mirror of https://github.com/gnss-sdr/gnss-sdr
260 lines
8.0 KiB
C++
260 lines
8.0 KiB
C++
/*!
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* \file channel.cc
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* \brief Implementation of a GNSS_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) 2010-2020 (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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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "channel.h"
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#include "acquisition_interface.h"
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#include "channel_fsm.h"
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#include "configuration_interface.h"
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#include "gnss_sdr_flags.h"
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#include "telemetry_decoder_interface.h"
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#include "tracking_interface.h"
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#include <glog/logging.h>
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#include <utility> // for std::move
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Channel::Channel(const ConfigurationInterface* configuration,
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uint32_t channel,
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std::shared_ptr<AcquisitionInterface> acq,
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std::shared_ptr<TrackingInterface> trk,
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std::shared_ptr<TelemetryDecoderInterface> nav,
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const std::string& role,
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const std::string& signal_str,
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Concurrent_Queue<pmt::pmt_t>* queue) : acq_(std::move(acq)),
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trk_(std::move(trk)),
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nav_(std::move(nav)),
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role_(role),
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channel_(channel)
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{
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channel_fsm_ = std::make_shared<ChannelFsm>();
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flag_enable_fpga_ = configuration->property("GNSS-SDR.enable_FPGA", false);
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acq_->set_channel(channel_);
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acq_->set_channel_fsm(channel_fsm_);
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trk_->set_channel(channel_);
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nav_->set_channel(channel_);
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gnss_synchro_ = Gnss_Synchro();
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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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// Provide a warning to the user about the change of parameter name
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if (channel_ == 0)
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{
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const int64_t deprecation_warning = configuration->property("GNSS-SDR.internal_fs_hz", 0);
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if (deprecation_warning != 0)
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{
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std::cout << "WARNING: The global parameter name GNSS-SDR.internal_fs_hz has been DEPRECATED.\n";
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std::cout << "WARNING: Please replace it by GNSS-SDR.internal_fs_sps in your configuration file.\n";
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}
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}
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// IMPORTANT: Do not change the order between set_doppler_step and set_threshold
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uint32_t doppler_step = configuration->property("Acquisition_" + signal_str + std::to_string(channel_) + ".doppler_step", 0);
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if (doppler_step == 0)
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{
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doppler_step = configuration->property("Acquisition_" + signal_str + ".doppler_step", 500);
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}
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if (FLAGS_doppler_step != 0)
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{
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doppler_step = static_cast<uint32_t>(FLAGS_doppler_step);
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}
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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_" + signal_str + std::to_string(channel_) + ".threshold", static_cast<float>(0.0));
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if (threshold == 0.0)
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{
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threshold = configuration->property("Acquisition_" + signal_str + ".threshold", static_cast<float>(0.0));
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}
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acq_->set_threshold(threshold);
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acq_->init();
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repeat_ = configuration->property("Acquisition_" + signal_str + std::to_string(channel_) + ".repeat_satellite", false);
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DLOG(INFO) << "Channel " << channel_ << " satellite repeat = " << repeat_;
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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_telemetry(nav_);
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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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gnss_signal_ = Gnss_Signal(signal_str);
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channel_msg_rx_ = channel_msg_receiver_make_cc(channel_fsm_, repeat_);
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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 (!flag_enable_fpga_)
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{
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acq_->connect(top_block);
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}
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trk_->connect(top_block);
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nav_->connect(top_block);
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// Synchronous ports
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top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
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// Message ports
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top_block->msg_connect(nav_->get_left_block(), pmt::mp("telemetry_to_trk"), trk_->get_right_block(), pmt::mp("telemetry_to_trk"));
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DLOG(INFO) << "tracking -> telemetry_decoder";
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// Message ports
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if (!flag_enable_fpga_)
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{
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top_block->msg_connect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx_, pmt::mp("events"));
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}
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top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx_, pmt::mp("events"));
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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(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
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if (!flag_enable_fpga_)
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{
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acq_->disconnect(top_block);
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}
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trk_->disconnect(top_block);
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nav_->disconnect(top_block);
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top_block->msg_disconnect(nav_->get_left_block(), pmt::mp("telemetry_to_trk"), trk_->get_right_block(), pmt::mp("telemetry_to_trk"));
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if (!flag_enable_fpga_)
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{
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top_block->msg_disconnect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx_, pmt::mp("events"));
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}
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top_block->msg_disconnect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx_, pmt::mp("events"));
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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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LOG(ERROR) << "Deprecated call to get_left_block() in channel interface";
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return nullptr;
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}
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gr::basic_block_sptr Channel::get_left_block_trk()
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{
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return trk_->get_left_block();
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}
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gr::basic_block_sptr Channel::get_right_block_trk()
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{
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return trk_->get_right_block();
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}
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gr::basic_block_sptr Channel::get_left_block_acq()
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{
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if (flag_enable_fpga_)
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{
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LOG(ERROR) << "Enabled FPGA and called get_left_block() in channel interface";
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}
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return acq_->get_left_block();
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}
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gr::basic_block_sptr Channel::get_right_block_acq()
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{
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return acq_->get_right_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(const Gnss_Signal& gnss_signal)
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{
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std::lock_guard<std::mutex> lk(mx_);
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gnss_signal_ = gnss_signal;
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const std::string str_aux = gnss_signal_.get_signal_str();
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gnss_synchro_.Signal[0] = str_aux[0];
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gnss_synchro_.Signal[1] = str_aux[1];
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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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if (flag_enable_fpga_)
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{
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trk_->set_gnss_synchro(&gnss_synchro_);
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}
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nav_->set_satellite(gnss_signal_.get_satellite());
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}
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void Channel::stop_channel()
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{
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std::lock_guard<std::mutex> lk(mx_);
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const bool result = channel_fsm_->Event_stop_channel();
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if (!result)
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{
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LOG(WARNING) << "Invalid channel event";
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return;
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}
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DLOG(INFO) << "Channel stop_channel()";
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}
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void Channel::assist_acquisition_doppler(double Carrier_Doppler_hz)
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{
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acq_->set_doppler_center(static_cast<int>(Carrier_Doppler_hz));
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}
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void Channel::start_acquisition()
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{
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std::lock_guard<std::mutex> lk(mx_);
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bool result = false;
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if (!flag_enable_fpga_)
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{
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result = channel_fsm_->Event_start_acquisition();
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}
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else
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{
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result = channel_fsm_->Event_start_acquisition_fpga();
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channel_fsm_->start_acquisition();
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}
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if (!result)
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{
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LOG(WARNING) << "Invalid channel event";
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return;
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}
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DLOG(INFO) << "Channel start_acquisition()";
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}
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