mirror of https://github.com/gnss-sdr/gnss-sdr
282 lines
8.8 KiB
C++
282 lines
8.8 KiB
C++
/*!
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* \file channel.cc
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* \brief Implementation of a GPS_L1_CA_Channel with a Finite State Machine
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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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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "channel.h"
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#include <iostream>
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#include <sstream>
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#include <boost/lexical_cast.hpp>
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#include <boost/thread/thread.hpp>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <boost/chrono.hpp>
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include <gnuradio/message.h>
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#include "acquisition_interface.h"
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#include "tracking_interface.h"
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#include "telemetry_decoder_interface.h"
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#include "configuration_interface.h"
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#include "gnss_flowgraph.h"
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using google::LogMessage;
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// Constructor
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Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
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GNSSBlockInterface *pass_through, AcquisitionInterface *acq,
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TrackingInterface *trk, TelemetryDecoderInterface *nav,
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std::string role, std::string implementation, boost::shared_ptr<gr::msg_queue> queue) :
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pass_through_(pass_through), acq_(acq), trk_(trk), nav_(nav),
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role_(role), implementation_(implementation), channel_(channel),
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queue_(queue)
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{
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stop_ = false;
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acq_->set_channel(channel_);
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trk_->set_channel(channel_);
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nav_->set_channel(channel_);
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gnss_synchro_.Channel_ID = channel_;
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acq_->set_gnss_synchro(&gnss_synchro_);
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trk_->set_gnss_synchro(&gnss_synchro_);
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// IMPORTANT: Do not change the order between set_doppler_max, set_doppler_step and set_threshold
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unsigned int doppler_max = configuration->property("Acquisition_"+implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_max", 0);
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if(doppler_max == 0) doppler_max = configuration->property("Acquisition_"+implementation_+".doppler_max", 0);
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DLOG(INFO) << "Channel "<< channel_ << " Doppler_max = " << doppler_max;
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acq_->set_doppler_max(doppler_max);
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unsigned int doppler_step = configuration->property("Acquisition_"+implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_step" ,0);
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if(doppler_step == 0) doppler_step = configuration->property("Acquisition_"+implementation_+".doppler_step", 500);
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DLOG(INFO) << "Channel "<< channel_ << " Doppler_step = " << doppler_step;
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acq_->set_doppler_step(doppler_step);
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float threshold = configuration->property("Acquisition_"+implementation_+ boost::lexical_cast<std::string>(channel_) + ".threshold", 0.0);
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if(threshold == 0.0) threshold = configuration->property("Acquisition_"+implementation_+".threshold", 0.0);
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acq_->set_threshold(threshold);
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acq_->init();
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repeat_ = configuration->property("Acquisition_"+implementation_+ boost::lexical_cast<std::string>(channel_) + ".repeat_satellite", false);
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DLOG(INFO) << "Channel " << channel_ << " satellite repeat = " << repeat_;
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acq_->set_channel_queue(&channel_internal_queue_);
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trk_->set_channel_queue(&channel_internal_queue_);
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channel_fsm_.set_acquisition(acq_);
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channel_fsm_.set_tracking(trk_);
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channel_fsm_.set_channel(channel_);
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channel_fsm_.set_queue(queue_);
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connected_ = false;
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message_ = 0;
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gnss_signal_ = Gnss_Signal();
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}
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// Destructor
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Channel::~Channel()
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{
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delete acq_;
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delete trk_;
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delete nav_;
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delete pass_through_;
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}
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void Channel::connect(gr::top_block_sptr top_block)
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{
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if (connected_)
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{
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LOG(WARNING) << "channel already connected internally";
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return;
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}
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pass_through_->connect(top_block);
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acq_->connect(top_block);
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trk_->connect(top_block);
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nav_->connect(top_block);
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top_block->connect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
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DLOG(INFO) << "pass_through_ -> acquisition";
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top_block->connect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
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DLOG(INFO) << "pass_through_ -> tracking";
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top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
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DLOG(INFO) << "tracking -> telemetry_decoder";
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connected_ = true;
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}
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void Channel::disconnect(gr::top_block_sptr top_block)
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{
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if (!connected_)
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{
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LOG(WARNING) << "Channel already disconnected internally";
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return;
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}
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top_block->disconnect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
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top_block->disconnect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
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top_block->disconnect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
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pass_through_->disconnect(top_block);
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acq_->disconnect(top_block);
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trk_->disconnect(top_block);
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nav_->disconnect(top_block);
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connected_ = false;
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}
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gr::basic_block_sptr Channel::get_left_block()
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{
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return pass_through_->get_left_block();
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}
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gr::basic_block_sptr Channel::get_right_block()
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{
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return nav_->get_right_block();
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}
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void Channel::set_signal(Gnss_Signal gnss_signal)
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{
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gnss_signal_ = gnss_signal;
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const char * str = gnss_signal_.get_signal().c_str(); // get a C style null terminated string
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std::memcpy((void*)gnss_synchro_.Signal, str, 3); // copy string into synchro char array: 2 char + null
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gnss_synchro_.Signal[2] = 0; // make sure that string length is only two characters
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gnss_synchro_.PRN = gnss_signal_.get_satellite().get_PRN();
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gnss_synchro_.System = gnss_signal_.get_satellite().get_system_short().c_str()[0];
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acq_->set_local_code();
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nav_->set_satellite(gnss_signal_.get_satellite());
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}
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void Channel::start_acquisition()
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{
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channel_fsm_.Event_gps_start_acquisition();
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}
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void Channel::start()
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{
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ch_thread_ = boost::thread(&Channel::run, this);
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}
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void Channel::run()
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{
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while (!stop_)
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{
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channel_internal_queue_.wait_and_pop(message_);
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process_channel_messages();
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}
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}
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void Channel::standby()
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{
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channel_fsm_.Event_gps_failed_tracking_standby();
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}
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/*
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* Set stop_ to true and blocks the calling thread until
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* the thread of the constructor has completed
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*/
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void Channel::stop()
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{
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channel_internal_queue_.push(0); //message to stop channel
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stop_ = true;
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/* When the boost::thread object that represents a thread of execution
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* is destroyed the thread becomes detached. Once a thread is detached,
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* it will continue executing until the invocation of the function or
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* callable object supplied on construction has completed,
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* or the program is terminated. In order to wait for a thread of
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* execution to finish, the join() or timed_join() member functions of
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* the boost::thread object must be used. join() will block the calling
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* thread until the thread represented by the boost::thread object
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* has completed.
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* NOTE: timed_join() is deprecated and only present up to Boost 1.56
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* try_join_until() was introduced in Boost 1.50
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*/
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#ifdef OLD_BOOST
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ch_thread_.timed_join(boost::posix_time::seconds(1));
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#endif
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#ifndef OLD_BOOST
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ch_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(50));
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#endif
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}
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void Channel::process_channel_messages()
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{
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switch (message_)
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{
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case 0:
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DLOG(INFO) << "Stop channel " << channel_;
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break;
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case 1:
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DLOG(INFO) << "Channel " << channel_ << " ACQ SUCCESS satellite " <<
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gnss_synchro_.System << " " << gnss_synchro_.PRN;
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channel_fsm_.Event_gps_valid_acquisition();
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break;
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case 2:
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DLOG(INFO) << "Channel " << channel_
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<< " ACQ FAILED satellite " << gnss_synchro_.System << " " << gnss_synchro_.PRN;
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if (repeat_ == true)
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{
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channel_fsm_.Event_gps_failed_acquisition_repeat();
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}
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else
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{
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channel_fsm_.Event_gps_failed_acquisition_no_repeat();
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}
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break;
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default:
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LOG(WARNING) << "Default case, invalid message.";
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break;
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}
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}
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