mirror of
https://github.com/gnss-sdr/gnss-sdr
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212 lines
6.7 KiB
C++
212 lines
6.7 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. 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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* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
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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 "gnss_sdr_sample_counter.h"
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#include "gnss_signal.h"
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#include "pvt_interface.h"
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#include <gnuradio/msg_queue.h> // for msg_queue, msg_queue::sptr
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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 <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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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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/*! \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, const gr::msg_queue::sptr queue); // NOLINT(performance-unnecessary-value-param)
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/*!
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* \brief Destructor
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*/
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~GNSSFlowgraph();
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//! \brief Start the flow graph
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void start();
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//! \brief Stop the flow graph
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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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void disconnect();
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void wait();
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#ifdef 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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/*!
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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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void set_configuration(std::shared_ptr<ConfigurationInterface> configuration);
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unsigned int applied_actions() const
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{
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return applied_actions_;
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}
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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 GNURadio 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 Priorize visible satellites in the specified vector
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*/
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void priorize_satellites(std::vector<std::pair<int, Gnss_Satellite>> visible_satellites);
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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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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, bool pop, bool tracked = false);
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bool connected_;
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bool running_;
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int sources_count_;
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unsigned int channels_count_;
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unsigned int acq_channels_count_;
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unsigned int max_acq_channels_;
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unsigned int applied_actions_;
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std::string config_file_;
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std::shared_ptr<ConfigurationInterface> configuration_;
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std::vector<std::shared_ptr<GNSSBlockInterface>> sig_source_;
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std::vector<std::shared_ptr<GNSSBlockInterface>> sig_conditioner_;
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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<std::shared_ptr<ChannelInterface>> channels_;
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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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gr::top_block_sptr top_block_;
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gr::msg_queue::sptr queue_;
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std::list<Gnss_Signal> available_GPS_1C_signals_;
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std::list<Gnss_Signal> available_GPS_2S_signals_;
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std::list<Gnss_Signal> available_GPS_L5_signals_;
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std::list<Gnss_Signal> available_SBAS_1C_signals_;
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std::list<Gnss_Signal> available_GAL_1B_signals_;
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std::list<Gnss_Signal> available_GAL_5X_signals_;
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std::list<Gnss_Signal> available_GLO_1G_signals_;
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std::list<Gnss_Signal> available_GLO_2G_signals_;
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std::list<Gnss_Signal> available_BDS_B1_signals_;
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std::list<Gnss_Signal> available_BDS_B3_signals_;
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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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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::vector<unsigned int> channels_state_;
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std::mutex signal_list_mutex;
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bool enable_monitor_;
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gr::basic_block_sptr GnssSynchroMonitor_;
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std::vector<std::string> split_string(const std::string& s, char delim);
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};
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#endif /*GNSS_SDR_GNSS_FLOWGRAPH_H_*/
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