[hamradio-commits] [gnss-sdr] 187/236: Replacing Galileo E1, SBAS, and GPS L2C 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 b56183f93b5422282dfaf8b47a03a3ed0509fc64
Author: Javier Arribas <javiarribas at gmail.com>
Date: Tue Apr 12 17:29:16 2016 +0200
Replacing Galileo E1, SBAS, and GPS L2C telemetry shared queues and maps
with GNURadio asynchronous messages (TLM -> PVT)
---
.../PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc | 119 +++++-------
.../PVT/gnuradio_blocks/galileo_e1_pvt_cc.h | 3 +
.../PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc | 120 ++++++------
.../PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h | 2 +
.../PVT/gnuradio_blocks/hybrid_pvt_cc.cc | 205 +++++++++------------
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h | 4 +
.../adapters/galileo_e1b_telemetry_decoder.cc | 13 --
.../adapters/galileo_e5a_telemetry_decoder.cc | 12 --
.../adapters/gps_l1_ca_telemetry_decoder.cc | 5 -
.../adapters/gps_l2_m_telemetry_decoder.cc | 11 --
.../adapters/sbas_l1_telemetry_decoder.cc | 11 --
.../galileo_e1b_telemetry_decoder_cc.cc | 66 +++----
.../galileo_e1b_telemetry_decoder_cc.h | 9 -
.../galileo_e5a_telemetry_decoder_cc.cc | 2 +
.../gps_l2_m_telemetry_decoder_cc.cc | 2 +
.../sbas_l1_telemetry_decoder_cc.cc | 25 +--
.../gnuradio_blocks/sbas_l1_telemetry_decoder_cc.h | 6 -
src/core/receiver/control_thread.cc | 190 +------------------
src/core/system_parameters/sbas_telemetry_data.cc | 42 +----
src/core/system_parameters/sbas_telemetry_data.h | 9 -
src/main/main.cc | 36 ----
src/tests/single_test_main.cc | 32 ----
src/tests/test_main.cc | 36 +---
src/utils/front-end-cal/main.cc | 27 ---
24 files changed, 239 insertions(+), 748 deletions(-)
diff --git a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
index c57513d..da6c07a 100644
--- a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
@@ -40,11 +40,6 @@
using google::LogMessage;
-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;
-
galileo_e1_pvt_cc_sptr
galileo_e1_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
{
@@ -52,6 +47,50 @@ galileo_e1_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue>
}
+void galileo_e1_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
+{
+ try {
+ if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>) )
+ {
+ // ### Galileo EPHEMERIS ###
+ std::shared_ptr<Galileo_Ephemeris> galileo_eph;
+ galileo_eph= boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
+ // insert new ephemeris record
+ DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
+ << ", GALILEO Week Number =" << galileo_eph->WN_5
+ << " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
+ // update/insert new ephemeris record to the global ephemeris map
+ d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN]=*galileo_eph;
+ }else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>) )
+ {
+ // ### Galileo IONO ###
+ std::shared_ptr<Galileo_Iono> galileo_iono;
+ galileo_iono= boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
+ d_ls_pvt->galileo_iono=*galileo_iono;
+ DLOG(INFO) << "New IONO record has arrived ";
+ }else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>) )
+ {
+ // ### Galileo UTC MODEL ###
+ std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
+ galileo_utc_model= boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
+ d_ls_pvt->galileo_utc_model=*galileo_utc_model;
+ DLOG(INFO) << "New UTC record has arrived ";
+ }else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>) )
+ {
+ // ### Galileo Almanac ###
+ std::shared_ptr<Galileo_Almanac> galileo_almanac;
+ galileo_almanac= boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
+ // update/insert new ephemeris record to the global ephemeris map
+ d_ls_pvt->galileo_almanac=*galileo_almanac;
+ DLOG(INFO) << "New Galileo Almanac has arrived ";
+ }
+
+ }
+ catch(boost::bad_any_cast& e)
+ {
+ DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
+ }
+}
galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
gr::block("galileo_e1_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
@@ -65,6 +104,11 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<g
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(&galileo_e1_pvt_cc::msg_handler_telemetry, this, _1));
+
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
@@ -169,71 +213,6 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
}
}
- // ############ 1. READ EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
-
- if (global_galileo_ephemeris_map.size() > 0)
- {
- d_ls_pvt->galileo_ephemeris_map = global_galileo_ephemeris_map.get_map_copy();
- }
-
- if (global_galileo_utc_model_map.size() > 0)
- {
- // UTC MODEL data is shared for all the Galileo satellites. Read always at a locked channel
- signed int i = 0;
- while(true)
- {
- if (in[i][0].Flag_valid_pseudorange == true)
- {
- global_galileo_utc_model_map.read(i, d_ls_pvt->galileo_utc_model);
- break;
- }
- i++;
- if (i == (signed int)d_nchannels - 1)
- {
- break;
- }
- }
- }
-
- if (global_galileo_iono_map.size() > 0)
- {
- // IONO data is shared for all Galileo satellites. Read always at a locked channel
- signed int i = 0;
- while(true)
- {
- if (in[i][0].Flag_valid_pseudorange == true)
- {
- global_galileo_iono_map.read(i, d_ls_pvt->galileo_iono);
- break;
- }
- i++;
- if (i == (signed int)d_nchannels - 1)
- {
- break;
- }
- }
- }
-
- if (global_galileo_almanac_map.size() > 0)
- {
- // ALMANAC data is shared for all Galileo satellites. Read always at a locked channel
- signed int i = 0;
- while(true)
- {
- if (in[i][0].Flag_valid_pseudorange == true)
- {
- global_galileo_almanac_map.read(i, d_ls_pvt->galileo_almanac);
- break;
- }
- i++;
- if (i == (signed int)d_nchannels - 1)
- {
- break;
- }
- }
- }
-
-
// ############ 2 COMPUTE THE PVT ################################
if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0)
{
diff --git a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h
index 3b9e7e8..6a8a56a 100644
--- a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h
+++ b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_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/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
index 35930d5..07f45ba 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
@@ -42,11 +42,6 @@
using google::LogMessage;
-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;
-extern concurrent_map<Sbas_Ephemeris> global_sbas_ephemeris_map;
-
gps_l1_ca_pvt_cc_sptr
gps_l1_ca_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
{
@@ -62,7 +57,7 @@ void gps_l1_ca_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
// ### 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 "
+ DLOG(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="
@@ -71,20 +66,70 @@ void gps_l1_ca_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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 ###
+ // ### GPS 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 ";
+ DLOG(INFO) << "New IONO record has arrived ";
}else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
{
- // ### UTC MODEL ###
+ // ### GPS 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 ";
+ DLOG(INFO) << "New UTC record has arrived ";
+ }else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Sbas_Ionosphere_Correction>) )
+ {
+ // ### SBAS IONO ###
+ std::shared_ptr<Sbas_Ionosphere_Correction> sbas_iono;
+ sbas_iono= boost::any_cast<std::shared_ptr<Sbas_Ionosphere_Correction>>(pmt::any_ref(msg));
+ d_ls_pvt->sbas_iono=*sbas_iono;
+ DLOG(INFO) << "New SBAS IONO record has arrived ";
}
+ //TODO: add SBAS correction maps here
+ //d_ls_pvt->sbas_sat_corr_map = global_sbas_sat_corr_map.get_map_copy();
+ //d_ls_pvt->sbas_ephemeris_map = global_sbas_ephemeris_map.get_map_copy();
+
+ else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Sbas_Raw_Msg>) )
+ {
+ std::shared_ptr<Sbas_Raw_Msg> sbas_raw_msg_ptr;
+ sbas_raw_msg_ptr= boost::any_cast<std::shared_ptr<Sbas_Raw_Msg>>(pmt::any_ref(msg));
+ Sbas_Raw_Msg sbas_raw_msg=*sbas_raw_msg_ptr;
+ // read SBAS raw messages directly from queue and write them into rinex file
+ // create the header of not yet done
+ if(!b_rinex_sbs_header_writen)
+ {
+ rp->rinex_sbs_header(rp->sbsFile);
+ b_rinex_sbs_header_writen = true;
+ }
+
+ // Define the RX time of the SBAS message by using the GPS time.
+ // It has only an effect if there has not been yet a SBAS MT12 available
+ // when the message was received.
+ if(sbas_raw_msg.get_rx_time_obj().is_related() == false
+ && gnss_pseudoranges_map.size() > 0
+ && d_ls_pvt->gps_ephemeris_map.size() > 0)
+ {
+ // doesn't matter which channel/satellite we choose
+ Gnss_Synchro gs = gnss_pseudoranges_map.begin()->second;
+ Gps_Ephemeris eph = d_ls_pvt->gps_ephemeris_map.begin()->second;
+
+ double relative_rx_time = gs.Tracking_timestamp_secs;
+ int gps_week = eph.i_GPS_week;
+ double gps_sec = gs.d_TOW_at_current_symbol;
+
+ Sbas_Time_Relation time_rel(relative_rx_time, gps_week, gps_sec);
+ sbas_raw_msg.relate(time_rel);
+ }
+
+ // send the message to the rinex logger if it has a valid GPS time stamp
+ if(sbas_raw_msg.get_rx_time_obj().is_related())
+ {
+ rp->log_rinex_sbs(rp->sbsFile, sbas_raw_msg);
+ }
+ }
+
}
catch(boost::bad_any_cast& e)
{
@@ -180,19 +225,15 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
}
}
-
-
gps_l1_ca_pvt_cc::~gps_l1_ca_pvt_cc()
{}
-
bool pseudoranges_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b)
{
return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
}
-
void gps_l1_ca_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data)
{
// Print the current receiver status using std::cout every second
@@ -209,14 +250,13 @@ void gps_l1_ca_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchroniza
int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
{
+ gnss_pseudoranges_map.clear();
d_sample_counter++;
- std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
print_receiver_status(in);
- // ############ 1. READ EPHEMERIS ####
-
+ // ############ 1. READ PSEUDORANGES ####
for (unsigned int i = 0; i < d_nchannels; i++)
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
@@ -232,52 +272,6 @@ 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]);
}
}
- // update SBAS data collections
- if (global_sbas_iono_map.size() > 0)
- {
- // SBAS ionospheric correction is shared for all the GPS satellites. Read always at ID=0
- global_sbas_iono_map.read(0, d_ls_pvt->sbas_iono);
- }
- d_ls_pvt->sbas_sat_corr_map = global_sbas_sat_corr_map.get_map_copy();
- d_ls_pvt->sbas_ephemeris_map = global_sbas_ephemeris_map.get_map_copy();
-
- // read SBAS raw messages directly from queue and write them into rinex file
- Sbas_Raw_Msg sbas_raw_msg;
- while (global_sbas_raw_msg_queue.try_pop(sbas_raw_msg))
- {
- // create the header of not yet done
- if(!b_rinex_sbs_header_writen)
- {
- rp->rinex_sbs_header(rp->sbsFile);
- b_rinex_sbs_header_writen = true;
- }
-
- // Define the RX time of the SBAS message by using the GPS time.
- // It has only an effect if there has not been yet a SBAS MT12 available
- // when the message was received.
- if(sbas_raw_msg.get_rx_time_obj().is_related() == false
- && gnss_pseudoranges_map.size() > 0
- && d_ls_pvt->gps_ephemeris_map.size() > 0)
- {
- // doesn't matter which channel/satellite we choose
- Gnss_Synchro gs = gnss_pseudoranges_map.begin()->second;
- Gps_Ephemeris eph = d_ls_pvt->gps_ephemeris_map.begin()->second;
-
- double relative_rx_time = gs.Tracking_timestamp_secs;
- int gps_week = eph.i_GPS_week;
- double gps_sec = gs.d_TOW_at_current_symbol;
-
- Sbas_Time_Relation time_rel(relative_rx_time, gps_week, gps_sec);
- sbas_raw_msg.relate(time_rel);
- }
-
- // send the message to the rinex logger if it has a valid GPS time stamp
- if(sbas_raw_msg.get_rx_time_obj().is_related())
- {
- rp->log_rinex_sbs(rp->sbsFile, sbas_raw_msg);
- }
- }
-
// ############ 2 COMPUTE THE PVT ################################
if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->gps_ephemeris_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 810082c..054bee4 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
@@ -127,6 +127,8 @@ private:
double d_rx_time;
std::shared_ptr<gps_l1_ca_ls_pvt> d_ls_pvt;
+ std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
+
public:
~gps_l1_ca_pvt_cc (); //!< Default destructor
diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
index d11e603..355a31f 100644
--- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
@@ -40,15 +40,6 @@
using google::LogMessage;
-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<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;
-
hybrid_pvt_cc_sptr
hybrid_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
{
@@ -56,6 +47,85 @@ hybrid_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queu
}
+
+void hybrid_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));
+ DLOG(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>) )
+ {
+ // ### GPS 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;
+ DLOG(INFO) << "New IONO record has arrived ";
+ }
+ else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
+ {
+ // ### GPS 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;
+ DLOG(INFO) << "New UTC record has arrived ";
+ }
+ if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>) )
+ {
+ // ### Galileo EPHEMERIS ###
+ std::shared_ptr<Galileo_Ephemeris> galileo_eph;
+ galileo_eph= boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
+ // insert new ephemeris record
+ DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
+ << ", GALILEO Week Number =" << galileo_eph->WN_5
+ << " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
+ // update/insert new ephemeris record to the global ephemeris map
+ d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN]=*galileo_eph;
+ }
+ else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>) )
+ {
+ // ### Galileo IONO ###
+ std::shared_ptr<Galileo_Iono> galileo_iono;
+ galileo_iono= boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
+ d_ls_pvt->galileo_iono=*galileo_iono;
+ DLOG(INFO) << "New IONO record has arrived ";
+ }
+ else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>) )
+ {
+ // ### Galileo UTC MODEL ###
+ std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
+ galileo_utc_model= boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
+ d_ls_pvt->galileo_utc_model=*galileo_utc_model;
+ DLOG(INFO) << "New UTC record has arrived ";
+ }
+ else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>) )
+ {
+ // ### Galileo Almanac ###
+ std::shared_ptr<Galileo_Almanac> galileo_almanac;
+ galileo_almanac= boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
+ // update/insert new ephemeris record to the global ephemeris map
+ d_ls_pvt->galileo_almanac=*galileo_almanac;
+ DLOG(INFO) << "New Galileo Almanac has arrived ";
+ }
+
+ }
+ catch(boost::bad_any_cast& e)
+ {
+ DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
+ }
+}
+
+
hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
gr::block("hybrid_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
@@ -69,6 +139,11 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_q
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(&hybrid_pvt_cc::msg_handler_telemetry, this, _1));
+
//initialize kml_printer
std::string kml_dump_filename;
kml_dump_filename = d_dump_filename;
@@ -158,7 +233,7 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
d_sample_counter++;
bool arrived_galileo_almanac = false;
- std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
+ gnss_pseudoranges_map.clear();
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
@@ -175,116 +250,6 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
}
}
- // ############ 1. READ GALILEO EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
-
- if (global_galileo_ephemeris_map.size() > 0)
- {
- d_ls_pvt->galileo_ephemeris_map = global_galileo_ephemeris_map.get_map_copy();
- }
-
- if (global_galileo_utc_model_map.size() > 0)
- {
- // UTC MODEL data is shared for all the Galileo satellites. Read always at a locked channel
- signed int i = 0;
- while(true)
- {
- if (in[i][0].Flag_valid_pseudorange == true)
- {
- global_galileo_utc_model_map.read(i, d_ls_pvt->galileo_utc_model);
- break;
- }
- i++;
- if (i == (signed int)d_nchannels - 1)
- {
- break;
- }
- }
- }
-
- if (global_galileo_iono_map.size() > 0)
- {
- // IONO data is shared for all Galileo satellites. Read always at a locked channel
- signed int i = 0;
- while(true)
- {
- if (in[i][0].Flag_valid_pseudorange == true)
- {
- global_galileo_iono_map.read(i, d_ls_pvt->galileo_iono);
- break;
- }
- i++;
- if (i == (signed int)d_nchannels - 1)
- {
- break;
- }
- }
- }
-
- if (global_galileo_almanac_map.size() > 0)
- {
- // data is shared for all Galileo satellites. Read always at a locked channel
- signed int i = 0;
- while(true)
- {
- if (in[i][0].Flag_valid_pseudorange == true)
- {
- arrived_galileo_almanac = global_galileo_almanac_map.read(i, d_ls_pvt->galileo_almanac);
- break;
- }
- i++;
- if (i == (signed int)d_nchannels - 1)
- {
- break;
- }
- }
- }
-
- // ############ 1. READ GPS EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
-
- if (global_gps_ephemeris_map.size() > 0)
- {
- d_ls_pvt->gps_ephemeris_map = global_gps_ephemeris_map.get_map_copy();
- }
-
- 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;
- }
- }
- }
-
-
// ############ 2 COMPUTE THE PVT ################################
// ToDo: relax this condition because the receiver should work even with NO GALILEO SATELLITES
//if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->galileo_ephemeris_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0)
diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
index 89d7283..b0b25d7 100644
--- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
+++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_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;
@@ -122,6 +125,7 @@ private:
double d_rx_time;
double d_TOW_at_curr_symbol_constellation;
std::shared_ptr<hybrid_ls_pvt> d_ls_pvt;
+ std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
bool pseudoranges_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b);
public:
diff --git a/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc
index 7fc099e..4f92ea7 100644
--- a/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc
+++ b/src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc
@@ -41,14 +41,6 @@
#include "galileo_iono.h"
#include "galileo_utc_model.h"
-
-
-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;
-
-
using google::LogMessage;
GalileoE1BTelemetryDecoder::GalileoE1BTelemetryDecoder(ConfigurationInterface* configuration,
@@ -69,11 +61,6 @@ GalileoE1BTelemetryDecoder::GalileoE1BTelemetryDecoder(ConfigurationInterface* c
// make telemetry decoder object
telemetry_decoder_ = galileo_e1b_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_galileo_ephemeris_queue);
- telemetry_decoder_->set_iono_queue(&global_galileo_iono_queue);
- telemetry_decoder_->set_almanac_queue(&global_galileo_almanac_queue);
- telemetry_decoder_->set_utc_model_queue(&global_galileo_utc_model_queue);
//decimation factor
int decimation_factor = configuration->property(role + ".decimation_factor", 1);
diff --git a/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.cc
index 37e2aec..f15b1cb 100644
--- a/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.cc
+++ b/src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.cc
@@ -45,12 +45,6 @@
#include "configuration_interface.h"
-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;
-
-
using google::LogMessage;
GalileoE5aTelemetryDecoder::GalileoE5aTelemetryDecoder(ConfigurationInterface* configuration,
@@ -71,12 +65,6 @@ GalileoE5aTelemetryDecoder::GalileoE5aTelemetryDecoder(ConfigurationInterface* c
// make telemetry decoder object
telemetry_decoder_ = galileo_e5a_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_galileo_ephemeris_queue);
- telemetry_decoder_->set_iono_queue(&global_galileo_iono_queue);
- telemetry_decoder_->set_almanac_queue(&global_galileo_almanac_queue);
- telemetry_decoder_->set_utc_model_queue(&global_galileo_utc_model_queue);
-
DLOG(INFO) << "global navigation message queue assigned to telemetry_decoder ("<< telemetry_decoder_->unique_id() << ")";
channel_ = 0;
}
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 104460f..80fee13 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
@@ -40,9 +40,6 @@
#include "gps_utc_model.h"
#include "configuration_interface.h"
-extern concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
-
-
using google::LogMessage;
GpsL1CaTelemetryDecoder::GpsL1CaTelemetryDecoder(ConfigurationInterface* configuration,
@@ -63,8 +60,6 @@ GpsL1CaTelemetryDecoder::GpsL1CaTelemetryDecoder(ConfigurationInterface* configu
// make telemetry decoder object
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_almanac_queue(&global_gps_almanac_queue);
//decimation factor
int decimation_factor = configuration->property(role + ".decimation_factor", 1);
diff --git a/src/algorithms/telemetry_decoder/adapters/gps_l2_m_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/gps_l2_m_telemetry_decoder.cc
index 61bea26..2299ca5 100644
--- a/src/algorithms/telemetry_decoder/adapters/gps_l2_m_telemetry_decoder.cc
+++ b/src/algorithms/telemetry_decoder/adapters/gps_l2_m_telemetry_decoder.cc
@@ -41,12 +41,6 @@
#include "configuration_interface.h"
-extern concurrent_queue<Gps_CNAV_Ephemeris> global_gps_cnav_ephemeris_queue;
-extern concurrent_queue<Gps_CNAV_Iono> global_gps_cnav_iono_queue;
-//extern concurrent_queue<Gps_Utc_Model> global_gps_utc_model_queue;
-//extern concurrent_queue<Gps_Almanac> global_gps_almanac_queue;
-
-
using google::LogMessage;
GpsL2MTelemetryDecoder::GpsL2MTelemetryDecoder(ConfigurationInterface* configuration,
@@ -67,11 +61,6 @@ GpsL2MTelemetryDecoder::GpsL2MTelemetryDecoder(ConfigurationInterface* configura
// make telemetry decoder object
telemetry_decoder_ = gps_l2_m_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_cnav_ephemeris_queue);
- telemetry_decoder_->set_iono_queue(&global_gps_cnav_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/adapters/sbas_l1_telemetry_decoder.cc b/src/algorithms/telemetry_decoder/adapters/sbas_l1_telemetry_decoder.cc
index a234d3a..be4d20d 100644
--- a/src/algorithms/telemetry_decoder/adapters/sbas_l1_telemetry_decoder.cc
+++ b/src/algorithms/telemetry_decoder/adapters/sbas_l1_telemetry_decoder.cc
@@ -41,12 +41,6 @@
#include "configuration_interface.h"
#include "sbas_l1_telemetry_decoder_cc.h"
-extern concurrent_queue<Sbas_Raw_Msg> global_sbas_raw_msg_queue;
-extern concurrent_queue<Sbas_Ionosphere_Correction> global_sbas_iono_queue;
-extern concurrent_queue<Sbas_Satellite_Correction> global_sbas_sat_corr_queue;
-extern concurrent_queue<Sbas_Ephemeris> global_sbas_ephemeris_queue;
-
-
using google::LogMessage;
SbasL1TelemetryDecoder::SbasL1TelemetryDecoder(ConfigurationInterface* configuration,
@@ -68,11 +62,6 @@ SbasL1TelemetryDecoder::SbasL1TelemetryDecoder(ConfigurationInterface* configura
telemetry_decoder_ = sbas_l1_make_telemetry_decoder_cc(satellite_, queue_, dump_); // TODO fix me
channel_ = 0;
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
- // set the queues;
- telemetry_decoder_->set_raw_msg_queue(&global_sbas_raw_msg_queue);
- telemetry_decoder_->set_iono_queue(&global_sbas_iono_queue);
- telemetry_decoder_->set_sat_corr_queue(&global_sbas_sat_corr_queue);
- telemetry_decoder_->set_ephemeris_queue(&global_sbas_ephemeris_queue);
}
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
index 0e0ca05..a3fe43b 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
@@ -122,6 +122,8 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_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;
@@ -168,10 +170,6 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
d_CRC_error_counter = 0;
flag_even_word_arrived = 0;
d_flag_preamble = false;
- d_ephemeris_queue = 0;
- d_utc_model_queue = 0;
- d_almanac_queue = 0;
- d_iono_queue = 0;
d_channel = 0;
Prn_timestamp_at_preamble_ms = 0.0;
flag_TOW_set = false;
@@ -251,38 +249,41 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int
// 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true)
{
- // get ephemeris object for this SV
- Galileo_Ephemeris ephemeris = d_nav.get_ephemeris();//notice that the read operation will clear the valid flag
- //std::cout<<"New Galileo Ephemeris received for SV "<<d_satellite.get_PRN()<<std::endl;
- d_ephemeris_queue->push(ephemeris);
+ // get object for this SV (mandatory)
+ std::shared_ptr<Galileo_Ephemeris> tmp_obj= std::make_shared<Galileo_Ephemeris>();
+ *tmp_obj = d_nav.get_ephemeris();//notice that the read operation will clear the valid flag
+ this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_nav.have_new_iono_and_GST() == true)
{
- Galileo_Iono iono = d_nav.get_iono(); //notice that the read operation will clear the valid flag
- //std::cout<<"New Galileo IONO model (and UTC) received for SV "<<d_satellite.get_PRN()<<std::endl;
- d_iono_queue->push(iono);
+ // get object for this SV (mandatory)
+ std::shared_ptr<Galileo_Iono> tmp_obj= std::make_shared<Galileo_Iono>();
+ *tmp_obj = 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_nav.have_new_utc_model() == true)
{
- Galileo_Utc_Model utc_model = d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
- //std::cout<<"New Galileo UTC model received for SV "<<d_satellite.get_PRN()<<std::endl;
- d_utc_model_queue->push(utc_model);
+ // get object for this SV (mandatory)
+ std::shared_ptr<Galileo_Utc_Model> tmp_obj= std::make_shared<Galileo_Utc_Model>();
+ *tmp_obj = 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));
}
if (d_nav.have_new_almanac() == true)
{
- Galileo_Almanac almanac = d_nav.get_almanac();
- d_almanac_queue->push(almanac);
+ std::shared_ptr<Galileo_Almanac> tmp_obj= std::make_shared<Galileo_Almanac>();
+ *tmp_obj = d_nav.get_almanac();
+ this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
//debug
std::cout << "Galileo almanac received!" << std::endl;
LOG(INFO) << "GPS_to_Galileo time conversion:";
- LOG(INFO) << "A0G=" << almanac.A_0G_10;
- LOG(INFO) << "A1G=" << almanac.A_1G_10;
- LOG(INFO) << "T0G=" << almanac.t_0G_10;
- LOG(INFO) << "WN_0G_10=" << almanac.WN_0G_10;
+ LOG(INFO) << "A0G=" << tmp_obj->A_0G_10;
+ LOG(INFO) << "A1G=" << tmp_obj->A_1G_10;
+ LOG(INFO) << "T0G=" << tmp_obj->t_0G_10;
+ LOG(INFO) << "WN_0G_10=" << tmp_obj->WN_0G_10;
LOG(INFO) << "Current parameters:";
LOG(INFO) << "d_TOW_at_current_symbol=" << d_TOW_at_current_symbol;
LOG(INFO) << "d_nav.WN_0=" << d_nav.WN_0;
- delta_t = almanac.A_0G_10 + almanac.A_1G_10 * (d_TOW_at_current_symbol - almanac.t_0G_10 + 604800 * (fmod((d_nav.WN_0 - almanac.WN_0G_10), 64)));
+ delta_t = tmp_obj->A_0G_10 + tmp_obj->A_1G_10 * (d_TOW_at_current_symbol - tmp_obj->t_0G_10 + 604800 * (fmod((d_nav.WN_0 - tmp_obj->WN_0G_10), 64)));
LOG(INFO) << "delta_t=" << delta_t << "[s]";
}
}
@@ -551,27 +552,4 @@ void galileo_e1b_telemetry_decoder_cc::set_channel(int channel)
}
-void galileo_e1b_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue<Galileo_Ephemeris> *ephemeris_queue)
-{
- d_ephemeris_queue = ephemeris_queue;
-}
-
-
-void galileo_e1b_telemetry_decoder_cc::set_iono_queue(concurrent_queue<Galileo_Iono> *iono_queue)
-{
- d_iono_queue = iono_queue;
-}
-
-
-void galileo_e1b_telemetry_decoder_cc::set_almanac_queue(concurrent_queue<Galileo_Almanac> *almanac_queue)
-{
- d_almanac_queue = almanac_queue;
-}
-
-
-void galileo_e1b_telemetry_decoder_cc::set_utc_model_queue(concurrent_queue<Galileo_Utc_Model> *utc_model_queue)
-{
- d_utc_model_queue = utc_model_queue;
-}
-
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h
index 04d5ae5..6633341 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h
@@ -115,15 +115,6 @@ private:
// navigation message vars
Galileo_Navigation_Message d_nav;
- // Galileo ephemeris queue
- concurrent_queue<Galileo_Ephemeris> *d_ephemeris_queue;
- // ionospheric parameters queue
- concurrent_queue<Galileo_Iono> *d_iono_queue;
- // UTC model parameters queue
- concurrent_queue<Galileo_Utc_Model> *d_utc_model_queue;
- // Almanac queue
- concurrent_queue<Galileo_Almanac> *d_almanac_queue;
-
boost::shared_ptr<gr::msg_queue> d_queue;
bool d_dump;
Gnss_Satellite d_satellite;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
index df0ee29..1a75d47 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
@@ -199,6 +199,8 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_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;
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc
index 37403bc..878a78d 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc
@@ -65,6 +65,8 @@ gps_l2_m_telemetry_decoder_cc::gps_l2_m_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_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc
index b7c7728..928798f 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc
@@ -65,6 +65,8 @@ sbas_l1_telemetry_decoder_cc::sbas_l1_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_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@@ -519,26 +521,3 @@ void sbas_l1_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_b
<< std::setfill(' ') << std::resetiosflags(std::ios::hex);
}
-
-void sbas_l1_telemetry_decoder_cc::set_raw_msg_queue(concurrent_queue<Sbas_Raw_Msg> *raw_msg_queue)
-{
- sbas_telemetry_data.set_raw_msg_queue(raw_msg_queue);
-}
-
-
-void sbas_l1_telemetry_decoder_cc::set_iono_queue(concurrent_queue<Sbas_Ionosphere_Correction> *iono_queue)
-{
- sbas_telemetry_data.set_iono_queue(iono_queue);
-}
-
-
-void sbas_l1_telemetry_decoder_cc::set_sat_corr_queue(concurrent_queue<Sbas_Satellite_Correction> *sat_corr_queue)
-{
- sbas_telemetry_data.set_sat_corr_queue(sat_corr_queue);
-}
-
-
-void sbas_l1_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue<Sbas_Ephemeris> *ephemeris_queue)
-{
- sbas_telemetry_data.set_ephemeris_queue(ephemeris_queue);
-}
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.h
index 97a09ec..c1c4395 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.h
@@ -62,12 +62,6 @@ public:
void set_satellite(Gnss_Satellite satellite); //!< Set satellite PRN
void set_channel(int channel); //!< Set receiver's channel
- // queues to communicate broadcasted SBAS data to other blocks of GNSS-SDR
- void set_raw_msg_queue(concurrent_queue<Sbas_Raw_Msg> *raw_msg_queue); //!< Set raw msg queue
- void set_iono_queue(concurrent_queue<Sbas_Ionosphere_Correction> *iono_queue); //!< Set iono queue
- void set_sat_corr_queue(concurrent_queue<Sbas_Satellite_Correction> *sat_corr_queue); //!< Set sat correction queue
- void set_ephemeris_queue(concurrent_queue<Sbas_Ephemeris> *ephemeris_queue); //!< Set SBAS ephemeis queue
-
/*!
* \brief This is where all signal processing takes place
*/
diff --git a/src/core/receiver/control_thread.cc b/src/core/receiver/control_thread.cc
index 9f9f33e..4679fc2 100644
--- a/src/core/receiver/control_thread.cc
+++ b/src/core/receiver/control_thread.cc
@@ -56,26 +56,14 @@
#include "file_configuration.h"
#include "control_message_factory.h"
-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_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;
extern concurrent_queue<Gps_Ref_Time> global_gps_ref_time_queue;
-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_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;
-
using google::LogMessage;
@@ -149,10 +137,6 @@ void ControlThread::run()
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);
- galileo_ephemeris_data_collector_thread_ = boost::thread(&ControlThread::galileo_ephemeris_data_collector, this);
- galileo_iono_data_collector_thread_ = boost::thread(&ControlThread::galileo_iono_data_collector, this);
- galileo_almanac_data_collector_thread_ = boost::thread(&ControlThread::galileo_almanac_data_collector, this);
- galileo_utc_model_data_collector_thread_ = boost::thread(&ControlThread::galileo_utc_model_data_collector, this);
// Main loop to read and process the control messages
while (flowgraph_->running() && !stop_)
{
@@ -164,26 +148,15 @@ void ControlThread::run()
flowgraph_->stop();
stop_ = true;
// sending empty data to terminate the threads
- 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());
global_gps_ref_time_queue.push(Gps_Ref_Time());
- global_galileo_ephemeris_queue.push(Galileo_Ephemeris());
- global_galileo_iono_queue.push(Galileo_Iono());
- global_galileo_utc_model_queue.push(Galileo_Utc_Model());
- global_galileo_almanac_queue.push(Galileo_Almanac());
// Join GPS threads
gps_acq_assist_data_collector_thread_.join();
gps_ref_location_data_collector_thread_.join();
gps_ref_time_data_collector_thread_.join();
- //Join Galileo threads
- galileo_ephemeris_data_collector_thread_.join();
- galileo_iono_data_collector_thread_.join();
- galileo_almanac_data_collector_thread_.join();
- galileo_utc_model_data_collector_thread_.join();
-
//Join keyboard thread
#ifdef OLD_BOOST
keyboard_thread_.timed_join(boost::posix_time::seconds(1));
@@ -479,7 +452,8 @@ void ControlThread::init()
gps_alm_iter++)
{
std::cout << "SUPL: Received Almanac for GPS SV " << gps_alm_iter->first << std::endl;
- global_gps_almanac_queue.push(gps_alm_iter->second);
+ //TODO: use msg queues
+ //global_gps_almanac_queue.push(gps_alm_iter->second);
}
if (supl_client_ephemeris_.gps_iono.valid == true)
{
@@ -622,122 +596,6 @@ void ControlThread::gps_acq_assist_data_collector()
}
}
-void ControlThread::galileo_ephemeris_data_collector()
-{
- // ############ 1.bis READ EPHEMERIS/UTC_MODE/IONO QUEUE ####################
- Galileo_Ephemeris galileo_eph;
- Galileo_Ephemeris galileo_eph_old;
- while(stop_ == false)
- {
- global_galileo_ephemeris_queue.wait_and_pop(galileo_eph);
- if(galileo_eph.SV_ID_PRN_4 == 0) break;
-
- // DEBUG MESSAGE
- std::cout << "Galileo Ephemeris record has arrived from SAT ID "
- << galileo_eph.SV_ID_PRN_4 << std::endl;
-
- // insert new ephemeris record to the global ephemeris map
- if (global_galileo_ephemeris_map.read(galileo_eph.SV_ID_PRN_4, galileo_eph_old))
- {
- // Check the EPHEMERIS timestamp. If it is newer, then update the ephemeris
- if (galileo_eph.WN_5 > galileo_eph_old.WN_5) //further check because it is not clear when IOD is reset
- {
- LOG(INFO) << "Galileo Ephemeris record in global map updated -- GALILEO Week Number ="
- << galileo_eph.WN_5;
- global_galileo_ephemeris_map.write(galileo_eph.SV_ID_PRN_4,galileo_eph);
- }
- else
- {
- if (galileo_eph.IOD_ephemeris > galileo_eph_old.IOD_ephemeris)
- {
- LOG(INFO) << "Galileo Ephemeris record updated in global map-- IOD_ephemeris ="
- << galileo_eph.IOD_ephemeris;
- global_galileo_ephemeris_map.write(galileo_eph.SV_ID_PRN_4, galileo_eph);
- LOG(INFO) << "IOD_ephemeris OLD: " << galileo_eph_old.IOD_ephemeris;
- LOG(INFO) << "satellite: " << galileo_eph.SV_ID_PRN_4;
- }
- else
- {
- LOG(INFO) << "Not updating the existing Galileo ephemeris, IOD is not changing";
- }
- }
- }
- else
- {
- // insert new ephemeris record
- LOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph.TOW_5
- << ", GALILEO Week Number =" << galileo_eph.WN_5
- << " and Ephemeris IOD = " << galileo_eph.IOD_ephemeris;
- global_galileo_ephemeris_map.write(galileo_eph.SV_ID_PRN_4, galileo_eph);
- }
- }
-
-}
-
-
-void ControlThread::galileo_almanac_data_collector()
-{
- // ############ 1.bis READ ALMANAC QUEUE ####################
- Galileo_Almanac galileo_almanac;
- while(stop_ == false)
- {
- global_galileo_almanac_queue.wait_and_pop(galileo_almanac);
- if(galileo_almanac.WN_a_7 != 0.0)
- {
- LOG(INFO) << "New galileo_almanac record has arrived ";
- }
- // there is no timestamp for the galileo_almanac data, new entries must always be added
- global_galileo_almanac_map.write(0, galileo_almanac);
- }
-}
-
-void ControlThread::galileo_iono_data_collector()
-{
- Galileo_Iono galileo_iono;
- Galileo_Iono galileo_iono_old;
- while(stop_ == false)
- {
- global_galileo_iono_queue.wait_and_pop(galileo_iono);
-
- // DEBUG MESSAGE
- if(galileo_iono.WN_5 != 0)
- {
- LOG(INFO) << "Iono record has arrived";
- }
-
- // insert new Iono record to the global Iono map
- if (global_galileo_iono_map.read(0, galileo_iono_old))
- {
- // Check the Iono timestamp from UTC page (page 6). If it is newer, then update the Iono parameters
- if (galileo_iono.WN_5 > galileo_iono_old.WN_5)
- {
- LOG(INFO) << "IONO record updated in global map--new GALILEO UTC-IONO Week Number";
- global_galileo_iono_map.write(0, galileo_iono);
- }
- else
- {
- if (galileo_iono.TOW_5 > galileo_iono_old.TOW_5)
- {
- LOG(INFO) << "IONO record updated in global map--new GALILEO UTC-IONO time of Week";
- global_galileo_iono_map.write(0, galileo_iono);
- //std::cout << "GALILEO IONO time of Week old: " << galileo_iono_old.t0t_6<<std::endl;
- }
- else
- {
- LOG(INFO) << "Not updating the existing Iono parameters in global map, Iono timestamp is not changing";
- }
- }
- }
- else
- {
- // insert new ephemeris record
- LOG(INFO) << "New IONO record inserted in global map";
- global_galileo_iono_map.write(0, galileo_iono);
- }
- }
-}
-
-
void ControlThread::gps_ref_location_data_collector()
{
// ############ READ REF LOCATION ####################
@@ -785,50 +643,6 @@ void ControlThread::gps_ref_time_data_collector()
}
}
-
-void ControlThread::galileo_utc_model_data_collector()
-{
- Galileo_Utc_Model galileo_utc;
- Galileo_Utc_Model galileo_utc_old;
- while(stop_ == false)
- {
- global_galileo_utc_model_queue.wait_and_pop(galileo_utc);
-
- // DEBUG MESSAGE
- LOG(INFO) << "UTC record has arrived" << std::endl;
-
- // insert new UTC record to the global UTC map
- if (global_galileo_utc_model_map.read(0, galileo_utc_old))
- {
- // Check the UTC timestamp. If it is newer, then update the ephemeris
- if (galileo_utc.WNot_6 > galileo_utc_old.WNot_6) //further check because it is not clear when IOD is reset
- {
- DLOG(INFO) << "UTC record updated --new GALILEO UTC Week Number =" << galileo_utc.WNot_6;
- global_galileo_utc_model_map.write(0, galileo_utc);
- }
- else
- {
- if (galileo_utc.t0t_6 > galileo_utc_old.t0t_6)
- {
- DLOG(INFO) << "UTC record updated --new GALILEO UTC time of Week =" << galileo_utc.t0t_6;
- global_galileo_utc_model_map.write(0, galileo_utc);
- }
- else
- {
- LOG(INFO) << "Not updating the existing UTC in global map, timestamp is not changing";
- }
- }
- }
- else
- {
- // insert new ephemeris record
- LOG(INFO) << "New UTC record inserted in global map";
- global_galileo_utc_model_map.write(0, galileo_utc);
- }
- }
-}
-
-
void ControlThread::keyboard_listener()
{
bool read_keys = true;
diff --git a/src/core/system_parameters/sbas_telemetry_data.cc b/src/core/system_parameters/sbas_telemetry_data.cc
index 29c81a3..dc86783 100644
--- a/src/core/system_parameters/sbas_telemetry_data.cc
+++ b/src/core/system_parameters/sbas_telemetry_data.cc
@@ -53,11 +53,6 @@ Sbas_Telemetry_Data::Sbas_Telemetry_Data()
level_trace = 0; // level of trace
tick_trace = 0; // tick time at traceopen (ms)
- raw_msg_queue = nullptr;
- iono_queue = nullptr;
- sat_corr_queue = nullptr;
- ephemeris_queue = nullptr;
-
d_nav.sbssat.iodp = -1; // make sure that in any case iodp is not equal to the received one
prn_mask_changed(); // invalidate all satellite corrections
@@ -68,31 +63,6 @@ Sbas_Telemetry_Data::Sbas_Telemetry_Data()
}
}
-
-void Sbas_Telemetry_Data::set_raw_msg_queue(concurrent_queue<Sbas_Raw_Msg> *raw_msg_queue)
-{
- this->raw_msg_queue = raw_msg_queue;
-}
-
-
-void Sbas_Telemetry_Data::set_iono_queue(concurrent_queue<Sbas_Ionosphere_Correction> *iono_queue)
-{
- this->iono_queue = iono_queue;
-}
-
-
-void Sbas_Telemetry_Data::set_sat_corr_queue(concurrent_queue<Sbas_Satellite_Correction> *sat_corr_queue)
-{
- this->sat_corr_queue = sat_corr_queue;
-}
-
-
-void Sbas_Telemetry_Data::set_ephemeris_queue(concurrent_queue<Sbas_Ephemeris> *ephemeris_queue)
-{
- this->ephemeris_queue = ephemeris_queue;
-}
-
-
Sbas_Telemetry_Data::~Sbas_Telemetry_Data()
{
@@ -151,7 +121,8 @@ int Sbas_Telemetry_Data::update(Sbas_Raw_Msg sbas_raw_msg)
}
// send it to raw message queue
- if(raw_msg_queue != nullptr) raw_msg_queue->push(sbas_raw_msg);
+ //TODO: update to new GNURadio msg queue
+ //if(raw_msg_queue != nullptr) raw_msg_queue->push(sbas_raw_msg);
return parsing_result;
}
@@ -201,7 +172,8 @@ void Sbas_Telemetry_Data::updated_sbas_ephemeris(Sbas_Raw_Msg msg)
seph.print(ss);
VLOG(FLOW) << ss.str();
- if(ephemeris_queue != nullptr) ephemeris_queue->push(seph);
+ //todo_Update to new GNURadio msg queue
+ //if(ephemeris_queue != nullptr) ephemeris_queue->push(seph);
}
@@ -242,7 +214,8 @@ void Sbas_Telemetry_Data::received_iono_correction()
VLOG(EVENT) << ss.str();
// send to SBAS ionospheric correction queue
- if(iono_queue != nullptr) iono_queue->push(iono_corr);
+ //todo_Update to new GNURadio msg queue
+ //if(iono_queue != nullptr) iono_queue->push(iono_corr);
}
@@ -376,7 +349,8 @@ void Sbas_Telemetry_Data::updated_satellite_corrections()
if(fast_correction_updated || long_term_correction_updated)
{
- if(sat_corr_queue != nullptr) sat_corr_queue->push(sbas_satelite_correction);
+ //todo_Update to new GNURadio msg queue
+ //if(sat_corr_queue != nullptr) sat_corr_queue->push(sbas_satelite_correction);
}
}
VLOG(FLOW) << ss.str(); ss.str("");
diff --git a/src/core/system_parameters/sbas_telemetry_data.h b/src/core/system_parameters/sbas_telemetry_data.h
index f3f5063..7eef6eb 100644
--- a/src/core/system_parameters/sbas_telemetry_data.h
+++ b/src/core/system_parameters/sbas_telemetry_data.h
@@ -98,10 +98,6 @@ class Sbas_Telemetry_Data
{
public:
int update(Sbas_Raw_Msg sbas_raw_msg);
- void set_raw_msg_queue(concurrent_queue<Sbas_Raw_Msg> *raw_msg_queue);
- void set_iono_queue(concurrent_queue<Sbas_Ionosphere_Correction> *iono_queue);
- void set_sat_corr_queue(concurrent_queue<Sbas_Satellite_Correction> *sat_corr_queue);
- void set_ephemeris_queue(concurrent_queue<Sbas_Ephemeris> *ephemeris_queue);
/*!
* Default constructor
@@ -118,11 +114,6 @@ private:
Sbas_Time_Relation mt12_time_ref;
- concurrent_queue<Sbas_Raw_Msg> *raw_msg_queue;
- concurrent_queue<Sbas_Ionosphere_Correction> *iono_queue;
- concurrent_queue<Sbas_Satellite_Correction> *sat_corr_queue;
- concurrent_queue<Sbas_Ephemeris> *ephemeris_queue;
-
int decode_mt12(Sbas_Raw_Msg sbas_raw_msg);
void updated_sbas_ephemeris(Sbas_Raw_Msg msg);
diff --git a/src/main/main.cc b/src/main/main.cc
index 9fbd1bf..3819a85 100644
--- a/src/main/main.cc
+++ b/src/main/main.cc
@@ -78,56 +78,20 @@ using google::LogMessage;
DECLARE_string(log_dir);
-/*!
-* \todo make this queue generic for all the GNSS systems (javi)
-*/
-
/*
* Concurrent queues that communicates the Telemetry Decoder
* to the Observables modules
*/
// For GPS NAVIGATION (L1)
-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;
concurrent_queue<Gps_Ref_Time> global_gps_ref_time_queue;
-concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
-concurrent_map<Gps_Iono> global_gps_iono_map;
-concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
-concurrent_map<Gps_Almanac> global_gps_almanac_map;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
concurrent_map<Gps_Ref_Time> global_gps_ref_time_map;
concurrent_map<Gps_Ref_Location> global_gps_ref_location_map;
-// For GPS NAVIGATION (L2)
-concurrent_queue<Gps_CNAV_Ephemeris> global_gps_cnav_ephemeris_queue;
-concurrent_map<Gps_CNAV_Ephemeris> global_gps_cnav_ephemeris_map;
-concurrent_queue<Gps_CNAV_Iono> global_gps_cnav_iono_queue;
-concurrent_map<Gps_CNAV_Iono> global_gps_cnav_iono_map;
-
-// For GALILEO NAVIGATION
-concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
-concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
-concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
-concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
-
-concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
-concurrent_map<Galileo_Iono> global_galileo_iono_map;
-concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
-concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
-
-// For SBAS CORRECTIONS
-concurrent_queue<Sbas_Raw_Msg> global_sbas_raw_msg_queue;
-concurrent_queue<Sbas_Ionosphere_Correction> global_sbas_iono_queue;
-concurrent_queue<Sbas_Satellite_Correction> global_sbas_sat_corr_queue;
-concurrent_queue<Sbas_Ephemeris> global_sbas_ephemeris_queue;
-
-concurrent_map<Sbas_Ionosphere_Correction> global_sbas_iono_map;
-concurrent_map<Sbas_Satellite_Correction> global_sbas_sat_corr_map;
-concurrent_map<Sbas_Ephemeris> global_sbas_ephemeris_map;
-
int main(int argc, char** argv)
{
const std::string intro_help(
diff --git a/src/tests/single_test_main.cc b/src/tests/single_test_main.cc
index d8db7e2..c698b4e 100644
--- a/src/tests/single_test_main.cc
+++ b/src/tests/single_test_main.cc
@@ -53,47 +53,15 @@
#include "sbas_ephemeris.h"
#include "sbas_satellite_correction.h"
-
-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;
concurrent_queue<Gps_Ref_Time> global_gps_ref_time_queue;
-concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
-concurrent_map<Gps_Iono> global_gps_iono_map;
-concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
concurrent_map<Gps_Almanac> global_gps_almanac_map;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
concurrent_map<Gps_Ref_Location> global_gps_ref_location_map;
concurrent_map<Gps_Ref_Time> global_gps_ref_time_map;
-concurrent_queue<Gps_CNAV_Ephemeris> global_gps_cnav_ephemeris_queue;
-concurrent_map<Gps_CNAV_Ephemeris> global_gps_cnav_ephemeris_map;
-concurrent_queue<Gps_CNAV_Iono> global_gps_cnav_iono_queue;
-concurrent_map<Gps_CNAV_Iono> global_gps_cnav_iono_map;
-
-concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
-concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
-concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
-concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
-
-concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
-concurrent_map<Galileo_Iono> global_galileo_iono_map;
-concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
-concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
-
-concurrent_queue<Sbas_Raw_Msg> global_sbas_raw_msg_queue;
-concurrent_queue<Sbas_Ionosphere_Correction> global_sbas_iono_queue;
-concurrent_queue<Sbas_Satellite_Correction> global_sbas_sat_corr_queue;
-concurrent_queue<Sbas_Ephemeris> global_sbas_ephemeris_queue;
-
-concurrent_map<Sbas_Ionosphere_Correction> global_sbas_iono_map;
-concurrent_map<Sbas_Satellite_Correction> global_sbas_sat_corr_map;
-concurrent_map<Sbas_Ephemeris> global_sbas_ephemeris_map;
-
int main(int argc, char **argv)
{
diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc
index 486bcfe..52e6a90 100644
--- a/src/tests/test_main.cc
+++ b/src/tests/test_main.cc
@@ -114,50 +114,16 @@ 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;
concurrent_queue<Gps_Ref_Time> global_gps_ref_time_queue;
-concurrent_map<Gps_Ephemeris> global_gps_ephemeris_map;
-concurrent_map<Gps_Iono> global_gps_iono_map;
-concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
concurrent_map<Gps_Almanac> global_gps_almanac_map;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
concurrent_map<Gps_Ref_Location> global_gps_ref_location_map;
concurrent_map<Gps_Ref_Time> global_gps_ref_time_map;
-// For GPS NAVIGATION (L2)
-concurrent_queue<Gps_CNAV_Ephemeris> global_gps_cnav_ephemeris_queue;
-concurrent_map<Gps_CNAV_Ephemeris> global_gps_cnav_ephemeris_map;
-concurrent_queue<Gps_CNAV_Iono> global_gps_cnav_iono_queue;
-concurrent_map<Gps_CNAV_Iono> global_gps_cnav_iono_map;
-
-// For GALILEO NAVIGATION
-concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
-concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
-concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
-concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
-
-concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
-concurrent_map<Galileo_Iono> global_galileo_iono_map;
-concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
-concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
-
-// For SBAS CORRECTIONS
-concurrent_queue<Sbas_Raw_Msg> global_sbas_raw_msg_queue;
-concurrent_queue<Sbas_Ionosphere_Correction> global_sbas_iono_queue;
-concurrent_queue<Sbas_Satellite_Correction> global_sbas_sat_corr_queue;
-concurrent_queue<Sbas_Ephemeris> global_sbas_ephemeris_queue;
-
-concurrent_map<Sbas_Ionosphere_Correction> global_sbas_iono_map;
-concurrent_map<Sbas_Satellite_Correction> global_sbas_sat_corr_map;
-concurrent_map<Sbas_Ephemeris> global_sbas_ephemeris_map;
-
-
int main(int argc, char **argv)
{
diff --git a/src/utils/front-end-cal/main.cc b/src/utils/front-end-cal/main.cc
index 8d9ac39..c15a1a7 100644
--- a/src/utils/front-end-cal/main.cc
+++ b/src/utils/front-end-cal/main.cc
@@ -100,33 +100,6 @@ concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
concurrent_map<Gps_Almanac> global_gps_almanac_map;
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
-// For GPS NAVIGATION (L2)
-concurrent_queue<Gps_CNAV_Ephemeris> global_gps_cnav_ephemeris_queue;
-concurrent_map<Gps_CNAV_Ephemeris> global_gps_cnav_ephemeris_map;
-concurrent_queue<Gps_CNAV_Ephemeris> global_gps_cnav_iono_queue;
-concurrent_map<Gps_CNAV_Ephemeris> global_gps_cnav_iono_map;
-
-// For GALILEO NAVIGATION
-concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
-concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
-concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
-concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
-
-concurrent_map<Galileo_Ephemeris> global_galileo_ephemeris_map;
-concurrent_map<Galileo_Iono> global_galileo_iono_map;
-concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
-concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
-
-// For SBAS CORRECTIONS
-concurrent_queue<Sbas_Raw_Msg> global_sbas_raw_msg_queue;
-concurrent_queue<Sbas_Ionosphere_Correction> global_sbas_iono_queue;
-concurrent_queue<Sbas_Satellite_Correction> global_sbas_sat_corr_queue;
-concurrent_queue<Sbas_Ephemeris> global_sbas_ephemeris_queue;
-
-concurrent_map<Sbas_Ionosphere_Correction> global_sbas_iono_map;
-concurrent_map<Sbas_Satellite_Correction> global_sbas_sat_corr_map;
-concurrent_map<Sbas_Ephemeris> global_sbas_ephemeris_map;
-
bool stop;
concurrent_queue<int> channel_internal_queue;
GpsL1CaPcpsAcquisitionFineDoppler *acquisition;
--
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