[hamradio-commits] [gnss-sdr] 186/236: Replacing GPS telemetry shared queues and maps with GNURadio asynchronous messages (TLM -> PVT)
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Tue Apr 26 16:02:51 UTC 2016
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carles_fernandez-guest pushed a commit to branch next
in repository gnss-sdr.
commit 588864e19ec26f2822defb668c8b4ea23b58fea7
Author: Javier Arribas <javiarribas at gmail.com>
Date: Tue Apr 12 15:28:58 2016 +0200
Replacing GPS telemetry shared queues and maps with GNURadio
asynchronous messages (TLM -> PVT)
---
.../PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc | 93 ++---
.../PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h | 3 +
.../adapters/gps_l1_ca_telemetry_decoder.cc | 7 -
.../gps_l1_ca_telemetry_decoder_cc.cc | 43 +-
.../gps_l1_ca_telemetry_decoder_cc.h | 4 +-
.../libs/gps_l1_ca_subframe_fsm.cc | 50 +--
.../libs/gps_l1_ca_subframe_fsm.h | 7 +-
src/core/receiver/control_thread.cc | 461 ++++++++-------------
src/core/receiver/control_thread.h | 22 +-
src/core/receiver/gnss_flowgraph.cc | 1 +
src/main/main.cc | 3 -
11 files changed, 279 insertions(+), 415 deletions(-)
diff --git a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
index 75d7e51..35930d5 100644
--- a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
@@ -42,10 +42,6 @@
using google::LogMessage;
-extern concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
-extern concurrent_map<Gps_Iono> global_gps_iono_map;
-extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
-
extern concurrent_queue<Sbas_Raw_Msg> global_sbas_raw_msg_queue;
extern concurrent_map<Sbas_Ionosphere_Correction> global_sbas_iono_map;
extern concurrent_map<Sbas_Satellite_Correction> global_sbas_sat_corr_map;
@@ -58,6 +54,44 @@ gps_l1_ca_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> q
}
+void gps_l1_ca_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
+{
+ try {
+ if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>) )
+ {
+ // ### GPS EPHEMERIS ###
+ std::shared_ptr<Gps_Ephemeris> gps_eph;
+ gps_eph= boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
+ LOG(INFO) << "Ephemeris record has arrived from SAT ID "
+ << gps_eph->i_satellite_PRN << " (Block "
+ << gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
+ << "inserted with Toe="<< gps_eph->d_Toe<<" and GPS Week="
+ << gps_eph->i_GPS_week;
+ // update/insert new ephemeris record to the global ephemeris map
+ d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN]=*gps_eph;
+ }else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>) )
+ {
+ // ### IONO ###
+ std::shared_ptr<Gps_Iono> gps_iono;
+ gps_iono= boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
+ d_ls_pvt->gps_iono=*gps_iono;
+ LOG(INFO) << "New IONO record has arrived ";
+ }else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
+ {
+ // ### UTC MODEL ###
+ std::shared_ptr<Gps_Utc_Model> gps_utc_model;
+ gps_utc_model= boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
+ d_ls_pvt->gps_utc_model=*gps_utc_model;
+ LOG(INFO) << "New UTC record has arrived ";
+ }
+
+ }
+ catch(boost::bad_any_cast& e)
+ {
+ DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
+ }
+}
+
gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
boost::shared_ptr<gr::msg_queue> queue,
bool dump, std::string dump_filename,
@@ -82,6 +116,11 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
d_dump_filename = dump_filename;
std::string dump_ls_pvt_filename = dump_filename;
+ // GPS Ephemeris data message port in
+ this->message_port_register_in(pmt::mp("telemetry"));
+ this->set_msg_handler(pmt::mp("telemetry"),
+ boost::bind(&gps_l1_ca_pvt_cc::msg_handler_telemetry, this, _1));
+
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
@@ -171,16 +210,12 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
{
d_sample_counter++;
-
std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
-
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
- //Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //Get the output pointer
print_receiver_status(in);
- // ############ 1. READ EPHEMERIS FROM GLOBAL MAP ####
- d_ls_pvt->gps_ephemeris_map = global_gps_ephemeris_map.get_map_copy();
+ // ############ 1. READ EPHEMERIS ####
for (unsigned int i = 0; i < d_nchannels; i++)
{
@@ -197,46 +232,6 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
d_rtcm_printer->lock_time(gps_ephemeris_iter->second, 0.0, in[i][0]);
}
}
-
- // ############ READ UTC_MODEL/IONO FROM GLOBAL MAPS ####
- if (global_gps_utc_model_map.size() > 0)
- {
- // UTC MODEL data is shared for all the GPS satellites. Read always at a locked channel
- signed int i = 0;
- while(true)
- {
- if (in[i][0].Flag_valid_pseudorange == true)
- {
- global_gps_utc_model_map.read(i, d_ls_pvt->gps_utc_model);
- break;
- }
- i++;
- if (i == (signed int)d_nchannels - 1)
- {
- break;
- }
- }
- }
-
- if (global_gps_iono_map.size() > 0)
- {
- // IONO data is shared for all the GPS satellites. Read always at a locked channel
- signed int i = 0;
- while(true)
- {
- if (in[i][0].Flag_valid_pseudorange == true)
- {
- global_gps_iono_map.read(i, d_ls_pvt->gps_iono);
- break;
- }
- i++;
- if (i == (signed int)d_nchannels - 1)
- {
- break;
- }
- }
- }
-
// update SBAS data collections
if (global_sbas_iono_map.size() > 0)
{
diff --git a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
index c2c8a7b..810082c 100644
--- a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
+++ b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
@@ -96,6 +96,9 @@ private:
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
std::string rtcm_dump_devname);
+
+ void msg_handler_telemetry(pmt::pmt_t msg);
+
boost::shared_ptr<gr::msg_queue> d_queue;
bool d_dump;
bool b_rinex_header_writen;
diff --git a/src/algorithms/telemetry_decoder/adapters/gps_l1_ca_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/gps_l1_ca_telemetry_decoder.cc
index 4fa5b1f..104460f 100644
--- a/src/algorithms/telemetry_decoder/adapters/gps_l1_ca_telemetry_decoder.cc
+++ b/src/algorithms/telemetry_decoder/adapters/gps_l1_ca_telemetry_decoder.cc
@@ -40,10 +40,6 @@
#include "gps_utc_model.h"
#include "configuration_interface.h"
-
-extern concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
-extern concurrent_queue<Gps_Iono> global_gps_iono_queue;
-extern concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
extern concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
@@ -68,10 +64,7 @@ GpsL1CaTelemetryDecoder::GpsL1CaTelemetryDecoder(ConfigurationInterface* configu
telemetry_decoder_ = gps_l1_ca_make_telemetry_decoder_cc(satellite_, queue_, dump_); // TODO fix me
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
// set the navigation msg queue;
- telemetry_decoder_->set_ephemeris_queue(&global_gps_ephemeris_queue);
- telemetry_decoder_->set_iono_queue(&global_gps_iono_queue);
telemetry_decoder_->set_almanac_queue(&global_gps_almanac_queue);
- telemetry_decoder_->set_utc_model_queue(&global_gps_utc_model_queue);
//decimation factor
int decimation_factor = configuration->property(role + ".decimation_factor", 1);
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
index f7162c5..28caea3 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
@@ -63,6 +63,8 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
{
// Telemetry Bit transition synchronization port out
this->message_port_register_out(pmt::mp("preamble_timestamp_s"));
+ // Ephemeris data port out
+ this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@ -199,7 +201,6 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
// send asynchronous message to tracking to inform of frame sync and extend correlation time
pmt::pmt_t value = pmt::from_double(d_preamble_time_seconds - 0.001);
this->message_port_pub(pmt::mp("preamble_timestamp_s"), value);
-
d_flag_frame_sync = true;
if (corr_value < 0)
{
@@ -271,6 +272,44 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
memcpy(&d_GPS_FSM.d_GPS_frame_4bytes, &d_GPS_frame_4bytes, sizeof(char)*4);
d_GPS_FSM.d_preamble_time_ms = d_preamble_time_seconds * 1000.0;
d_GPS_FSM.Event_gps_word_valid();
+ // send TLM data to PVT using asynchronous message queues
+ if (d_GPS_FSM.d_flag_new_subframe==true)
+ {
+ switch (d_GPS_FSM.d_subframe_ID)
+ {
+ case 3: //we have a new set of ephemeris data for the current SV
+ if (d_GPS_FSM.d_nav.satellite_validation() == true)
+ {
+ // get ephemeris object for this SV (mandatory)
+ std::shared_ptr<Gps_Ephemeris> tmp_obj= std::make_shared<Gps_Ephemeris>();
+ *tmp_obj = d_GPS_FSM.d_nav.get_ephemeris();
+ this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+ }
+ break;
+ case 4: // Possible IONOSPHERE and UTC model update (page 18)
+ if (d_GPS_FSM.d_nav.flag_iono_valid == true)
+ {
+ std::shared_ptr<Gps_Iono> tmp_obj= std::make_shared<Gps_Iono>();
+ *tmp_obj = d_GPS_FSM.d_nav.get_iono(); //notice that the read operation will clear the valid flag
+ this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+ }
+ if (d_GPS_FSM.d_nav.flag_utc_model_valid == true)
+ {
+ std::shared_ptr<Gps_Utc_Model> tmp_obj= std::make_shared<Gps_Utc_Model>();
+ *tmp_obj = d_GPS_FSM.d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
+ this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
+ }
+ break;
+ case 5:
+ // get almanac (if available)
+ //TODO: implement almanac reader in navigation_message
+ break;
+ default:
+ break;
+ }
+ d_GPS_FSM.clear_flag_new_subframe();
+ }
+
d_flag_parity = true;
}
else
@@ -397,7 +436,7 @@ void gps_l1_ca_telemetry_decoder_cc::set_channel(int channel)
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
<< " Log file: " << d_dump_filename.c_str();
}
- catch (std::ifstream::failure e)
+ catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
}
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
index 67d270b..1c2892d 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h
@@ -70,10 +70,7 @@ public:
/*!
* \brief Set the satellite data queue
*/
- void set_ephemeris_queue(concurrent_queue<Gps_Ephemeris> *ephemeris_queue){d_GPS_FSM.d_ephemeris_queue = ephemeris_queue;} //!< Set the ephemeris data queue
- void set_iono_queue(concurrent_queue<Gps_Iono> *iono_queue){d_GPS_FSM.d_iono_queue = iono_queue;} //!< Set the iono data queue
void set_almanac_queue(concurrent_queue<Gps_Almanac> *almanac_queue){d_GPS_FSM.d_almanac_queue = almanac_queue;} //!< Set the almanac data queue
- void set_utc_model_queue(concurrent_queue<Gps_Utc_Model> *utc_model_queue){d_GPS_FSM.d_utc_model_queue = utc_model_queue;} //!< Set the UTC model data queue
/*!
* \brief This is where all signal processing takes place
@@ -142,6 +139,7 @@ private:
std::string d_dump_filename;
std::ofstream d_dump_file;
+
};
#endif
diff --git a/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc b/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc
index 3f662ac..1f0e797 100644
--- a/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc
+++ b/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc
@@ -238,11 +238,10 @@ GpsL1CaSubframeFsm::GpsL1CaSubframeFsm()
d_nav.reset();
i_channel_ID = 0;
i_satellite_PRN = 0;
- d_ephemeris_queue = 0;
- d_iono_queue = 0;
- d_utc_model_queue = 0;
d_almanac_queue = 0;
d_preamble_time_ms = 0;
+ d_subframe_ID=0;
+ d_flag_new_subframe=false;
initiate(); //start the FSM
}
@@ -254,54 +253,25 @@ void GpsL1CaSubframeFsm::gps_word_to_subframe(int position)
std::memcpy(&d_subframe[position*GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char)*GPS_WORD_LENGTH);
}
-
-
+void GpsL1CaSubframeFsm::clear_flag_new_subframe()
+{
+ d_flag_new_subframe=false;
+}
void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
{
- int subframe_ID;
+ //int subframe_ID;
// NEW GPS SUBFRAME HAS ARRIVED!
- subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe
+ d_subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe
std::cout << "NAV Message: received subframe "
- << subframe_ID << " from satellite "
+ << d_subframe_ID << " from satellite "
<< Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
-
d_nav.i_satellite_PRN = i_satellite_PRN;
d_nav.i_channel_ID = i_channel_ID;
d_nav.d_subframe_timestamp_ms = this->d_preamble_time_ms;
- switch (subframe_ID)
- {
- case 3: //we have a new set of ephemeris data for the current SV
- if (d_nav.satellite_validation() == true)
- {
- // get ephemeris object for this SV (mandatory)
- Gps_Ephemeris ephemeris = d_nav.get_ephemeris();
- d_ephemeris_queue->push(ephemeris);
- }
- break;
- case 4: // Possible IONOSPHERE and UTC model update (page 18)
- if (d_nav.flag_iono_valid == true)
- {
- Gps_Iono iono = d_nav.get_iono(); //notice that the read operation will clear the valid flag
- d_iono_queue->push(iono);
- }
- if (d_nav.flag_utc_model_valid == true)
- {
- Gps_Utc_Model utc_model = d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
- d_utc_model_queue->push(utc_model);
- }
- break;
- case 5:
- // get almanac (if available)
- //TODO: implement almanac reader in navigation_message
- break;
- default:
- break;
- }
+ d_flag_new_subframe=true;
}
-
-
void GpsL1CaSubframeFsm::Event_gps_word_valid()
{
this->process_event(Ev_gps_word_valid());
diff --git a/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.h b/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.h
index 1350d98..2193ceb 100644
--- a/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.h
+++ b/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.h
@@ -66,14 +66,11 @@ class GpsL1CaSubframeFsm : public sc::state_machine< GpsL1CaSubframeFsm, gps_sub
{
public:
GpsL1CaSubframeFsm(); //!< The constructor starts the Finite State Machine
-
+ void clear_flag_new_subframe();
// channel and satellite info
int i_channel_ID; //!< Channel id
unsigned int i_satellite_PRN; //!< Satellite PRN number
- concurrent_queue<Gps_Ephemeris> *d_ephemeris_queue; //!< Ephemeris queue
- concurrent_queue<Gps_Iono> *d_iono_queue; //!< Ionospheric parameters queue
- concurrent_queue<Gps_Utc_Model> *d_utc_model_queue; //!< UTC model parameters queue
concurrent_queue<Gps_Almanac> *d_almanac_queue; //!< Almanac queue
Gps_Navigation_Message d_nav; //!< GPS L1 C/A navigation message object
@@ -85,6 +82,8 @@ public:
Gps_Iono iono; //!< Object that handles ionospheric parameters
char d_subframe[GPS_SUBFRAME_LENGTH];
+ int d_subframe_ID;
+ bool d_flag_new_subframe;
char d_GPS_frame_4bytes[GPS_WORD_LENGTH];
double d_preamble_time_ms;
diff --git a/src/core/receiver/control_thread.cc b/src/core/receiver/control_thread.cc
index 846dea4..9f9f33e 100644
--- a/src/core/receiver/control_thread.cc
+++ b/src/core/receiver/control_thread.cc
@@ -56,19 +56,11 @@
#include "file_configuration.h"
#include "control_message_factory.h"
-
-
-extern concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
-extern concurrent_map<Gps_Iono> global_gps_iono_map;
-extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
extern concurrent_map<Gps_Almanac> global_gps_almanac_map;
extern concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
extern concurrent_map<Gps_Ref_Time> global_gps_ref_time_map;
extern concurrent_map<Gps_Ref_Location> global_gps_ref_location_map;
-extern concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
-extern concurrent_queue<Gps_Iono> global_gps_iono_queue;
-extern concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
extern concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
extern concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
extern concurrent_queue<Gps_Ref_Location> global_gps_ref_location_queue;
@@ -78,13 +70,11 @@ extern concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
extern concurrent_map<Galileo_Iono> global_galileo_iono_map;
extern concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
extern concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
-//extern concurrent_map<Galileo_Acq_Assist> global_gps_acq_assist_map;
extern concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
extern concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
extern concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
extern concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
-//extern concurrent_queue<Galileo_Acq_Assist> global_gps_acq_assist_queue;
using google::LogMessage;
@@ -112,7 +102,7 @@ ControlThread::ControlThread(std::shared_ptr<ConfigurationInterface> configurati
ControlThread::~ControlThread()
{
// save navigation data to files
- if (save_assistance_to_XML() == true) {}
+ // if (save_assistance_to_XML() == true) {}
}
@@ -154,9 +144,7 @@ void ControlThread::run()
keyboard_thread_ = boost::thread(&ControlThread::keyboard_listener, this);
//start the GNSS SV data collector thread
- gps_ephemeris_data_collector_thread_ = boost::thread(&ControlThread::gps_ephemeris_data_collector, this);
- gps_iono_data_collector_thread_ = boost::thread(&ControlThread::gps_iono_data_collector, this);
- gps_utc_model_data_collector_thread_ = boost::thread(&ControlThread::gps_utc_model_data_collector, this);
+
gps_acq_assist_data_collector_thread_= boost::thread(&ControlThread::gps_acq_assist_data_collector, this);
gps_ref_location_data_collector_thread_ = boost::thread(&ControlThread::gps_ref_location_data_collector, this);
gps_ref_time_data_collector_thread_ = boost::thread(&ControlThread::gps_ref_time_data_collector, this);
@@ -176,9 +164,6 @@ void ControlThread::run()
flowgraph_->stop();
stop_ = true;
// sending empty data to terminate the threads
- global_gps_ephemeris_queue.push(Gps_Ephemeris());
- global_gps_iono_queue.push(Gps_Iono());
- global_gps_utc_model_queue.push(Gps_Utc_Model());
global_gps_almanac_queue.push(Gps_Almanac());
global_gps_acq_assist_queue.push(Gps_Acq_Assist());
global_gps_ref_location_queue.push(Gps_Ref_Location());
@@ -189,9 +174,6 @@ void ControlThread::run()
global_galileo_almanac_queue.push(Galileo_Almanac());
// Join GPS threads
- gps_ephemeris_data_collector_thread_.join();
- gps_iono_data_collector_thread_.join();
- gps_utc_model_data_collector_thread_.join();
gps_acq_assist_data_collector_thread_.join();
gps_ref_location_data_collector_thread_.join();
gps_ref_time_data_collector_thread_.join();
@@ -228,167 +210,167 @@ void ControlThread::set_control_queue(boost::shared_ptr<gr::msg_queue> control_q
/*
* Returns true if reading was successful
*/
-bool ControlThread::read_assistance_from_XML()
-{
- // return variable (true == succeeded)
- bool ret = false;
- // getting names from the config file, if available
- std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
- std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
- std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
- std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
- std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
-
- std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl;
- if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
- {
- std::map<int,Gps_Ephemeris>::iterator gps_eph_iter;
- for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin();
- gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end();
- gps_eph_iter++)
- {
- std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
- global_gps_ephemeris_queue.push(gps_eph_iter->second);
- }
- ret = true;
- }
- else
- {
- std::cout << "ERROR: SUPL client error reading XML" << std::endl;
- std::cout << "Disabling SUPL assistance..." << std::endl;
- }
- // Only look for {utc, iono, ref time, ref location} if SUPL is enabled
- bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
- if (enable_gps_supl_assistance == true)
- {
- // Try to read UTC model from XML
- if (supl_client_acquisition_.load_utc_xml(utc_xml_filename) == true)
- {
- LOG(INFO) << "SUPL: Read XML UTC model";
- global_gps_utc_model_queue.push(supl_client_acquisition_.gps_utc);
- }
- else
- {
- LOG(INFO) << "SUPL: couldn't read UTC model XML";
- }
-
- // Try to read Iono model from XML
- if (supl_client_acquisition_.load_iono_xml(iono_xml_filename) == true)
- {
- LOG(INFO) << "SUPL: Read XML IONO model";
- global_gps_iono_queue.push(supl_client_acquisition_.gps_iono);
- }
- else
- {
- LOG(INFO) << "SUPL: couldn't read IONO model XML";
- }
-
- // Try to read Ref Time from XML
- if (supl_client_acquisition_.load_ref_time_xml(ref_time_xml_filename) == true)
- {
- LOG(INFO) << "SUPL: Read XML Ref Time";
- global_gps_ref_time_queue.push(supl_client_acquisition_.gps_time);
- }
- else
- {
- LOG(INFO) << "SUPL: couldn't read Ref Time XML";
- }
-
- // Try to read Ref Location from XML
- if (supl_client_acquisition_.load_ref_location_xml(ref_location_xml_filename) == true)
- {
- LOG(INFO) << "SUPL: Read XML Ref Location";
- global_gps_ref_location_queue.push(supl_client_acquisition_.gps_ref_loc);
- }
- else
- {
- LOG(INFO) << "SUPL: couldn't read Ref Location XML";
- }
- }
-
- return ret;
-}
+//bool ControlThread::read_assistance_from_XML()
+//{
+// // return variable (true == succeeded)
+// bool ret = false;
+// // getting names from the config file, if available
+// std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
+// std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
+// std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
+// std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
+// std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
+//
+// std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl;
+// if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
+// {
+// std::map<int,Gps_Ephemeris>::iterator gps_eph_iter;
+// for(gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.begin();
+// gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.end();
+// gps_eph_iter++)
+// {
+// std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
+// global_gps_ephemeris_queue.push(gps_eph_iter->second);
+// }
+// ret = true;
+// }
+// else
+// {
+// std::cout << "ERROR: SUPL client error reading XML" << std::endl;
+// std::cout << "Disabling SUPL assistance..." << std::endl;
+// }
+// // Only look for {utc, iono, ref time, ref location} if SUPL is enabled
+// bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
+// if (enable_gps_supl_assistance == true)
+// {
+// // Try to read UTC model from XML
+// if (supl_client_acquisition_.load_utc_xml(utc_xml_filename) == true)
+// {
+// LOG(INFO) << "SUPL: Read XML UTC model";
+// global_gps_utc_model_queue.push(supl_client_acquisition_.gps_utc);
+// }
+// else
+// {
+// LOG(INFO) << "SUPL: couldn't read UTC model XML";
+// }
+//
+// // Try to read Iono model from XML
+// if (supl_client_acquisition_.load_iono_xml(iono_xml_filename) == true)
+// {
+// LOG(INFO) << "SUPL: Read XML IONO model";
+// global_gps_iono_queue.push(supl_client_acquisition_.gps_iono);
+// }
+// else
+// {
+// LOG(INFO) << "SUPL: couldn't read IONO model XML";
+// }
+//
+// // Try to read Ref Time from XML
+// if (supl_client_acquisition_.load_ref_time_xml(ref_time_xml_filename) == true)
+// {
+// LOG(INFO) << "SUPL: Read XML Ref Time";
+// global_gps_ref_time_queue.push(supl_client_acquisition_.gps_time);
+// }
+// else
+// {
+// LOG(INFO) << "SUPL: couldn't read Ref Time XML";
+// }
+//
+// // Try to read Ref Location from XML
+// if (supl_client_acquisition_.load_ref_location_xml(ref_location_xml_filename) == true)
+// {
+// LOG(INFO) << "SUPL: Read XML Ref Location";
+// global_gps_ref_location_queue.push(supl_client_acquisition_.gps_ref_loc);
+// }
+// else
+// {
+// LOG(INFO) << "SUPL: couldn't read Ref Location XML";
+// }
+// }
+//
+// return ret;
+//}
// Returns true if reading was successful
-bool ControlThread::save_assistance_to_XML()
-{
- // return variable (true == succeeded)
- bool ret = false;
- // getting names from the config file, if available
- std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
- std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
- std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
- std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
- std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
-
- LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename;
- std::map<int, Gps_Ephemeris> eph_copy = global_gps_ephemeris_map.get_map_copy();
- if (supl_client_ephemeris_.save_ephemeris_map_xml(eph_xml_filename, eph_copy) == true)
- {
- LOG(INFO) << "SUPL: Successfully saved ephemeris XML file";
- ret = true;
- }
- else
- {
- LOG(INFO) << "SUPL: Error while trying to save ephemeris XML file. Maybe an empty map?";
- ret = false;
- }
- // Only try to save {utc, iono, ref time, ref location} if SUPL is enabled
- bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
- if (enable_gps_supl_assistance == true)
- {
- // try to save utc model xml file
- std::map<int, Gps_Utc_Model> utc_copy = global_gps_utc_model_map.get_map_copy();
- if (supl_client_acquisition_.save_utc_map_xml(utc_xml_filename, utc_copy) == true)
- {
- LOG(INFO) << "SUPL: Successfully saved UTC Model XML file";
- //ret = true;
- }
- else
- {
- LOG(INFO) << "SUPL: Error while trying to save utc XML file";
- //ret = false;
- }
- // try to save iono model xml file
- std::map<int, Gps_Iono> iono_copy = global_gps_iono_map.get_map_copy();
- if (supl_client_acquisition_.save_iono_map_xml(iono_xml_filename, iono_copy) == true)
- {
- LOG(INFO) << "SUPL: Successfully saved IONO Model XML file";
- //ret = true;
- }
- else
- {
- LOG(INFO) << "SUPL: Error while trying to save iono XML file";
- //ret = false;
- }
- // try to save ref time xml file
- std::map<int, Gps_Ref_Time> ref_time_copy = global_gps_ref_time_map.get_map_copy();
- if (supl_client_acquisition_.save_ref_time_map_xml(ref_time_xml_filename, ref_time_copy) == true)
- {
- LOG(INFO) << "SUPL: Successfully saved Ref Time XML file";
- //ret = true;
- }
- else
- {
- LOG(INFO) << "SUPL: Error while trying to save ref time XML file";
- //ref = false;
- }
- // try to save ref location xml file
- std::map<int, Gps_Ref_Location> ref_location_copy = global_gps_ref_location_map.get_map_copy();
- if (supl_client_acquisition_.save_ref_location_map_xml(ref_location_xml_filename, ref_location_copy) == true)
- {
- LOG(INFO) << "SUPL: Successfully saved Ref Location XML file";
- //ref = true;
- }
- else
- {
- LOG(INFO) << "SUPL: Error while trying to save ref location XML file";
- //ret = false;
- }
- }
- return ret;
-}
+//bool ControlThread::save_assistance_to_XML()
+//{
+// // return variable (true == succeeded)
+// bool ret = false;
+// // getting names from the config file, if available
+// std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
+// std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
+// std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
+// std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
+// std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
+//
+// LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename;
+// std::map<int, Gps_Ephemeris> eph_copy = global_gps_ephemeris_map.get_map_copy();
+// if (supl_client_ephemeris_.save_ephemeris_map_xml(eph_xml_filename, eph_copy) == true)
+// {
+// LOG(INFO) << "SUPL: Successfully saved ephemeris XML file";
+// ret = true;
+// }
+// else
+// {
+// LOG(INFO) << "SUPL: Error while trying to save ephemeris XML file. Maybe an empty map?";
+// ret = false;
+// }
+// // Only try to save {utc, iono, ref time, ref location} if SUPL is enabled
+// bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
+// if (enable_gps_supl_assistance == true)
+// {
+// // try to save utc model xml file
+// std::map<int, Gps_Utc_Model> utc_copy = global_gps_utc_model_map.get_map_copy();
+// if (supl_client_acquisition_.save_utc_map_xml(utc_xml_filename, utc_copy) == true)
+// {
+// LOG(INFO) << "SUPL: Successfully saved UTC Model XML file";
+// //ret = true;
+// }
+// else
+// {
+// LOG(INFO) << "SUPL: Error while trying to save utc XML file";
+// //ret = false;
+// }
+// // try to save iono model xml file
+// std::map<int, Gps_Iono> iono_copy = global_gps_iono_map.get_map_copy();
+// if (supl_client_acquisition_.save_iono_map_xml(iono_xml_filename, iono_copy) == true)
+// {
+// LOG(INFO) << "SUPL: Successfully saved IONO Model XML file";
+// //ret = true;
+// }
+// else
+// {
+// LOG(INFO) << "SUPL: Error while trying to save iono XML file";
+// //ret = false;
+// }
+// // try to save ref time xml file
+// std::map<int, Gps_Ref_Time> ref_time_copy = global_gps_ref_time_map.get_map_copy();
+// if (supl_client_acquisition_.save_ref_time_map_xml(ref_time_xml_filename, ref_time_copy) == true)
+// {
+// LOG(INFO) << "SUPL: Successfully saved Ref Time XML file";
+// //ret = true;
+// }
+// else
+// {
+// LOG(INFO) << "SUPL: Error while trying to save ref time XML file";
+// //ref = false;
+// }
+// // try to save ref location xml file
+// std::map<int, Gps_Ref_Location> ref_location_copy = global_gps_ref_location_map.get_map_copy();
+// if (supl_client_acquisition_.save_ref_location_map_xml(ref_location_xml_filename, ref_location_copy) == true)
+// {
+// LOG(INFO) << "SUPL: Successfully saved Ref Location XML file";
+// //ref = true;
+// }
+// else
+// {
+// LOG(INFO) << "SUPL: Error while trying to save ref location XML file";
+// //ret = false;
+// }
+// }
+// return ret;
+//}
void ControlThread::init()
@@ -441,7 +423,7 @@ void ControlThread::init()
if (SUPL_read_gps_assistance_xml == true)
{
// read assistance from file
- if (read_assistance_from_XML()) {}
+ //if (read_assistance_from_XML()) {}
}
else
{
@@ -458,7 +440,10 @@ void ControlThread::init()
gps_eph_iter++)
{
std::cout << "SUPL: Received Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
- global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN, gps_eph_iter->second);
+ //TODO: Now the ephemeris are transported from telemetry decoder to PVT using msg queues.
+ // in order to assist the receiver, it is needed to produce a GNURadio message from this thread to the PVT message queue
+ // global queues or maps are deprecated in this version
+ //global_gps_ephemeris_map.write(gps_eph_iter->second.i_satellite_PRN, gps_eph_iter->second);
}
//Save ephemeris to XML file
std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
@@ -475,11 +460,11 @@ void ControlThread::init()
{
std::cout << "ERROR: SUPL client for Ephemeris returned " << error << std::endl;
std::cout << "Please check internet connection and SUPL server configuration" << error << std::endl;
- std::cout << "Trying to read ephemeris from XML file" << std::endl;
- if (read_assistance_from_XML() == false)
- {
- std::cout << "ERROR: Could not read Ephemeris file: Disabling SUPL assistance.." << std::endl;
- }
+ //std::cout << "Trying to read ephemeris from XML file" << std::endl;
+ //if (read_assistance_from_XML() == false)
+ // {
+ // std::cout << "ERROR: Could not read Ephemeris file: Disabling SUPL assistance.." << std::endl;
+ // }
}
// Request almanac , IONO and UTC Model
@@ -499,12 +484,14 @@ void ControlThread::init()
if (supl_client_ephemeris_.gps_iono.valid == true)
{
std::cout << "SUPL: Received GPS Iono" << std::endl;
- global_gps_iono_map.write(0, supl_client_ephemeris_.gps_iono);
+ //TODO: use msg queues
+ //global_gps_iono_map.write(0, supl_client_ephemeris_.gps_iono);
}
if (supl_client_ephemeris_.gps_utc.valid == true)
{
std::cout << "SUPL: Received GPS UTC Model" << std::endl;
- global_gps_utc_model_map.write(0, supl_client_ephemeris_.gps_utc);
+ //TODO: use msg queues
+ //global_gps_utc_model_map.write(0, supl_client_ephemeris_.gps_utc);
}
}
else
@@ -635,55 +622,6 @@ void ControlThread::gps_acq_assist_data_collector()
}
}
-
-void ControlThread::gps_ephemeris_data_collector()
-{
- // ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
- Gps_Ephemeris gps_eph;
- Gps_Ephemeris gps_eph_old;
- while(stop_ == false)
- {
- global_gps_ephemeris_queue.wait_and_pop(gps_eph);
- if(gps_eph.i_satellite_PRN == 0) break;
-
- // DEBUG MESSAGE
- LOG(INFO) << "Ephemeris record has arrived from SAT ID "
- << gps_eph.i_satellite_PRN << " (Block "
- << gps_eph.satelliteBlock[gps_eph.i_satellite_PRN] << ")";
- // insert new ephemeris record to the global ephemeris map
- if (global_gps_ephemeris_map.read(gps_eph.i_satellite_PRN, gps_eph_old))
- {
- // Check the EPHEMERIS timestamp. If it is newer, then update the ephemeris
- if (gps_eph.i_GPS_week > gps_eph_old.i_GPS_week)
- {
- std::cout << "Ephemeris record updated (GPS week=" << gps_eph.i_GPS_week << std::endl;
- global_gps_ephemeris_map.write(gps_eph.i_satellite_PRN, gps_eph);
- }
- else
- {
- if (gps_eph.d_Toe > gps_eph_old.d_Toe)
- {
- LOG(INFO) << "Ephemeris record updated (Toe=" << gps_eph.d_Toe;
- global_gps_ephemeris_map.write(gps_eph.i_satellite_PRN, gps_eph);
- }
- else
- {
- LOG(INFO) << "Not updating the existing ephemeris";
- }
- }
- }
- else
- {
- // insert new ephemeris record
- LOG(INFO) << "New Ephemeris record inserted with Toe="
- << gps_eph.d_Toe<<" and GPS Week="
- << gps_eph.i_GPS_week;
- global_gps_ephemeris_map.write(gps_eph.i_satellite_PRN, gps_eph);
- }
- }
-}
-
-
void ControlThread::galileo_ephemeris_data_collector()
{
// ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
@@ -737,23 +675,6 @@ void ControlThread::galileo_ephemeris_data_collector()
}
-void ControlThread::gps_iono_data_collector()
-{
- // ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
- Gps_Iono gps_iono;
- while(stop_ == false)
- {
- global_gps_iono_queue.wait_and_pop(gps_iono);
- if(gps_iono.valid == true)
- {
- LOG(INFO) << "New IONO record has arrived ";
- }
- // there is no timestamp for the iono data, new entries must always be added
- global_gps_iono_map.write(0, gps_iono);
- }
-}
-
-
void ControlThread::galileo_almanac_data_collector()
{
// ############ 1.bis READ ALMANAC QUEUE ####################
@@ -817,40 +738,6 @@ void ControlThread::galileo_iono_data_collector()
}
-void ControlThread::gps_utc_model_data_collector()
-{
- // ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
- Gps_Utc_Model gps_utc;
- Gps_Utc_Model gps_utc_old;
- while(stop_ == false)
- {
- global_gps_utc_model_queue.wait_and_pop(gps_utc);
- LOG(INFO) << "New UTC MODEL record has arrived with A0=" << gps_utc.d_A0;
- // insert new utc record to the global utc model map
- if (global_gps_utc_model_map.read(0, gps_utc_old))
- {
- if (gps_utc.i_WN_T > gps_utc_old.i_WN_T)
- {
- global_gps_utc_model_map.write(0, gps_utc);
- }
- else if ((gps_utc.i_WN_T == gps_utc_old.i_WN_T) and (gps_utc.d_t_OT > gps_utc_old.d_t_OT))
- {
- global_gps_utc_model_map.write(0, gps_utc);
- }
- else
- {
- LOG(INFO) << "Not updating the existing utc model";
- }
- }
- else
- {
- // insert new utc model record
- global_gps_utc_model_map.write(0, gps_utc);
- }
- }
-}
-
-
void ControlThread::gps_ref_location_data_collector()
{
// ############ READ REF LOCATION ####################
diff --git a/src/core/receiver/control_thread.h b/src/core/receiver/control_thread.h
index 43fd4b6..0f45300 100644
--- a/src/core/receiver/control_thread.h
+++ b/src/core/receiver/control_thread.h
@@ -124,26 +124,16 @@ private:
void init();
// Read {ephemeris, iono, utc, ref loc, ref time} assistance from a local XML file previously recorded
- bool read_assistance_from_XML();
+ //bool read_assistance_from_XML();
// Save {ephemeris, iono, utc, ref loc, ref time} assistance to a local XML file
- bool save_assistance_to_XML();
+ //bool save_assistance_to_XML();
void read_control_messages();
void process_control_messages();
/*
- * Blocking function that reads the GPS ephemeris queue and updates the shared ephemeris map, accessible from the PVT block
- */
- void gps_ephemeris_data_collector();
-
- /*
- * Blocking function that reads the UTC model queue and updates the shared map, accessible from the PVT block
- */
- void gps_utc_model_data_collector();
-
- /*
* \brief Blocking function that reads the ref location queue and updates the shared map
*/
void gps_ref_location_data_collector();
@@ -154,11 +144,6 @@ private:
void gps_ref_time_data_collector();
/*
- * Blocking function that reads the iono model queue and updates the shared map, accessible from the PVT block
- */
- void gps_iono_data_collector();
-
- /*
* Blocking function that reads the GPS assistance queue
*/
void gps_acq_assist_data_collector();
@@ -195,9 +180,6 @@ private:
unsigned int applied_actions_;
boost::thread keyboard_thread_;
- boost::thread gps_ephemeris_data_collector_thread_;
- boost::thread gps_iono_data_collector_thread_;
- boost::thread gps_utc_model_data_collector_thread_;
boost::thread gps_acq_assist_data_collector_thread_;
boost::thread gps_ref_location_data_collector_thread_;
boost::thread gps_ref_time_data_collector_thread_;
diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc
index b342771..0879e21 100644
--- a/src/core/receiver/gnss_flowgraph.cc
+++ b/src/core/receiver/gnss_flowgraph.cc
@@ -325,6 +325,7 @@ void GNSSFlowgraph::connect()
for (unsigned int i = 0; i < channels_count_; i++)
{
top_block_->connect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
+ top_block_->msg_connect(channels_.at(i)->get_right_block(),pmt::mp("telemetry"),pvt_->get_left_block(),pmt::mp("telemetry"));
}
}
catch (std::exception& e)
diff --git a/src/main/main.cc b/src/main/main.cc
index 1053c88..9fbd1bf 100644
--- a/src/main/main.cc
+++ b/src/main/main.cc
@@ -88,9 +88,6 @@ DECLARE_string(log_dir);
*/
// For GPS NAVIGATION (L1)
-concurrent_queue<Gps_Ephemeris> global_gps_ephemeris_queue;
-concurrent_queue<Gps_Iono> global_gps_iono_queue;
-concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
concurrent_queue<Gps_Ref_Location> global_gps_ref_location_queue;
--
Alioth's /usr/local/bin/git-commit-notice on /srv/git.debian.org/git/pkg-hamradio/gnss-sdr.git
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