gnss-sdr/src/algorithms/channel/libs/channel_fsm.cc

/*!
 * \file channel_fsm.cc
 * \brief Implementation of a State Machine for channel
 * \authors Antonio Ramos, 2017. antonio.ramos(at)cttc.es
 *          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_fsm.h"
#include "control_message_factory.h"
#include <glog/logging.h>

using google::LogMessage;

ChannelFsm::ChannelFsm()
{
    acq_ = nullptr;
    trk_ = nullptr;
    channel_ = 0U;
    d_state = 0U;
}


ChannelFsm::ChannelFsm(std::shared_ptr<AcquisitionInterface> acquisition) : acq_(acquisition)
{
    trk_ = nullptr;
    channel_ = 0U;
    d_state = 0U;
}


bool ChannelFsm::Event_stop_channel()
{
    std::lock_guard<std::mutex> lk(mx);
    DLOG(INFO) << "CH = " << channel_ << ". Ev stop channel";
    switch (d_state)
        {
        case 0:  //already in stanby
            return true;
            break;
        case 1:  //acquisition
            d_state = 0;
            stop_acquisition();
            break;
        case 2:  //tracking
            d_state = 0;
            stop_tracking();
            break;
        default:
            return true;
        }
}

bool ChannelFsm::Event_start_acquisition()
{
    std::lock_guard<std::mutex> lk(mx);
    if ((d_state == 1) || (d_state == 2))
        {
            return false;
        }
    else
        {
            d_state = 1;
            start_acquisition();
            DLOG(INFO) << "CH = " << channel_ << ". Ev start acquisition";
            return true;
        }
}


bool ChannelFsm::Event_valid_acquisition()
{
    std::lock_guard<std::mutex> lk(mx);
    if (d_state != 1)
        {
            return false;
        }
    else
        {
            d_state = 2;
            start_tracking();
            DLOG(INFO) << "CH = " << channel_ << ". Ev valid acquisition";
            return true;
        }
}


bool ChannelFsm::Event_failed_acquisition_repeat()
{
    std::lock_guard<std::mutex> lk(mx);
    if (d_state != 1)
        {
            return false;
        }
    else
        {
            d_state = 1;
            start_acquisition();
            DLOG(INFO) << "CH = " << channel_ << ". Ev failed acquisition repeat";
            return true;
        }
}


bool ChannelFsm::Event_failed_acquisition_no_repeat()
{
    std::lock_guard<std::mutex> lk(mx);
    if (d_state != 1)
        {
            return false;
        }
    else
        {
            d_state = 3;
            request_satellite();
            DLOG(INFO) << "CH = " << channel_ << ". Ev failed acquisition no repeat";
            return true;
        }
}


bool ChannelFsm::Event_failed_tracking_standby()
{
    std::lock_guard<std::mutex> lk(mx);
    if (d_state != 2)
        {
            return false;
        }
    else
        {
            d_state = 0U;
            notify_stop_tracking();
            DLOG(INFO) << "CH = " << channel_ << ". Ev failed tracking standby";
            return true;
        }
}


void ChannelFsm::set_acquisition(std::shared_ptr<AcquisitionInterface> acquisition)
{
    std::lock_guard<std::mutex> lk(mx);
    acq_ = acquisition;
}


void ChannelFsm::set_tracking(std::shared_ptr<TrackingInterface> tracking)
{
    std::lock_guard<std::mutex> lk(mx);
    trk_ = tracking;
}


void ChannelFsm::set_queue(gr::msg_queue::sptr queue)
{
    std::lock_guard<std::mutex> lk(mx);
    queue_ = queue;
}


void ChannelFsm::set_channel(uint32_t channel)
{
    std::lock_guard<std::mutex> lk(mx);
    channel_ = channel;
}


void ChannelFsm::stop_acquisition()
{
    acq_->stop_acquisition();
}

void ChannelFsm::stop_tracking()
{
    trk_->stop_tracking();
}


void ChannelFsm::start_acquisition()
{
    acq_->reset();
}


void ChannelFsm::start_tracking()
{
    trk_->start_tracking();
    std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
    if (queue_ != gr::msg_queue::make())
        {
            queue_->handle(cmf->GetQueueMessage(channel_, 1));
        }
}


void ChannelFsm::request_satellite()
{
    std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
    if (queue_ != gr::msg_queue::make())
        {
            queue_->handle(cmf->GetQueueMessage(channel_, 0));
        }
}


void ChannelFsm::notify_stop_tracking()
{
    std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
    if (queue_ != gr::msg_queue::make())
        {
            queue_->handle(cmf->GetQueueMessage(channel_, 2));
        }
}