mirror of https://github.com/gnss-sdr/gnss-sdr
190 lines
6.9 KiB
C++
190 lines
6.9 KiB
C++
/*!
|
|
* \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) 2010-2015 (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 <memory>
|
|
#include <boost/lexical_cast.hpp>
|
|
#include <glog/logging.h>
|
|
//#include "channel_interface.h"
|
|
//#include "acquisition_interface.h"
|
|
//#include "tracking_interface.h"
|
|
//#include "telemetry_decoder_interface.h"
|
|
#include "configuration_interface.h"
|
|
//#include "channel_msg_receiver_cc.h"
|
|
|
|
using google::LogMessage;
|
|
|
|
// Constructor
|
|
Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
|
|
std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq,
|
|
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<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;
|
|
|
|
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_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_max", 0);
|
|
if(doppler_max == 0) doppler_max = configuration->property("Acquisition_" + implementation_+ ".doppler_max", 0);
|
|
DLOG(INFO) << "Channel "<< channel_ << " Doppler_max = " << doppler_max;
|
|
|
|
acq_->set_doppler_max(doppler_max);
|
|
|
|
unsigned int doppler_step = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_step" ,0);
|
|
if(doppler_step == 0) doppler_step = configuration->property("Acquisition_" + implementation_+".doppler_step", 500);
|
|
DLOG(INFO) << "Channel "<< channel_ << " Doppler_step = " << doppler_step;
|
|
|
|
acq_->set_doppler_step(doppler_step);
|
|
|
|
float threshold = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".threshold", 0.0);
|
|
if(threshold == 0.0) threshold = configuration->property("Acquisition_" + implementation_ + ".threshold", 0.0);
|
|
|
|
acq_->set_threshold(threshold);
|
|
|
|
acq_->init();
|
|
|
|
repeat_ = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".repeat_satellite", false);
|
|
DLOG(INFO) << "Channel " << channel_ << " satellite repeat = " << repeat_;
|
|
|
|
channel_fsm_.set_acquisition(acq_);
|
|
channel_fsm_.set_tracking(trk_);
|
|
channel_fsm_.set_channel(channel_);
|
|
channel_fsm_.set_queue(queue_);
|
|
|
|
connected_ = false;
|
|
|
|
gnss_signal_ = Gnss_Signal(implementation_);
|
|
|
|
channel_msg_rx = channel_msg_receiver_make_cc(&channel_fsm_, repeat_);
|
|
|
|
}
|
|
|
|
// Destructor
|
|
Channel::~Channel()
|
|
{
|
|
channel_fsm_.terminate();
|
|
}
|
|
|
|
void Channel::connect(gr::top_block_sptr top_block)
|
|
{
|
|
if (connected_)
|
|
{
|
|
LOG(WARNING) << "channel already connected internally";
|
|
return;
|
|
}
|
|
pass_through_->connect(top_block);
|
|
acq_->connect(top_block);
|
|
trk_->connect(top_block);
|
|
nav_->connect(top_block);
|
|
|
|
//Synchronous ports
|
|
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";
|
|
|
|
// Message ports
|
|
top_block->msg_connect(nav_->get_left_block(), pmt::mp("preamble_timestamp_s"), trk_->get_right_block(), pmt::mp("preamble_timestamp_s"));
|
|
DLOG(INFO) << "MSG FEEDBACK CHANNEL telemetry_decoder -> tracking";
|
|
|
|
//std::cout<<"has port: "<<trk_->get_right_block()->has_msg_port(pmt::mp("events"))<<std::endl;
|
|
top_block->msg_connect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
|
|
top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
|
|
|
|
connected_ = true;
|
|
}
|
|
|
|
|
|
void Channel::disconnect(gr::top_block_sptr top_block)
|
|
{
|
|
if (!connected_)
|
|
{
|
|
LOG(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(const Gnss_Signal& gnss_signal)
|
|
{
|
|
gnss_signal_ = gnss_signal;
|
|
std::string str_aux = gnss_signal_.get_signal_str();
|
|
const char * str = str_aux.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_start_acquisition();
|
|
}
|
|
|