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* \file gnss_flowgraph.h
* \brief Interface of a GNSS receiver flowgraph.
* \author Carlos Aviles, 2010. carlos.avilesr(at)
* Luis Esteve, 2011. luis(at)
* Carles Fernandez-Prades, 2014. cfernandez(at)
* It contains a signal source,
* a signal conditioner, a set of channels, a pvt and an output filter.
* -------------------------------------------------------------------------
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
* This file is part of GNSS-SDR.
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* GNU General Public License for more details.
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <>.
* -------------------------------------------------------------------------
#include <list>
#include <memory>
#include <queue>
#include <string>
#include <vector>
#include <gnuradio/top_block.h>
#include <gnuradio/msg_queue.h>
#include "GPS_L1_CA.h"
#include "gnss_signal.h"
class GNSSBlockInterface;
class ChannelInterface;
class ConfigurationInterface;
class GNSSBlockFactory;
/*! \brief This class represents a GNSS flowgraph.
* It contains a signal source,
* a signal conditioner, a set of channels, a PVT and an output filter.
class GNSSFlowgraph
* \brief Constructor that initializes the receiver flowgraph
GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration,
boost::shared_ptr<gr::msg_queue> queue);
* \brief Virtual destructor
virtual ~GNSSFlowgraph();
//! \brief Start the flowgraph
void start();
//! \brief Stop the flowgraph
void stop();
* \brief Connects the defined blocks in the flowgraph
* Signal Source > Signal conditioner > Channels >> Observables >> PVT > Output filter
void connect();
void wait();
* \brief Applies an action to the flowgraph
* \param[in] who Who generated the action
* \param[in] what What is the action 0: acquisition failed
void apply_action(unsigned int who, unsigned int what);
void set_configuration(std::shared_ptr<ConfigurationInterface> configuration);
unsigned int applied_actions()
return applied_actions_;
bool connected()
return connected_;
bool running()
return running_;
* \brief Sends a GNURadio asyncronous message from telemetry to PVT
* It is used to assist the receiver with external ephemeris data
bool send_telemetry_msg(pmt::pmt_t msg);
void init(); // Populates the SV PRN list available for acquisition and tracking
void set_signals_list();
void set_channels_state(); // Initializes the channels state (start acquisition or keep standby)
// using the configuration parameters (number of channels and max channels in acquisition)
bool connected_;
bool running_;
int sources_count_;
unsigned int channels_count_;
unsigned int acq_channels_count_;
unsigned int max_acq_channels_;
unsigned int applied_actions_;
std::string config_file_;
std::shared_ptr<ConfigurationInterface> configuration_;
std::vector<std::shared_ptr<GNSSBlockInterface>> sig_source_;
std::vector<std::shared_ptr<GNSSBlockInterface>> sig_conditioner_;
std::shared_ptr<GNSSBlockInterface> observables_;
std::shared_ptr<GNSSBlockInterface> pvt_;
std::vector<std::shared_ptr<ChannelInterface>> channels_;
gr::top_block_sptr top_block_;
boost::shared_ptr<gr::msg_queue> queue_;
std::list<Gnss_Signal> available_GNSS_signals_;
std::vector<unsigned int> channels_state_;