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gnss-sdr/src/core/receiver/gnss_flowgraph.cc

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/*!
* \file gnss_flowgraph.cc
* \brief Implementation of a GNSS receiver flowgraph
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
* Detailed description of the file here if needed.
*
* -------------------------------------------------------------------------
*
* 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 "gnss_flowgraph.h"
#include <exception>
#include "unistd.h"
#include <iostream>
#include <boost/lexical_cast.hpp>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <set>
#include "configuration_interface.h"
#include "gnss_block_interface.h"
#include "channel_interface.h"
#include "gnss_block_factory.h"
using google::LogMessage;
GNSSFlowgraph::GNSSFlowgraph(ConfigurationInterface *configuration,
gr_msg_queue_sptr queue)
{
connected_ = false;
running_ = false;
configuration_ = configuration;
blocks_ = new std::vector<GNSSBlockInterface*>();
block_factory_ = new GNSSBlockFactory();
queue_ = queue;
//available_GNSS_signals_ = new std::list<Gnss_Satellite>();
init();
}
GNSSFlowgraph::~GNSSFlowgraph()
{
delete block_factory_;
for (unsigned int i = 0; i < blocks_->size(); i++)
{
delete blocks_->at(i);
}
blocks_->clear();
delete blocks_;
}
void GNSSFlowgraph::start()
{
if (running_)
{
LOG_AT_LEVEL(WARNING) << "Already running";
return;
}
try
{
top_block_->start();
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR) << "Unable to start flowgraph";
LOG_AT_LEVEL(ERROR) << e.what();
return;
}
running_ = true;
}
void GNSSFlowgraph::stop()
{
for (unsigned int i = 0; i < channels_count_; i++)
{
// if(channels_state_[i]==2) channel(i)->
channel(i)->stop();
}
for (unsigned int i = 0; i < channels_count_; i++)
{
std::cout << "Channel " << i << " in state " << channels_state_[i]
<< std::endl;
}
DLOG(INFO) << "Threads finished. Return to main program.";
top_block_->stop();
running_ = false;
}
void GNSSFlowgraph::connect()
{
/* Connects the blocks in the flowgraph
*
* Signal Source > Signal conditioner >> Channels >> Observables >> PVT > Output filter
*/
DLOG(INFO) << "Connecting flowgraph";
if (connected_)
{
LOG_AT_LEVEL(WARNING) << "flowgraph already connected";
return;
}
try
{
signal_source()->connect(top_block_);
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR) << "Can't connect signal source block internally";
LOG_AT_LEVEL(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
// Signal Source > Signal conditioner >
try
{
signal_conditioner()->connect(top_block_);
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR)
<< "Can't connect signal conditioner block internally";
LOG_AT_LEVEL(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
for (unsigned int i = 0; i < channels_count_; i++)
{
try
{
channel(i)->connect(top_block_);
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR) << "Can't connect channel " << i
<< " internally";
LOG_AT_LEVEL(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
try
{
observables()->connect(top_block_);
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR) << "Can't connect observables block internally";
LOG_AT_LEVEL(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
// Signal Source > Signal conditioner >> Channels >> Observables > PVT
try
{
pvt()->connect(top_block_);
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR) << "Can't connect PVT block internally";
LOG_AT_LEVEL(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
// Signal Source > Signal conditioner >> Channels >> Observables > PVT > Output Filter
try
{
output_filter()->connect(top_block_);
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR) << "Can't connect output filter block internally";
LOG_AT_LEVEL(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
DLOG(INFO) << "blocks connected internally";
// Signal Source > Signal conditioner >
try
{
top_block_->connect(signal_source()->get_right_block(), 0,
signal_conditioner()->get_left_block(), 0);
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR)
<< "Can't connect signal source to signal conditioner";
LOG_AT_LEVEL(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
DLOG(INFO) << "Signal source connected to signal conditioner";
// Signal Source > Signal conditioner >> channels_count_ number of Channels in parallel
for (unsigned int i = 0; i < channels_count_; i++)
{
try
{
top_block_->connect(signal_conditioner()->get_right_block(), 0,
channel(i)->get_left_block(), 0);
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR)
<< "Can't connect signal conditioner to channel " << i;
LOG_AT_LEVEL(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
DLOG(INFO) << "signal conditioner connected to channel " << i;
// Signal Source > Signal conditioner >> Channels >> Observables
try
{
top_block_->connect(channel(i)->get_right_block(), 0,
observables()->get_left_block(), i);
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR) << "Can't connect channel " << i
<< " to observables";
LOG_AT_LEVEL(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
channel(i)->set_signal(available_GNSS_signals_.front());
std::cout << "Channel " << i << " assigned to "
<< available_GNSS_signals_.front() << std::endl;
available_GNSS_signals_.pop_front();
channel(i)->start();
if (channels_state_[i] == 1)
{
channel(i)->start_acquisition();
DLOG(INFO) << "Channel " << i
<< " connected to observables and ready for acquisition";
}
else
{
DLOG(INFO) << "Channel " << i
<< " connected to observables in standby mode";
}
}
/*
* Connect the observables output of each channel to the PVT block
*/
try
{
for (unsigned int i = 0; i < channels_count_; i++)
{
top_block_->connect(observables()->get_right_block(), i,
pvt()->get_left_block(), i);
}
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR) << "Can't connect observables to PVT";
LOG_AT_LEVEL(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
try
{
top_block_->connect(pvt()->get_right_block(), 0,
output_filter()->get_left_block(), 0);
}
catch (std::exception& e)
{
LOG_AT_LEVEL(ERROR) << "Can't connect PVT to output filter";
LOG_AT_LEVEL(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
DLOG(INFO) << "PVT connected to output filter";
connected_ = true;
DLOG(INFO) << "Flowgraph connected";
top_block_->dump();
}
void GNSSFlowgraph::wait()
{
if (!running_)
{
LOG_AT_LEVEL(WARNING) << "Can't apply wait. Flowgraph is not running";
return;
}
top_block_->wait();
DLOG(INFO) << "Flowgraph finished calculations";
running_ = false;
}
/*
* Applies an action to the flowgraph
*
* \param[in] who Who generated the action
* \param[in] what What is the action 0: acquisition failed
*/
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
{
DLOG(INFO) << "received " << what << " from " << who;
switch (what)
{
case 0:
DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite "
<< channel(who)->get_signal().get_satellite();
available_GNSS_signals_.push_back(channel(who)->get_signal());
while (channel(who)->get_signal().get_satellite().get_system() != available_GNSS_signals_.front().get_satellite().get_system()){
available_GNSS_signals_.push_back(available_GNSS_signals_.front());
available_GNSS_signals_.pop_front();
}
channel(who)->set_signal(available_GNSS_signals_.front());
available_GNSS_signals_.pop_front();
channel(who)->start_acquisition();
break;
// TODO: Tracking messages
case 1:
DLOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite "
<< channel(who)->get_signal().get_satellite();
channels_state_[who] = 2;
acq_channels_count_--;
if (acq_channels_count_ < max_acq_channels_)
{
for (unsigned int i = 0; i < channels_count_; i++)
{
if (channels_state_[i] == 0)
{
channels_state_[i] = 1;
acq_channels_count_++;
channel(i)->start_acquisition();
break;
}
}
}
for (unsigned int i = 0; i < channels_count_; i++)
{
std::cout << "Channel " << i << " in state " << channels_state_[i]
<< std::endl;
}
break;
case 2:
DLOG(INFO) << "Channel " << who << " TRK FAILED satellite "
<< channel(who)->get_signal().get_satellite();
if (acq_channels_count_ < max_acq_channels_)
{
channels_state_[who] = 1;
acq_channels_count_++;
channel(who)->start_acquisition();
}
else
{
channels_state_[who] = 0;
channel(who)->standby();
}
for (unsigned int i = 0; i < channels_count_; i++)
{
std::cout << "Channel " << i << " in state " << channels_state_[i]
<< std::endl;
}
break;
default:
break;
}
DLOG(INFO) << "Number of available satellites: "
<< available_GNSS_signals_.size();
}
void GNSSFlowgraph::set_configuration(ConfigurationInterface* configuration)
{
if (running_)
{
LOG_AT_LEVEL(WARNING)
<< "Unable to update configuration while flowgraph running";
return;
}
if (connected_)
{
LOG_AT_LEVEL(WARNING)
<< "Unable to update configuration while flowgraph connected";
}
configuration_ = configuration;
}
GNSSBlockInterface* GNSSFlowgraph::signal_source()
{
return blocks_->at(0);
}
GNSSBlockInterface* GNSSFlowgraph::signal_conditioner()
{
return blocks_->at(1);
}
ChannelInterface* GNSSFlowgraph::channel(unsigned int index)
{
return (ChannelInterface*) blocks_->at(index + 5);
}
GNSSBlockInterface* GNSSFlowgraph::observables()
{
return blocks_->at(2);
}
GNSSBlockInterface* GNSSFlowgraph::pvt()
{
return blocks_->at(3);
}
GNSSBlockInterface* GNSSFlowgraph::output_filter()
{
return blocks_->at(4);
}
void GNSSFlowgraph::init()
{
/*
* Instantiates the receiver blocks
*/
blocks_->push_back(block_factory_->GetSignalSource(configuration_, queue_));
blocks_->push_back(block_factory_->GetSignalConditioner(configuration_,
queue_));
blocks_->push_back(block_factory_->GetObservables(configuration_, queue_));
blocks_->push_back(block_factory_->GetPVT(configuration_, queue_));
blocks_->push_back(block_factory_->GetOutputFilter(configuration_, queue_));
std::vector<GNSSBlockInterface*>* channels = block_factory_->GetChannels(
configuration_, queue_);
channels_count_ = channels->size();
for (unsigned int i = 0; i < channels_count_; i++)
{
blocks_->push_back(channels->at(i));
}
top_block_ = gr_make_top_block("GNSSFlowgraph");
delete channels;
// fill the available_GNSS_signals_ queue with the satellites ID's to be searched by the acquisition
set_signals_list();
set_channels_state();
applied_actions_ = 0;
DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
}
void GNSSFlowgraph::set_signals_list()
{
/*
* Sets a sequential list of satellites (1, 2, ...32)
*/
/*
* \TODO Describe GNSS satellites more nicely, with RINEX notation
* See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf (page 5)
*/
std::set<unsigned int> available_gps_prn = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 25, 26, 27, 28,
29, 30, 31, 32 };
std::set<unsigned int>::iterator available_gnss_prn_iter;
Gnss_Signal signal_value;
/*
* Loop to create the list of GNSS Signals
* To add signals from other systems, add another loop 'for'
*/
for (available_gnss_prn_iter = available_gps_prn.begin(); available_gnss_prn_iter
!= available_gps_prn.end(); available_gnss_prn_iter++)
{
signal_value = Gnss_Signal(Gnss_Satellite(std::string("GPS"),
*available_gnss_prn_iter), std::string("1C"));
available_GNSS_signals_.push_back(signal_value);
}
std::set<unsigned int> available_galileo_prn = { 11, 12 };
for (available_gnss_prn_iter = available_galileo_prn.begin(); available_gnss_prn_iter
!= available_galileo_prn.end(); available_gnss_prn_iter++)
{
signal_value = Gnss_Signal(Gnss_Satellite(std::string("Galileo"),
*available_gnss_prn_iter), std::string("1B"));
available_GNSS_signals_.push_back(signal_value);
// signal_value = Gnss_Signal(Gnss_Satellite(std::string("Galileo"),
// *available_gnss_prn_iter), std::string("1C"));
// available_GNSS_signals_.push_back(signal_value);
}
std::list<Gnss_Signal>::iterator gnss_it = available_GNSS_signals_.begin();
for (unsigned int i = 0; i < channels_count_; i++)
{
std::string default_system = "GPS";
std::string default_signal = "1C";
std::string gnss_system = (configuration_->property("Channel"
+ boost::lexical_cast<std::string>(i) + ".system",
default_system));
std::string gnss_signal = (configuration_->property("Channel"
+ boost::lexical_cast<std::string>(i) + ".signal",
default_signal));
unsigned int sat = configuration_->property("Channel"
+ boost::lexical_cast<std::string>(i) + ".satellite", 0);
if ((sat == 0) || (sat == gnss_it->get_satellite().get_PRN())) // 0 = not PRN in configuration file
{
gnss_it++;
}
else
{
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat),
gnss_signal);
available_GNSS_signals_.remove(signal_value);
available_GNSS_signals_.insert(gnss_it, signal_value);
}
}
}
void GNSSFlowgraph::set_channels_state()
{
max_acq_channels_ = (configuration_->property("Channels.in_acquisition",
channels_count_));
if (max_acq_channels_ > channels_count_)
{
max_acq_channels_ = channels_count_;
std::cout
<< "Channels_in_acquisition is bigger than number of channels. Variable acq_channels_count_ is set to "
<< channels_count_ << std::endl;
}
channels_state_.reserve(channels_count_);
for (unsigned int i = 0; i < channels_count_; i++)
{
if (i < max_acq_channels_)
{
channels_state_.push_back(1);
} else
channels_state_.push_back(0);
}
acq_channels_count_ = max_acq_channels_;
DLOG(INFO) << acq_channels_count_ << " channels in acquisition state";
for (unsigned int i = 0; i < channels_count_; i++)
{
std::cout << "Channel " << i << " in state " << channels_state_[i]
<< std::endl;
}
}
void GNSSFlowgraph::apply_action(unsigned int what)
{
DLOG(INFO) << "Applied action " << what << " to flowgraph";
applied_actions_++;
}
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