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gnss-sdr/src/algorithms/channel/adapters/channel.cc

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/*!
* \file channel.cc
* \brief Implementation of a GNSS_Channel with a Finite State Machine
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Luis Esteve, 2011. luis(at)epsilon-formacion.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "channel.h"
#include "acquisition_interface.h"
#include "channel_fsm.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "telemetry_decoder_interface.h"
#include "tracking_interface.h"
#include <glog/logging.h>
#include <utility> // for std::move
Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
std::string role, std::string implementation, std::shared_ptr<Concurrent_Queue<pmt::pmt_t> > queue)
{
acq_ = std::move(acq);
trk_ = std::move(trk);
nav_ = std::move(nav);
role_ = std::move(role);
implementation_ = std::move(implementation);
channel_ = channel;
queue_ = std::move(queue);
channel_fsm_ = std::make_shared<ChannelFsm>();
flag_enable_fpga = configuration->property("GNSS-SDR.enable_FPGA", false);
acq_->set_channel(channel_);
acq_->set_channel_fsm(channel_fsm_);
trk_->set_channel(channel_);
nav_->set_channel(channel_);
gnss_synchro_ = Gnss_Synchro();
gnss_synchro_.Channel_ID = channel_;
acq_->set_gnss_synchro(&gnss_synchro_);
trk_->set_gnss_synchro(&gnss_synchro_);
// Provide a warning to the user about the change of parameter name
if (channel_ == 0)
{
int64_t deprecation_warning = configuration->property("GNSS-SDR.internal_fs_hz", 0);
if (deprecation_warning != 0)
{
std::cout << "WARNING: The global parameter name GNSS-SDR.internal_fs_hz has been DEPRECATED." << std::endl;
std::cout << "WARNING: Please replace it by GNSS-SDR.internal_fs_sps in your configuration file." << std::endl;
}
}
// IMPORTANT: Do not change the order between set_doppler_step and set_threshold
uint32_t doppler_step = configuration->property("Acquisition_" + implementation_ + std::to_string(channel_) + ".doppler_step", 0);
if (doppler_step == 0)
{
doppler_step = configuration->property("Acquisition_" + implementation_ + ".doppler_step", 500);
}
if (FLAGS_doppler_step != 0)
{
doppler_step = static_cast<uint32_t>(FLAGS_doppler_step);
}
DLOG(INFO) << "Channel " << channel_ << " Doppler_step = " << doppler_step;
acq_->set_doppler_step(doppler_step);
float threshold = configuration->property("Acquisition_" + implementation_ + std::to_string(channel_) + ".threshold", 0.0);
if (threshold == 0.0)
{
threshold = configuration->property("Acquisition_" + implementation_ + ".threshold", 0.0);
}
acq_->set_threshold(threshold);
acq_->init();
repeat_ = configuration->property("Acquisition_" + implementation_ + std::to_string(channel_) + ".repeat_satellite", false);
DLOG(INFO) << "Channel " << channel_ << " satellite repeat = " << repeat_;
channel_fsm_->set_acquisition(acq_);
channel_fsm_->set_tracking(trk_);
channel_fsm_->set_telemetry(nav_);
channel_fsm_->set_channel(channel_);
channel_fsm_->set_queue(queue_);
connected_ = false;
gnss_signal_ = Gnss_Signal(implementation_);
channel_msg_rx = channel_msg_receiver_make_cc(channel_fsm_, repeat_);
}
void Channel::connect(gr::top_block_sptr top_block)
{
if (!flag_enable_fpga)
{
acq_->connect(top_block);
}
trk_->connect(top_block);
nav_->connect(top_block);
// Synchronous ports
top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
// Message ports
top_block->msg_connect(nav_->get_left_block(), pmt::mp("telemetry_to_trk"), trk_->get_right_block(), pmt::mp("telemetry_to_trk"));
DLOG(INFO) << "tracking -> telemetry_decoder";
// Message ports
if (!flag_enable_fpga)
{
top_block->msg_connect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
}
top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
connected_ = true;
}
void Channel::disconnect(gr::top_block_sptr top_block)
{
if (!connected_)
{
LOG(WARNING) << "Channel already disconnected internally";
return;
}
top_block->disconnect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
if (!flag_enable_fpga)
{
acq_->disconnect(top_block);
}
trk_->disconnect(top_block);
nav_->disconnect(top_block);
top_block->msg_disconnect(nav_->get_left_block(), pmt::mp("telemetry_to_trk"), trk_->get_right_block(), pmt::mp("telemetry_to_trk"));
if (!flag_enable_fpga)
{
top_block->msg_disconnect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
}
top_block->msg_disconnect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
connected_ = false;
}
gr::basic_block_sptr Channel::get_left_block()
{
LOG(ERROR) << "Deprecated call to get_left_block() in channel interface";
return nullptr;
}
gr::basic_block_sptr Channel::get_left_block_trk()
{
return trk_->get_left_block();
}
gr::basic_block_sptr Channel::get_left_block_acq()
{
if (flag_enable_fpga)
{
LOG(ERROR) << "Enabled FPGA and called get_left_block() in channel interface";
}
return acq_->get_left_block();
}
gr::basic_block_sptr Channel::get_right_block()
{
return nav_->get_right_block();
}
void Channel::set_signal(const Gnss_Signal& gnss_signal)
{
std::lock_guard<std::mutex> lk(mx);
gnss_signal_ = gnss_signal;
std::string str_aux = gnss_signal_.get_signal_str();
gnss_synchro_.Signal[0] = str_aux[0];
gnss_synchro_.Signal[1] = str_aux[1];
gnss_synchro_.Signal[2] = '\0'; // make sure that string length is only two characters
gnss_synchro_.PRN = gnss_signal_.get_satellite().get_PRN();
gnss_synchro_.System = gnss_signal_.get_satellite().get_system_short().c_str()[0];
acq_->set_local_code();
if (flag_enable_fpga)
{
trk_->set_gnss_synchro(&gnss_synchro_);
}
nav_->set_satellite(gnss_signal_.get_satellite());
}
void Channel::stop_channel()
{
std::lock_guard<std::mutex> lk(mx);
bool result = channel_fsm_->Event_stop_channel();
if (!result)
{
LOG(WARNING) << "Invalid channel event";
return;
}
DLOG(INFO) << "Channel stop_channel()";
}
void Channel::assist_acquisition_doppler(double Carrier_Doppler_hz)
{
acq_->set_doppler_center(static_cast<int>(Carrier_Doppler_hz));
}
void Channel::start_acquisition()
{
std::lock_guard<std::mutex> lk(mx);
bool result = false;
if (!flag_enable_fpga)
{
result = channel_fsm_->Event_start_acquisition();
}
else
{
result = channel_fsm_->Event_start_acquisition_fpga();
channel_fsm_->start_acquisition();
}
if (!result)
{
LOG(WARNING) << "Invalid channel event";
return;
}
DLOG(INFO) << "Channel start_acquisition()";
}
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