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gnss-sdr/src/core/receiver/gnss_flowgraph.cc
Carles Fernandez 0253f4ba05 Merge remote-tracking branch 'upstream/common_solver' into next 
This commit Integrates RTKLIB positioning libraries in a universal PVT
block implementation called RTKLIB_PVT. This results in an improved
positioning accuracy and precision with a wide range of options
(including Precise Point Positioning and ionospheric/troposphreic
models).

Not all the RTKLIB features have been ported. Some of them will be
progressively added. The ported options and how to configure them have
been documented in the website, see
http://gnss-sdr.org/docs/sp-blocks/pvt/

This commit also introduces a multi-band, multi system Observables block
implementation.

Relevant architectural changes that reduce latency and makes
multi-system, multi band signal handling easier.

Redundant blocks have been deleted. Old configurations are automatically
redirected to the new blocks for Observables and PVT, so the commit does
not break any existing configuration. The user should just notice a
relevant improvement in positioning performance.

# Conflicts:
#	src/core/receiver/gnss_flowgraph.cc
2017-05-10 22:16:18 +02:00

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/*!
* \file gnss_flowgraph.cc
* \brief Implementation of a GNSS receiver flowgraph
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
* Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
*
* Detailed description of the file here if needed.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gnss_flowgraph.h"
#include "unistd.h"
#include <memory>
#include <algorithm>
#include <exception>
#include <iostream>
#include <set>
#include <boost/lexical_cast.hpp>
#include <boost/tokenizer.hpp>
#include <glog/logging.h>
#include "configuration_interface.h"
#include "gnss_block_interface.h"
#include "channel_interface.h"
#include "gnss_block_factory.h"
#define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS 8
using google::LogMessage;
GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration,
boost::shared_ptr<gr::msg_queue> queue)
{
connected_ = false;
running_ = false;
configuration_ = configuration;
queue_ = queue;
init();
}
GNSSFlowgraph::~GNSSFlowgraph()
{}
void GNSSFlowgraph::start()
{
if (running_)
{
LOG(WARNING) << "Already running";
return;
}
try
{
top_block_->start();
}
catch (std::exception& e)
{
LOG(WARNING) << "Unable to start flowgraph";
LOG(ERROR) << e.what();
return;
}
running_ = true;
}
void GNSSFlowgraph::stop()
{
// for (unsigned int i = 0; i < channels_count_; i++)
// {
// channels_.at(i)->stop_channel();
// LOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
// }
// LOG(INFO) << "Threads finished. Return to main program.";
top_block_->stop();
running_ = false;
}
void GNSSFlowgraph::connect()
{
/* Connects the blocks in the flowgraph
*
* Signal Source > Signal conditioner >> Channels >> Observables >> PVT
*/
LOG(INFO) << "Connecting flowgraph";
if (connected_)
{
LOG(WARNING) << "flowgraph already connected";
return;
}
for (int i = 0; i < sources_count_; i++)
{
try
{
sig_source_.at(i)->connect(top_block_);
}
catch (std::exception& e)
{
LOG(INFO) << "Can't connect signal source block " << i << " internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
// Signal Source > Signal conditioner >
for (unsigned int i = 0; i < sig_conditioner_.size(); i++)
{
try
{
sig_conditioner_.at(i)->connect(top_block_);
}
catch (std::exception& e)
{
LOG(INFO) << "Can't connect signal conditioner block " << i << " internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
for (unsigned int i = 0; i < channels_count_; i++)
{
try
{
channels_.at(i)->connect(top_block_);
}
catch (std::exception& e)
{
LOG(WARNING) << "Can't connect channel " << i << " internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
try
{
observables_->connect(top_block_);
}
catch (std::exception& e)
{
LOG(WARNING) << "Can't connect observables block internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
// Signal Source > Signal conditioner >> Channels >> Observables > PVT
try
{
pvt_->connect(top_block_);
}
catch (std::exception& e)
{
LOG(WARNING) << "Can't connect PVT block internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
DLOG(INFO) << "blocks connected internally";
// Signal Source (i) > Signal conditioner (i) >
int RF_Channels = 0;
int signal_conditioner_ID = 0;
for (int i = 0; i < sources_count_; i++)
{
try
{
//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(sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0)
{
//Multichannel Array
std::cout << "ARRAY MODE" << std::endl;
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
{
std::cout << "connecting ch " << j << std::endl;
top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
}
}
else
{
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
//Include GetRFChannels in the interface to avoid read config parameters here
//read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++)
{
//Connect the multichannel signal source to multiple signal conditioners
// GNURADIO max_streams=-1 means infinite ports!
LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();
if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
{
LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j;
top_block_->connect(sig_source_.at(i)->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 " << j;
top_block_->connect(sig_source_.at(i)->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 " << j;
top_block_->connect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
}
signal_conditioner_ID++;
}
}
}
catch (std::exception& e)
{
LOG(WARNING) << "Can't connect signal source " << i << " to signal conditioner " << i;
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
DLOG(INFO) << "Signal source connected to signal conditioner";
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
int selected_signal_conditioner_ID;
for (unsigned int i = 0; i < channels_count_; i++)
{
selected_signal_conditioner_ID = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".RF_channel_ID", 0);
try
{
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block(), 0);
}
catch (std::exception& e)
{
LOG(WARNING) << "Can't connect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i;
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
DLOG(INFO) << "signal conditioner " << selected_signal_conditioner_ID << " connected to channel " << i;
// Signal Source > Signal conditioner >> Channels >> Observables
try
{
top_block_->connect(channels_.at(i)->get_right_block(), 0,
observables_->get_left_block(), i);
}
catch (std::exception& e)
{
LOG(WARNING) << "Can't connect channel " << i << " to observables";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal!
while (gnss_signal.compare(available_GNSS_signals_.front().get_signal_str()) != 0 )
{
available_GNSS_signals_.push_back(available_GNSS_signals_.front());
available_GNSS_signals_.pop_front();
}
channels_.at(i)->set_signal(available_GNSS_signals_.front());
if (channels_state_[i] == 1)
{
channels_.at(i)->start_acquisition();
available_GNSS_signals_.pop_front();
LOG(INFO) << "Channel " << i << " assigned to " << available_GNSS_signals_.front();
LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
}
else
{
LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
}
//connect the sample counter to the channel 0
if (i == 0)
{
ch_out_sample_counter = gnss_sdr_make_sample_counter();
top_block_->connect(channels_.at(i)->get_right_block(), 0, ch_out_sample_counter, 0);
}
}
/*
* Connect the observables output of each channel to the PVT block
*/
try
{
for (unsigned 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"));
}
}
catch (std::exception& e)
{
LOG(WARNING) << "Can't connect observables to PVT";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
connected_ = true;
LOG(INFO) << "Flowgraph connected";
top_block_->dump();
}
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;
}
bool GNSSFlowgraph::send_telemetry_msg(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 produces (it is already connected to PVT)
channels_.at(0)->get_right_block()->message_port_pub(pmt::mp("telemetry"), msg);
return true;
}
/*
* Applies an action to the flowgraph
*
* \param[in] who Who generated the action
* \param[in] what What is the action 0: acquisition failed
*/
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
DLOG(INFO) << "received " << what << " from " << who;
switch (what)
{
case 0:
LOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str();
available_GNSS_signals_.push_back(channels_.at(who)->get_signal());
//TODO: Optimize the channel and signal matching!
while ( channels_.at(who)->get_signal().get_signal_str().compare(available_GNSS_signals_.front().get_signal_str()) != 0 )
{
available_GNSS_signals_.push_back(available_GNSS_signals_.front());
available_GNSS_signals_.pop_front();
}
channels_.at(who)->set_signal(available_GNSS_signals_.front());
available_GNSS_signals_.pop_front();
usleep(100);
LOG(INFO) << "Channel "<< who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str();
channels_.at(who)->start_acquisition();
break;
case 1:
LOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_.at(who)->get_signal().get_satellite();
channels_state_[who] = 2;
acq_channels_count_--;
if (!available_GNSS_signals_.empty() && acq_channels_count_ < max_acq_channels_)
{
for (unsigned int i = 0; i < channels_count_; i++)
{
if (channels_state_[i] == 0)
{
channels_state_[i] = 1;
while (channels_.at(i)->get_signal().get_signal_str().compare(available_GNSS_signals_.front().get_signal_str()) != 0 )
{
available_GNSS_signals_.push_back(available_GNSS_signals_.front());
available_GNSS_signals_.pop_front();
}
channels_.at(i)->set_signal(available_GNSS_signals_.front());
available_GNSS_signals_.pop_front();
acq_channels_count_++;
channels_.at(i)->start_acquisition();
break;
}
DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
}
}
break;
case 2:
LOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_.at(who)->get_signal().get_satellite();
if (acq_channels_count_ < max_acq_channels_)
{
channels_state_[who] = 1;
acq_channels_count_++;
channels_.at(who)->start_acquisition();
}
else
{
channels_state_[who] = 0;
available_GNSS_signals_.push_back( channels_.at(who)->get_signal() );
}
// for (unsigned int i = 0; i < channels_count_; i++)
// {
// LOG(INFO) << "Channel " << i << " in state " << channels_state_[i] << std::endl;
// }
break;
default:
break;
}
DLOG(INFO) << "Number of available signals: " << available_GNSS_signals_.size();
}
void GNSSFlowgraph::set_configuration(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;
}
void GNSSFlowgraph::init()
{
/*
* Instantiates the receiver blocks
*/
std::unique_ptr<GNSSBlockFactory> block_factory_(new GNSSBlockFactory());
// 1. read the number of RF front-ends available (one file_source per RF front-end)
sources_count_ = configuration_->property("Receiver.sources_count", 1);
int RF_Channels = 0;
int signal_conditioner_ID = 0;
if (sources_count_ > 1)
{
for (int i = 0; i < sources_count_; i++)
{
std::cout << "Creating source " << i << std::endl;
sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, i));
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
//Include GetRFChannels in the interface to avoid read config parameters here
//read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
std::cout << "RF Channels " << RF_Channels << std::endl;
for (int j = 0; j < RF_Channels; j++)
{
sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, signal_conditioner_ID));
signal_conditioner_ID++;
}
}
}
else
{
//backwards compatibility for old config files
sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, -1));
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
//Include GetRFChannels in the interface to avoid read config parameters here
//read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(0)->role() + ".RF_channels", 0);
if (RF_Channels != 0)
{
for (int j = 0; j < RF_Channels; j++)
{
sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, signal_conditioner_ID));
signal_conditioner_ID++;
}
}
else
{
//old config file, single signal source and single channel, not specified
sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, -1));
}
}
observables_ = block_factory_->GetObservables(configuration_);
// Mark old implementations as deprecated
std::string default_str("Default");
std::string obs_implementation = configuration_->property("Observables.implementation", default_str);
if ((obs_implementation.compare("GPS_L1_CA_Observables") == 0) || (obs_implementation.compare("GPS_L2C_Observables") == 0) ||
(obs_implementation.compare("Galileo_E1B_Observables") == 0) || (obs_implementation.compare("Galileo_E5A_Observables") == 0))
{
std::cout << "WARNING: Implementation '" << obs_implementation << "' of the Observables block has been replaced by 'Hybrid_Observables'." << std::endl;
std::cout << "Please update your configuration file." << std::endl;
}
pvt_ = block_factory_->GetPVT(configuration_);
// Mark old implementations as deprecated
std::string pvt_implementation = configuration_->property("PVT.implementation", default_str);
if ((pvt_implementation.compare("GPS_L1_CA_PVT") == 0) || (pvt_implementation.compare("Galileo_E1_PVT") == 0) || (pvt_implementation.compare("Hybrid_PVT") == 0))
{
std::cout << "WARNING: Implementation '" << pvt_implementation << "' of the PVT block has been replaced by 'RTKLIB_PVT'." << std::endl;
std::cout << "Please update your configuration file." << std::endl;
}
std::shared_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels = block_factory_->GetChannels(configuration_, queue_);
//todo:check smart pointer coherence...
channels_count_ = channels->size();
for (unsigned 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");
// fill the available_GNSS_signals_ queue with the satellites ID's to be searched by the acquisition
set_signals_list();
set_channels_state();
applied_actions_ = 0;
DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
}
void GNSSFlowgraph::set_signals_list()
{
/*
* Sets a sequential list of GNSS satellites
*/
std::set<unsigned int>::iterator available_gnss_prn_iter;
/*
* \TODO Describe GNSS satellites more nicely, with RINEX notation
* See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf (page 5)
*/
/*
* Read GNSS-SDR default GNSS system and signal
*/
unsigned int total_channels = configuration_->property("Channels_1C.count", 0) +
configuration_->property("Channels_2S.count", 0) +
configuration_->property("Channels_1B.count", 0) +
configuration_->property("Channels_5X.count", 0);
/*
* Loop to create the list of GNSS Signals
* To add signals from other systems, add another loop 'for'
*/
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 = {120, 124, 126};
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};
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.size() > 0 )
{
available_galileo_prn = tmp_set;
}
}
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.size() > 0 )
{
available_gps_prn = tmp_set;
}
}
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.size() > 0 )
{
available_sbas_prn = tmp_set;
}
}
if (configuration_->property("Channels_1C.count", 0) > 0 )
{
/*
* Loop to create GPS L1 C/A signals
*/
for (available_gnss_prn_iter = available_gps_prn.begin();
available_gnss_prn_iter != available_gps_prn.end();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(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.begin();
available_gnss_prn_iter != available_gps_prn.end();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("GPS"),
*available_gnss_prn_iter), std::string("2S")));
}
}
if (configuration_->property("Channels_SBAS.count", 0) > 0)
{
/*
* Loop to create SBAS L1 C/A signals
*/
for (available_gnss_prn_iter = available_sbas_prn.begin();
available_gnss_prn_iter != available_sbas_prn.end();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(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 E1 B signals
*/
for (available_gnss_prn_iter = available_galileo_prn.begin();
available_gnss_prn_iter != available_galileo_prn.end();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(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 E1 B signals
*/
for (available_gnss_prn_iter = available_galileo_prn.begin();
available_gnss_prn_iter != available_galileo_prn.end();
available_gnss_prn_iter++)
{
available_GNSS_signals_.push_back(Gnss_Signal(Gnss_Satellite(std::string("Galileo"),
*available_gnss_prn_iter), std::string("5X")));
}
}
/*
* Ordering the list of signals from configuration file
*/
std::list<Gnss_Signal>::iterator gnss_it = available_GNSS_signals_.begin();
// Pre-assignation if not defined at ChannelX.signal=1C ...? In what order?
for (unsigned int i = 0; i < total_channels; i++)
{
std::string gnss_signal = (configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".signal", std::string("1C")));
std::string gnss_system;
if((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) ) gnss_system = "GPS";
if((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0) ) gnss_system = "Galileo";
unsigned int sat = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".satellite", 0);
LOG(INFO) << "Channel " << i << " system " << gnss_system << ", signal " << gnss_signal <<", sat "<<sat;
if (sat == 0) // 0 = not PRN in configuration file
{
gnss_it++;
}
else
{
Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
available_GNSS_signals_.remove(signal_value);
available_GNSS_signals_.insert(gnss_it, signal_value);
}
}
// **** FOR DEBUGGING THE LIST OF GNSS SIGNALS ****
// std::list<Gnss_Signal>::iterator available_gnss_list_iter;
// for (available_gnss_list_iter = available_GNSS_signals_.begin(); available_gnss_list_iter
// != available_GNSS_signals_.end(); available_gnss_list_iter++)
// {
// std::cout << *available_gnss_list_iter << std::endl;
// }
}
void GNSSFlowgraph::set_channels_state()
{
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 (unsigned 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";
}
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