mirror of https://github.com/gnss-sdr/gnss-sdr
198 lines
6.1 KiB
C++
198 lines
6.1 KiB
C++
/*!
|
|
* \file gps_l1_ca_channel_fsm.cc
|
|
* \brief Implementation of a State Machine for channel using boost::statechart
|
|
* \author Luis Esteve, 2011. luis(at)epsilon-formacion.com
|
|
*
|
|
* -------------------------------------------------------------------------
|
|
*
|
|
* Copyright (C) 2010-2012 (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 "gps_l1_ca_channel_fsm.h"
|
|
#include "control_message_factory.h"
|
|
#include "channel.h"
|
|
#include <glog/log_severity.h>
|
|
#include <glog/logging.h>
|
|
|
|
struct Ev_gps_channel_start_acquisition: sc::event<
|
|
Ev_gps_channel_start_acquisition> {
|
|
};
|
|
|
|
struct Ev_gps_channel_valid_acquisition: sc::event<
|
|
Ev_gps_channel_valid_acquisition> {
|
|
};
|
|
|
|
struct Ev_gps_channel_failed_acquisition_repeat: sc::event<
|
|
Ev_gps_channel_failed_acquisition_repeat> {
|
|
};
|
|
|
|
struct Ev_gps_channel_failed_acquisition_no_repeat: sc::event<
|
|
Ev_gps_channel_failed_acquisition_no_repeat> {
|
|
};
|
|
|
|
struct Ev_gps_channel_failed_tracking_standby: sc::event<Ev_gps_channel_failed_tracking_standby> {
|
|
};
|
|
|
|
//struct Ev_gps_channel_failed_tracking_reacq: sc::event<Ev_gps_channel_failed_tracking_reacq> {
|
|
//};
|
|
|
|
struct gps_channel_idle_fsm_S0: public sc::state<gps_channel_idle_fsm_S0,
|
|
GpsL1CaChannelFsm> {
|
|
public:
|
|
// sc::transition(event, next state)
|
|
typedef sc::transition<Ev_gps_channel_start_acquisition,
|
|
gps_channel_acquiring_fsm_S1> reactions;
|
|
gps_channel_idle_fsm_S0(my_context ctx) :
|
|
my_base(ctx) {
|
|
//std::cout << "Enter Channel_Idle_S0 " << std::endl;
|
|
}
|
|
};
|
|
|
|
struct gps_channel_acquiring_fsm_S1: public sc::state<
|
|
gps_channel_acquiring_fsm_S1, GpsL1CaChannelFsm> {
|
|
public:
|
|
typedef mpl::list<sc::transition<
|
|
Ev_gps_channel_failed_acquisition_no_repeat,
|
|
gps_channel_waiting_fsm_S3>, sc::transition<
|
|
Ev_gps_channel_failed_acquisition_repeat,
|
|
gps_channel_acquiring_fsm_S1>, sc::transition<
|
|
Ev_gps_channel_valid_acquisition, gps_channel_tracking_fsm_S2> >
|
|
reactions;
|
|
|
|
gps_channel_acquiring_fsm_S1(my_context ctx) :
|
|
my_base(ctx) {
|
|
//std::cout << "Enter Channel_Acq_S1 " << std::endl;
|
|
context<GpsL1CaChannelFsm> ().start_acquisition();
|
|
}
|
|
};
|
|
|
|
struct gps_channel_tracking_fsm_S2: public sc::state<
|
|
gps_channel_tracking_fsm_S2, GpsL1CaChannelFsm> {
|
|
public:
|
|
typedef mpl::list<sc::transition<Ev_gps_channel_failed_tracking_standby,
|
|
gps_channel_idle_fsm_S0>, sc::transition<Ev_gps_channel_start_acquisition,
|
|
gps_channel_acquiring_fsm_S1>> reactions;
|
|
|
|
gps_channel_tracking_fsm_S2(my_context ctx) :
|
|
my_base(ctx) {
|
|
//std::cout << "Enter Channel_tracking_S2 " << std::endl;
|
|
context<GpsL1CaChannelFsm> ().start_tracking();
|
|
}
|
|
|
|
};
|
|
|
|
struct gps_channel_waiting_fsm_S3: public sc::state<gps_channel_waiting_fsm_S3,
|
|
GpsL1CaChannelFsm> {
|
|
public:
|
|
typedef sc::transition<Ev_gps_channel_start_acquisition,
|
|
gps_channel_acquiring_fsm_S1> reactions;
|
|
|
|
gps_channel_waiting_fsm_S3(my_context ctx) :
|
|
my_base(ctx) {
|
|
//std::cout << "Enter Channel_waiting_S3 " << std::endl;
|
|
context<GpsL1CaChannelFsm> ().request_satellite();
|
|
}
|
|
~gps_channel_waiting_fsm_S3(){}
|
|
};
|
|
|
|
GpsL1CaChannelFsm::GpsL1CaChannelFsm() {
|
|
initiate(); //start the FSM
|
|
}
|
|
|
|
GpsL1CaChannelFsm::GpsL1CaChannelFsm(AcquisitionInterface *acquisition) :
|
|
acq_(acquisition) {
|
|
initiate(); //start the FSM
|
|
}
|
|
|
|
void GpsL1CaChannelFsm::Event_gps_start_acquisition() {
|
|
this->process_event(Ev_gps_channel_start_acquisition());
|
|
}
|
|
|
|
void GpsL1CaChannelFsm::Event_gps_valid_acquisition() {
|
|
this->process_event(Ev_gps_channel_valid_acquisition());
|
|
}
|
|
|
|
void GpsL1CaChannelFsm::Event_gps_failed_acquisition_repeat() {
|
|
this->process_event(Ev_gps_channel_failed_acquisition_repeat());
|
|
}
|
|
|
|
void GpsL1CaChannelFsm::Event_gps_failed_acquisition_no_repeat() {
|
|
this->process_event(Ev_gps_channel_failed_acquisition_no_repeat());
|
|
}
|
|
|
|
void GpsL1CaChannelFsm::Event_gps_failed_tracking_standby() {
|
|
this->process_event(Ev_gps_channel_failed_tracking_standby());
|
|
}
|
|
|
|
//void GpsL1CaChannelFsm::Event_gps_failed_tracking_reacq() {
|
|
// this->process_event(Ev_gps_channel_failed_tracking_reacq());
|
|
//}
|
|
|
|
void GpsL1CaChannelFsm::set_acquisition(AcquisitionInterface *acquisition) {
|
|
acq_ = acquisition;
|
|
}
|
|
|
|
void GpsL1CaChannelFsm::set_tracking(TrackingInterface *tracking) {
|
|
trk_ = tracking;
|
|
}
|
|
|
|
void GpsL1CaChannelFsm::set_queue(boost::shared_ptr<gr::msg_queue> queue) {
|
|
queue_ = queue;
|
|
}
|
|
|
|
void GpsL1CaChannelFsm::set_channel(unsigned int channel) {
|
|
channel_ = channel;
|
|
}
|
|
|
|
void GpsL1CaChannelFsm::start_acquisition() {
|
|
acq_->reset();
|
|
}
|
|
|
|
void GpsL1CaChannelFsm::start_tracking() {
|
|
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
|
|
//<< " passing prn code phase " << acq_->prn_code_phase();
|
|
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
|
|
//<< " passing doppler freq shift " << acq_->doppler_freq_shift();
|
|
//LOG_AT_LEVEL(INFO) << "Channel " << channel_
|
|
//<< " passing acquisition sample stamp "
|
|
//<< acq_->get_sample_stamp();
|
|
//trk_->set_prn_code_phase(acq_->prn_code_phase());
|
|
//trk_->set_doppler_freq_shift(acq_->doppler_freq_shift());
|
|
//trk_->set_acq_sample_stamp(acq_->get_sample_stamp());
|
|
trk_->start_tracking();
|
|
ControlMessageFactory* cmf = new ControlMessageFactory();
|
|
if (queue_ != gr::msg_queue::make()) {
|
|
queue_->handle(cmf->GetQueueMessage(channel_, 1));
|
|
}
|
|
delete cmf;
|
|
}
|
|
|
|
void GpsL1CaChannelFsm::request_satellite() {
|
|
ControlMessageFactory* cmf = new ControlMessageFactory();
|
|
if (queue_ != gr::msg_queue::make()) {
|
|
queue_->handle(cmf->GetQueueMessage(channel_, 0));
|
|
}
|
|
delete cmf;
|
|
}
|
|
|