mirror of
https://github.com/gnss-sdr/gnss-sdr
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294 lines
8.5 KiB
C++
294 lines
8.5 KiB
C++
/*!
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* \file gnss_flowgraph.h
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* \brief Interface of a GNSS receiver flow graph.
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* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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* Luis Esteve, 2011. luis(at)epsilon-formacion.com
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* Carles Fernandez-Prades, 2014-2020. cfernandez(at)cttc.es
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* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
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*
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* It contains a signal source,
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* a signal conditioner, a set of channels, an observables block and a pvt.
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*
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_GNSS_FLOWGRAPH_H
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#define GNSS_SDR_GNSS_FLOWGRAPH_H
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#include "channel_status_msg_receiver.h"
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#include "concurrent_queue.h"
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#include "galileo_e6_has_msg_receiver.h"
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#include "galileo_tow_map.h"
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#include "gnss_sdr_sample_counter.h"
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#include "gnss_signal.h"
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#include "osnma_msg_receiver.h"
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#include "pvt_interface.h"
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#include <gnuradio/blocks/null_sink.h> // for null_sink
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#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
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#include <pmt/pmt.h> // for pmt_t
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#include <list> // for list
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#include <map> // for map
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#include <memory> // for for shared_ptr, dynamic_pointer_cast
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#include <mutex> // for mutex
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#include <string> // for string
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#include <unordered_map> // for unordered_map
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#include <utility> // for pair
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#include <vector> // for vector
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#if ENABLE_FPGA
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#include "gnss_sdr_fpga_sample_counter.h"
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#endif
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/** \addtogroup Core
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* \{ */
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/** \addtogroup Core_Receiver
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* \{ */
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class ChannelInterface;
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class ConfigurationInterface;
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class GNSSBlockInterface;
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class Gnss_Satellite;
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class SignalSourceInterface;
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/*! \brief This class represents a GNSS flow graph.
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*
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* It contains a signal source,
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* a signal conditioner, a set of channels, a PVT and an output filter.
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*/
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class GNSSFlowgraph
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{
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public:
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/*!
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* \brief Constructor that initializes the receiver flow graph
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*/
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GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
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/*!
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* \brief Destructor
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*/
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~GNSSFlowgraph();
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/*!
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* \brief Start the flow graph
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*/
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void start();
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/*!
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* \brief Stop the flow graph
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*/
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void stop();
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/*!
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* \brief Connects the defined blocks in the flow graph
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*
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* Signal Source > Signal conditioner > Channels >> Observables >> PVT > Output filter
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*/
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void connect();
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/*!
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* \brief Disconnect the blocks in the flow graph
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*/
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void disconnect();
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/*!
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* \brief Wait for a flowgraph to complete.
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*
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* Flowgraphs complete when either
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* (1) all blocks indicate that they are done, or
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* (2) after stop() has been called to request shutdown.
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*/
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void wait();
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/*!
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* \brief Manage satellite acquisition
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*
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* \param[in] who Channel ID
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*/
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void acquisition_manager(unsigned int who);
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/*!
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* \brief Applies an action to the flow graph
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*
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* \param[in] who Who generated the action
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* \param[in] what What is the action. 0: acquisition failed; 1: acquisition success; 2: tracking lost
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*/
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void apply_action(unsigned int who, unsigned int what);
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/*!
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* \brief Set flow graph configuratiob
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*/
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void set_configuration(const std::shared_ptr<ConfigurationInterface>& configuration);
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bool connected() const
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{
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return connected_;
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}
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bool running() const
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{
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return running_;
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}
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/*!
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* \brief Sends a GNU Radio asynchronous message from telemetry to PVT
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*
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* It is used to assist the receiver with external ephemeris data
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*/
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bool send_telemetry_msg(const pmt::pmt_t& msg);
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/*!
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* \brief Returns a smart pointer to the PVT object
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*/
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std::shared_ptr<PvtInterface> get_pvt()
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{
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return std::dynamic_pointer_cast<PvtInterface>(pvt_);
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}
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/*!
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* \brief Prioritize visible satellites in the specified vector
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*/
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void priorize_satellites(const std::vector<std::pair<int, Gnss_Satellite>>& visible_satellites);
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#if ENABLE_FPGA
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void start_acquisition_helper();
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void perform_hw_reset();
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#endif
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private:
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void init(); // Populates the SV PRN list available for acquisition and tracking
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int connect_desktop_flowgraph();
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int connect_signal_sources();
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int connect_signal_conditioners();
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int connect_channels();
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int connect_observables();
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int connect_pvt();
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int connect_sample_counter();
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int connect_galileo_tow_map();
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int connect_signal_sources_to_signal_conditioners();
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int connect_signal_conditioners_to_channels();
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int connect_channels_to_observables();
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int connect_observables_to_pvt();
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int connect_monitors();
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int connect_osnma();
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int connect_gal_e6_has();
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int connect_gnss_synchro_monitor();
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int connect_acquisition_monitor();
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int connect_tracking_monitor();
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int connect_navdata_monitor();
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#if ENABLE_FPGA
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int connect_fpga_flowgraph();
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int connect_fpga_sample_counter();
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#endif
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int assign_channels();
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void check_signal_conditioners();
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void set_signals_list();
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void set_channels_state(); // Initializes the channels state (start acquisition or keep standby)
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// using the configuration parameters (number of channels and max channels in acquisition)
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Gnss_Signal search_next_signal(const std::string& searched_signal,
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bool& is_primary_frequency,
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bool& assistance_available,
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float& estimated_doppler,
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double& RX_time);
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void push_back_signal(const Gnss_Signal& gs);
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void remove_signal(const Gnss_Signal& gs);
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void print_help();
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void check_desktop_conf_in_fpga_env();
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double project_doppler(const std::string& searched_signal, double primary_freq_doppler_hz);
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bool is_multiband() const;
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std::vector<std::string> split_string(const std::string& s, char delim);
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std::vector<bool> signal_conditioner_connected_;
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gr::top_block_sptr top_block_;
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std::shared_ptr<ConfigurationInterface> configuration_;
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std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
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std::vector<std::shared_ptr<SignalSourceInterface>> sig_source_;
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std::vector<std::shared_ptr<GNSSBlockInterface>> sig_conditioner_;
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std::vector<std::shared_ptr<ChannelInterface>> channels_;
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std::shared_ptr<GNSSBlockInterface> observables_;
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std::shared_ptr<GNSSBlockInterface> pvt_;
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std::map<std::string, gr::basic_block_sptr> acq_resamplers_;
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std::vector<gr::blocks::null_sink::sptr> null_sinks_;
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gr::basic_block_sptr GnssSynchroMonitor_;
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gr::basic_block_sptr GnssSynchroAcquisitionMonitor_;
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gr::basic_block_sptr GnssSynchroTrackingMonitor_;
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gr::basic_block_sptr NavDataMonitor_;
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channel_status_msg_receiver_sptr channels_status_; // class that receives and stores the current status of the receiver channels
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galileo_e6_has_msg_receiver_sptr gal_e6_has_rx_;
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galileo_tow_map_sptr galileo_tow_map_;
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osnma_msg_receiver_sptr osnma_rx_;
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gnss_sdr_sample_counter_sptr ch_out_sample_counter_;
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#if ENABLE_FPGA
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gnss_sdr_fpga_sample_counter_sptr ch_out_fpga_sample_counter_;
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#endif
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std::vector<unsigned int> channels_state_; // 0 - Idle, 1 - Assigned, 2 - Acquisition, 3 - Tracking
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std::unordered_map<std::string, std::list<Gnss_Signal>> available_signals_map_;
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enum StringValue
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{
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evGPS_1C,
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evGPS_2S,
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evGPS_L5,
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evSBAS_1C,
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evGAL_1B,
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evGAL_5X,
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evGAL_7X,
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evGAL_E6,
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evGLO_1G,
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evGLO_2G,
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evBDS_B1,
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evBDS_B3
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};
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std::map<std::string, StringValue> mapStringValues_;
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std::string config_file_;
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std::string help_hint_;
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std::mutex signal_list_mutex_;
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int sources_count_;
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int channels_count_;
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int acq_channels_count_;
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int max_acq_channels_;
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bool connected_;
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bool running_;
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bool multiband_;
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bool enable_monitor_;
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bool enable_acquisition_monitor_;
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bool enable_tracking_monitor_;
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bool enable_navdata_monitor_;
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bool enable_fpga_offloading_;
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bool enable_osnma_rx_;
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bool enable_e6_has_rx_;
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};
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/** \} */
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/** \} */
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#endif // GNSS_SDR_GNSS_FLOWGRAPH_H
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