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

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/*!
* \file channel.cc
* \brief Implementation of a GPS_L1_CA_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) 2010-2012 (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 "channel.h"
#include "acquisition_interface.h"
#include "tracking_interface.h"
#include "telemetry_decoder_interface.h"
#include "configuration_interface.h"
#include "gnss_flowgraph.h"
#include <iostream>
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/io_signature.h>
#include <gnuradio/message.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
using google::LogMessage;
// Constructor
Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
GNSSBlockInterface *pass_through, AcquisitionInterface *acq,
TrackingInterface *trk, TelemetryDecoderInterface *nav,
std::string role, std::string implementation, boost::shared_ptr<gr::msg_queue> queue) :
pass_through_(pass_through), acq_(acq), trk_(trk), nav_(nav),
role_(role), implementation_(implementation), channel_(channel),
queue_(queue)
{
stop_ = false;
acq_->set_channel(channel_);
trk_->set_channel(channel_);
nav_->set_channel(channel_);
gnss_synchro_.Channel_ID = channel_;
acq_->set_gnss_synchro(&gnss_synchro_);
trk_->set_gnss_synchro(&gnss_synchro_);
// IMPORTANT: Do not change the order between set_doppler_max, set_doppler_step and set_threshold
unsigned int doppler_max = configuration->property("Acquisition" + boost::lexical_cast<std::string>(channel_)
+ ".doppler_max",0);
if(doppler_max==0) doppler_max = configuration->property("Acquisition.doppler_max",0);
DLOG(INFO) << "Channel "<< channel_<<" Doppler_max = " << doppler_max << std::endl;
acq_->set_doppler_max(doppler_max);
unsigned int doppler_step = configuration->property("Acquisition" + boost::lexical_cast<std::string>(channel_)
+ ".doppler_step",0);
if(doppler_step==0) doppler_step = configuration->property("Acquisition.doppler_step",500);
DLOG(INFO) << "Channel "<< channel_<<" Doppler_step = " << doppler_step << std::endl;
acq_->set_doppler_step(doppler_step);
float threshold = configuration->property("Acquisition" + boost::lexical_cast<std::string>(channel_)
+ ".threshold",0.0);
if(threshold==0.0) threshold = configuration->property("Acquisition.threshold",0);
acq_->set_threshold(threshold);
acq_->init();
repeat_ = configuration->property("Acquisition" + boost::lexical_cast<
std::string>(channel_) + ".repeat_satellite", false);
DLOG(INFO) << "Channel " << channel_ << " satellite repeat = " << repeat_
<< std::endl;
acq_->set_channel_queue(&channel_internal_queue_);
trk_->set_channel_queue(&channel_internal_queue_);
channel_fsm_.set_acquisition(acq_);
channel_fsm_.set_tracking(trk_);
channel_fsm_.set_channel(channel_);
channel_fsm_.set_queue(queue_);
connected_ = false;
message_ = 0;
gnss_signal_ = Gnss_Signal();
}
// Destructor
Channel::~Channel()
{
delete acq_;
delete trk_;
delete nav_;
delete pass_through_;
}
void Channel::connect(gr::top_block_sptr top_block)
{
if (connected_)
{
LOG_AT_LEVEL(WARNING) << "channel already connected internally";
return;
}
pass_through_->connect(top_block);
acq_->connect(top_block);
trk_->connect(top_block);
nav_->connect(top_block);
top_block->connect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
DLOG(INFO) << "pass_through_ -> acquisition";
top_block->connect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
DLOG(INFO) << "pass_through_ -> tracking";
top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
DLOG(INFO) << "tracking -> telemetry_decoder";
connected_ = true;
}
void Channel::disconnect(gr::top_block_sptr top_block)
{
if (!connected_)
{
LOG_AT_LEVEL(WARNING) << "Channel already disconnected internally";
return;
}
top_block->disconnect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
top_block->disconnect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
top_block->disconnect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
pass_through_->disconnect(top_block);
acq_->disconnect(top_block);
trk_->disconnect(top_block);
nav_->disconnect(top_block);
connected_ = false;
}
gr::basic_block_sptr Channel::get_left_block()
{
return pass_through_->get_left_block();
}
gr::basic_block_sptr Channel::get_right_block()
{
return nav_->get_right_block();
}
void Channel::set_signal(Gnss_Signal gnss_signal)
{
gnss_signal_ = gnss_signal;
const char * str = gnss_signal_.get_signal().c_str(); // get a C style null terminated string
std::memcpy((void*)gnss_synchro_.Signal, str,3); // copy string into synchro char array: 2 char + null
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();
nav_->set_satellite(gnss_signal_.get_satellite());
}
void Channel::start_acquisition()
{
channel_fsm_.Event_gps_start_acquisition();
}
void Channel::start()
{
ch_thread_ = boost::thread(&Channel::run, this);
}
void Channel::run()
{
while (!stop_)
{
channel_internal_queue_.wait_and_pop(message_);
process_channel_messages();
}
}
void Channel::standby()
{
channel_fsm_.Event_gps_failed_tracking_standby();
}
/*
* Set stop_ to true and blocks the calling thread until
* the thread of the constructor has completed
*/
void Channel::stop()
{
channel_internal_queue_.push(0); //message to stop channel
stop_ = true;
/* When the boost::thread object that represents a thread of execution
* is destroyed the thread becomes detached. Once a thread is detached,
* it will continue executing until the invocation of the function or
* callable object supplied on construction has completed,
* or the program is terminated. In order to wait for a thread of
* execution to finish, the join() or timed_join() member functions of
* the boost::thread object must be used. join() will block the calling
* thread until the thread represented by the boost::thread object
* has completed.
*
*/
ch_thread_.join();
}
void Channel::process_channel_messages()
{
switch (message_)
{
case 0:
DLOG(INFO) << "Stop channel " << channel_;
break;
case 1:
DLOG(INFO) << "Channel " << channel_ << " ACQ SUCCESS satellite " <<
gnss_synchro_.System << " " << gnss_synchro_.PRN;
channel_fsm_.Event_gps_valid_acquisition();
break;
case 2:
DLOG(INFO) << "Channel " << channel_
<< " ACQ FAILED satellite " << gnss_synchro_.System << " " << gnss_synchro_.PRN;
if (repeat_ == true)
{
channel_fsm_.Event_gps_failed_acquisition_repeat();
}
else
{
channel_fsm_.Event_gps_failed_acquisition_no_repeat();
}
break;
default:
LOG_AT_LEVEL(WARNING) << "Default case, invalid message.";
break;
}
}
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