_back(1);
}
else
{
channels_state_.push_back(0);
}
DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
}
acq_channels_count_ = max_acq_channels_;
DLOG(INFO) << acq_channels_count_ << " channels in acquisition state";
}
bool GNSSFlowgraph::is_multiband() const
{
bool multiband = false;
if (configuration_->property("Channels_1C.count", 0) > 0)
{
if (configuration_->property("Channels_2S.count", 0) > 0)
{
multiband = true;
}
if (configuration_->property("Channels_L5.count", 0) > 0)
{
multiband = true;
}
}
if (configuration_->property("Channels_1B.count", 0) > 0)
{
if (configuration_->property("Channels_5X.count", 0) > 0)
{
multiband = true;
}
if (configuration_->property("Channels_7X.count", 0) > 0)
{
multiband = true;
}
if (configuration_->property("Channels_E6.count", 0) > 0)
{
multiband = true;
}
}
if (configuration_->property("Channels_1G.count", 0) > 0)
{
if (configuration_->property("Channels_2G.count", 0) > 0)
{
multiband = true;
}
}
if (configuration_->property("Channels_B1.count", 0) > 0)
{
if (configuration_->property("Channels_B3.count", 0) > 0)
{
multiband = true;
}
}
return multiband;
}
Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal,
bool& is_primary_frequency,
bool& assistance_available,
float& estimated_doppler,
double& RX_time)
{
is_primary_frequency = false;
assistance_available = false;
Gnss_Signal result{};
bool found_signal = false;
switch (mapStringValues_[searched_signal])
{
case evGPS_1C:
// todo: assist the satellite selection with almanac and current PVT here (reuse priorize_satellite function used in control_thread)
result = available_GPS_1C_signals_.front();
available_GPS_1C_signals_.pop_front();
available_GPS_1C_signals_.push_back(result);
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evGPS_2S:
if (configuration_->property("Channels_1C.count", 0) > 0)
{
// 1. Get the current channel status map
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
// 2. search the currently tracked GPS L1 satellites and assist the GPS L2 acquisition if the satellite is not tracked on L2
for (auto& current_status : current_channels_status)
{
if (std::string(current_status.second->Signal) == "1C")
{
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_GPS_2S_signals_), std::end(available_GPS_2S_signals_),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
if (it2 != available_GPS_2S_signals_.end())
{
estimated_doppler = static_cast<float>(current_status.second->Carrier_Doppler_hz);
RX_time = current_status.second->RX_time;
// 3. return the GPS L2 satellite and remove it from list
result = *it2;
available_GPS_2S_signals_.erase(it2);
found_signal = true;
assistance_available = true;
break;
}
}
}
}
// fallback: pick the front satellite because there is no tracked satellites in L1 to assist L2
if (found_signal == false)
{
result = available_GPS_2S_signals_.front();
available_GPS_2S_signals_.pop_front();
available_GPS_2S_signals_.push_back(result);
}
break;
case evGPS_L5:
if (configuration_->property("Channels_1C.count", 0) > 0)
{
// 1. Get the current channel status map
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
// 2. search the currently tracked GPS L1 satellites and assist the GPS L5 acquisition if the satellite is not tracked on L5
for (auto& current_status : current_channels_status)
{
if (std::string(current_status.second->Signal) == "1C")
{
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_GPS_L5_signals_), std::end(available_GPS_L5_signals_),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
if (it2 != available_GPS_L5_signals_.end())
{
estimated_doppler = static_cast<float>(current_status.second->Carrier_Doppler_hz);
RX_time = current_status.second->RX_time;
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
// 3. return the GPS L5 satellite and remove it from list
result = *it2;
available_GPS_L5_signals_.erase(it2);
found_signal = true;
assistance_available = true;
break;
}
}
}
}
// fallback: pick the front satellite because there is no tracked satellites in L1 to assist L5
if (found_signal == false)
{
result = available_GPS_L5_signals_.front();
available_GPS_L5_signals_.pop_front();
available_GPS_L5_signals_.push_back(result);
}
break;
case evGAL_1B:
result = available_GAL_1B_signals_.front();
available_GAL_1B_signals_.pop_front();
available_GAL_1B_signals_.push_back(result);
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evGAL_5X:
if (configuration_->property("Channels_1B.count", 0) > 0)
{
// 1. Get the current channel status map
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
// 2. search the currently tracked Galileo E1 satellites and assist the Galileo E5 acquisition if the satellite is not tracked on E5
for (auto& current_status : current_channels_status)
{
if (std::string(current_status.second->Signal) == "1B")
{
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_GAL_5X_signals_), std::end(available_GAL_5X_signals_),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
if (it2 != available_GAL_5X_signals_.end())
{
estimated_doppler = static_cast<float>(current_status.second->Carrier_Doppler_hz);
RX_time = current_status.second->RX_time;
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
// 3. return the Gal 5X satellite and remove it from list
result = *it2;
available_GAL_5X_signals_.erase(it2);
found_signal = true;
assistance_available = true;
break;
}
}
}
}
// fallback: pick the front satellite because there is no tracked satellites in E1 to assist E5
if (found_signal == false)
{
result = available_GAL_5X_signals_.front();
available_GAL_5X_signals_.pop_front();
available_GAL_5X_signals_.push_back(result);
}
break;
case evGAL_7X:
if (configuration_->property("Channels_1B.count", 0) > 0)
{
// 1. Get the current channel status map
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
// 2. search the currently tracked Galileo E1 satellites and assist the Galileo E5 acquisition if the satellite is not tracked on E5
for (auto& current_status : current_channels_status)
{
if (std::string(current_status.second->Signal) == "1B")
{
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_GAL_7X_signals_), std::end(available_GAL_7X_signals_),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
if (it2 != available_GAL_7X_signals_.end())
{
estimated_doppler = static_cast<float>(current_status.second->Carrier_Doppler_hz);
RX_time = current_status.second->RX_time;
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
// 3. return the Gal 7X satellite and remove it from list
result = *it2;
available_GAL_7X_signals_.erase(it2);
found_signal = true;
assistance_available = true;
break;
}
}
}
}
// fallback: pick the front satellite because there is no tracked satellites in E1 to assist E5
if (found_signal == false)
{
result = available_GAL_7X_signals_.front();
available_GAL_7X_signals_.pop_front();
available_GAL_7X_signals_.push_back(result);
}
break;
case evGAL_E6:
if (configuration_->property("Channels_1B.count", 0) > 0)
{
// 1. Get the current channel status map
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
// 2. search the currently tracked Galileo E1 satellites and assist the Galileo E5 acquisition if the satellite is not tracked on E5
for (auto& current_status : current_channels_status)
{
if (std::string(current_status.second->Signal) == "1B")
{
std::list<Gnss_Signal>::iterator it2;
it2 = std::find_if(std::begin(available_GAL_E6_signals_), std::end(available_GAL_E6_signals_),
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
if (it2 != available_GAL_E6_signals_.end())
{
estimated_doppler = static_cast<float>(current_status.second->Carrier_Doppler_hz);
RX_time = current_status.second->RX_time;
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
// 3. return the Gal E6 satellite and remove it from list
result = *it2;
available_GAL_E6_signals_.erase(it2);
found_signal = true;
assistance_available = true;
break;
}
}
}
}
// fallback: pick the front satellite because there is no tracked satellites in E1 to assist E6
if (found_signal == false)
{
result = available_GAL_E6_signals_.front();
available_GAL_E6_signals_.pop_front();
available_GAL_E6_signals_.push_back(result);
}
break;
case evGLO_1G:
result = available_GLO_1G_signals_.front();
available_GLO_1G_signals_.pop_front();
available_GLO_1G_signals_.push_back(result);
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evGLO_2G:
result = available_GLO_2G_signals_.front();
available_GLO_2G_signals_.pop_front();
available_GLO_2G_signals_.push_back(result);
break;
case evBDS_B1:
result = available_BDS_B1_signals_.front();
available_BDS_B1_signals_.pop_front();
available_BDS_B1_signals_.push_back(result);
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
break;
case evBDS_B3:
result = available_BDS_B3_signals_.front();
available_BDS_B3_signals_.pop_front();
available_BDS_B3_signals_.push_back(result);
break;
default:
LOG(ERROR) << "This should not happen :-(";
if (!available_GPS_1C_signals_.empty())
{
result = available_GPS_1C_signals_.front();
available_GPS_1C_signals_.pop_front();
available_GPS_1C_signals_.push_back(result);
}
break;
}
return result;
}
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