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authorMatthias P. Braendli <matthias.braendli@mpb.li>2015-05-03 16:50:33 +0200
committerMatthias P. Braendli <matthias.braendli@mpb.li>2015-05-03 16:50:33 +0200
commit4dbd0467ac3dce07c1826f99355e0a9a31cf707d (patch)
tree1154a0715fc205775671805a84dcdc9f244fea95 /src/OutputUHD.cpp
parent0c3111cfdac1a762f9eff815f3c3a67981d46ec5 (diff)
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gps fix detector: add timeout
Diffstat (limited to 'src/OutputUHD.cpp')
-rw-r--r--src/OutputUHD.cpp54
1 files changed, 36 insertions, 18 deletions
diff --git a/src/OutputUHD.cpp b/src/OutputUHD.cpp
index 090602a..06efb82 100644
--- a/src/OutputUHD.cpp
+++ b/src/OutputUHD.cpp
@@ -225,13 +225,15 @@ OutputUHD::OutputUHD(
}
else if (myConf.refclk_src == "gpsdo") {
uwd.check_refclk_loss = true;
- uwd.check_gpsfix = true;
+ uwd.check_gpsfix = (myConf.maxGPSHoldoverTime != 0);
}
else {
uwd.check_refclk_loss = true;
uwd.check_gpsfix = false;
}
+ uwd.max_gps_holdover = myConf.maxGPSHoldoverTime;
+
SetDelayBuffer(config.dabMode);
shared_ptr<barrier> b(new barrier(2));
@@ -410,14 +412,15 @@ void UHDWorker::process_errhandler()
uwd->logger->level(warn) << "UHD worker terminated";
}
-bool gps_fix_ok(struct UHDWorkerData *uwd)
+// Check function for GPS fixtype
+bool check_gps_fix_ok(struct UHDWorkerData *uwd)
{
try {
std::string fixtype(
uwd->myUsrp->get_mboard_sensor("gps_fixtype", 0).to_pp_string());
if (fixtype.find("3d fix") == std::string::npos) {
- uwd->logger->level(alert) << "OutputUHD: GPS lost fix : " << fixtype;
+ uwd->logger->level(warn) << "OutputUHD: " << fixtype;
return false;
}
@@ -425,7 +428,7 @@ bool gps_fix_ok(struct UHDWorkerData *uwd)
return true;
}
catch (uhd::lookup_error &e) {
- uwd->logger->level(warn) << "no gps_fixtype sensor";
+ uwd->logger->level(warn) << "OutputUHD: no gps_fixtype sensor";
return false;
}
}
@@ -438,8 +441,10 @@ void UHDWorker::process()
double last_pps = 2.0;
double usrp_time;
+ // Variables needed for GPS fix check
double last_gps_fix_check = 0.0;
- const double gps_fix_check_interval = 5.0; // seconds
+ const double gps_fix_check_interval = 10.0; // seconds
+ int num_checks_without_gps_fix = 0;
boost::packaged_task<bool> gps_fix_pt;
boost::unique_future<bool> gps_fix_future;
boost::thread gps_fix_task;
@@ -547,36 +552,49 @@ void UHDWorker::process()
usrp_time = uwd->myUsrp->get_time_now().get_real_secs();
if (uwd->check_gpsfix and
- last_gps_fix_check + gps_fix_check_interval < usrp_time) {
+ // Divide interval by two because we alternate between
+ // launch and check
+ last_gps_fix_check + gps_fix_check_interval/2.0 < usrp_time) {
last_gps_fix_check = usrp_time;
// Alternate between launching thread and checking the
// result.
if (gps_fix_task.joinable()) {
if (gps_fix_future.has_value()) {
- uwd->logger->level(warn) << "GPSFIX " << usrp_time <<
- " Future ready";
gps_fix_future.wait();
gps_fix_task.join();
if (not gps_fix_future.get()) {
- throw std::runtime_error("Lost GPS Fix.");
+ if (not num_checks_without_gps_fix) {
+ uwd->logger->level(alert) <<
+ "OutputUHD: GPS Fix lost";
+ }
+ num_checks_without_gps_fix++;
+ }
+ else {
+ if (num_checks_without_gps_fix) {
+ uwd->logger->level(info) <<
+ "OutputUHD: GPS Fix recovered";
+ }
+ num_checks_without_gps_fix = 0;
}
- }
- else {
- uwd->logger->level(warn) << "GPSFIX " << usrp_time <<
- " Future not ready yet";
- }
+ if (gps_fix_check_interval * num_checks_without_gps_fix >
+ uwd->max_gps_holdover) {
+ std::stringstream ss;
+ ss << "Lost GPS fix for " << gps_fix_check_interval *
+ num_checks_without_gps_fix << " seconds";
+ throw std::runtime_error(ss.str());
+ }
+ }
}
else {
- uwd->logger->level(warn) << "GPSFIX " << usrp_time <<
- " Launching task";
-
+ // Checking the sensor here takes too much
+ // time, it has to be done in a separate thread.
gps_fix_pt = boost::packaged_task<bool>(
- boost::bind(gps_fix_ok, uwd) );
+ boost::bind(check_gps_fix_ok, uwd) );
gps_fix_future = gps_fix_pt.get_future();