gnss-sdr/src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test_fpga.cc

/*!
 * \file hybrid_observables_test.cc
 * \brief  This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
 *  implementation based on some input parameters.
 * \author Javier Arribas, 2015. jarribas(at)cttc.es
 *
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
 *
 * GNSS-SDR is a software defined Global Navigation
 *          Satellite Systems receiver
 *
 * This file is part of GNSS-SDR.
 *
 * GNSS-SDR is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * GNSS-SDR is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 *
 * -------------------------------------------------------------------------
 */

#include <unistd.h>
#include <chrono>
#include <exception>
#include <armadillo>
#include <gnuradio/top_block.h>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gtest/gtest.h>
#include <gpstk/RinexUtilities.hpp>
#include <gpstk/Rinex3ObsBase.hpp>
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
#include <matio.h>
#include "GPS_L1_CA.h"
#include "gnss_satellite.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "tracking_interface.h"
#include "telemetry_decoder_interface.h"
#include "in_memory_configuration.h"
#include "gnss_synchro.h"
#include "gps_l1_ca_telemetry_decoder.h"
#include "tracking_true_obs_reader.h"
#include "true_observables_reader.h"
#include "tracking_dump_reader.h"
#include "observables_dump_reader.h"
#include "tlm_dump_reader.h"
#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_dll_pll_tracking_fpga.h"
#include "hybrid_observables.h"
#include "signal_generator_flags.h"
//#include "gnss_sdr_sample_counter.h"
#include "gnss_sdr_fpga_sample_counter.h"
#include "test_flags.h"
#include "tracking_tests_flags.h"
#include "observable_tests_flags.h"
#include "gnuplot_i.h"

// threads
#include <pthread.h>	// for pthread stuff
#include <fcntl.h>     	// for open, O_RDWR, O_SYNC
#include <iostream>    	// for cout, endl
#include <sys/mman.h>  	// for mmap

#define TEST_OBS_MAX_INPUT_COMPLEX_SAMPLES_TOTAL 8192 	// maximum DMA sample block size in complex samples
#define TEST_OBS_COMPLEX_SAMPLE_SIZE 2					// sample size in bytes
#define TEST_OBS_NUM_QUEUES 2							// number of queues (1 for GPS L1/Galileo E1, and 1 for GPS L5/Galileo E5)
#define TEST_OBS_NSAMPLES_TRACKING 1000000000				// number of samples during which we test the tracking module
#define TEST_OBS_NSAMPLES_FINAL 50000					// number of samples sent after running tracking to unblock the SW if it is waiting for an interrupt of the tracking module
#define TEST_OBS_NSAMPLES_ACQ_DOPPLER_SWEEP 50000000		// number of samples sent to the acquisition module when running acquisition when the HW controls the doppler loop
#define DOWNAMPLING_FILTER_INIT_SAMPLES 100		// some samples to initialize the state of the downsampling filter
#define DOWNSAMPLING_FILTER_DELAY 48
#define DOWNSAMPLING_FILTER_OFFSET_SAMPLES 0

// HW related options
//bool test_observables_doppler_control_in_sw = 1;		// 1 => doppler sweep controlled by the SW test code , 0 => doppler sweep controlled by the HW
bool test_observables_show_results_table = 0;		// 1 => show matrix of (doppler, (max value, power sum)) results (only if test_observables_doppler_control_in_sw = 1), 0=> do not show it
bool test_observables_skip_samples_already_used = 1;	// if test_observables_doppler_control_in_sw = 1 and test_observables_skip_samples_already_used = 1 => for each PRN loop skip the samples used in the previous PRN loops
									// (exactly in the same way as the SW)
									// if test_observables_doppler_control_in_sw = 1 and test_observables_skip_samples_already_used = 0 => the sampe samples are used for each PRN loop
									// if test_observables_doppler_control_in_sw = 0 => test_observables_skip_samples_already_used is not applicable
bool doppler_loop_control_in_sw_obs_test = 0;

// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
class HybridObservablesTest_msg_rx_Fpga;

typedef boost::shared_ptr<HybridObservablesTest_msg_rx_Fpga> HybridObservablesTest_msg_rx_Fpga_sptr;

HybridObservablesTest_msg_rx_Fpga_sptr HybridObservablesTest_msg_rx_Fpga_make();

class HybridObservablesTest_msg_rx_Fpga : public gr::block
{
private:
    friend HybridObservablesTest_msg_rx_Fpga_sptr HybridObservablesTest_msg_rx_Fpga_make();
    void msg_handler_events(pmt::pmt_t msg);
    HybridObservablesTest_msg_rx_Fpga();

public:
    int rx_message;
    ~HybridObservablesTest_msg_rx_Fpga();  //!< Default destructor
};

HybridObservablesTest_msg_rx_Fpga_sptr HybridObservablesTest_msg_rx_Fpga_make()
{
    return HybridObservablesTest_msg_rx_Fpga_sptr(new HybridObservablesTest_msg_rx_Fpga());
}

void HybridObservablesTest_msg_rx_Fpga::msg_handler_events(pmt::pmt_t msg)
{
    try
        {
            int64_t message = pmt::to_long(msg);
            rx_message = message;
        }
    catch (boost::bad_any_cast& e)
        {
            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
            rx_message = 0;
        }
}

HybridObservablesTest_msg_rx_Fpga::HybridObservablesTest_msg_rx_Fpga() : gr::block("HybridObservablesTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
    this->message_port_register_in(pmt::mp("events"));
    this->set_msg_handler(pmt::mp("events"), boost::bind(&HybridObservablesTest_msg_rx_Fpga::msg_handler_events, this, _1));
    rx_message = 0;
}

HybridObservablesTest_msg_rx_Fpga::~HybridObservablesTest_msg_rx_Fpga()
{
}


// ###########################################################


// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TLM MESSAGES #########
class HybridObservablesTest_tlm_msg_rx_Fpga;

typedef boost::shared_ptr<HybridObservablesTest_tlm_msg_rx_Fpga> HybridObservablesTest_tlm_msg_rx_Fpga_sptr;

HybridObservablesTest_tlm_msg_rx_Fpga_sptr HybridObservablesTest_tlm_msg_rx_Fpga_make();

class HybridObservablesTest_tlm_msg_rx_Fpga : public gr::block
{
private:
    friend HybridObservablesTest_tlm_msg_rx_Fpga_sptr HybridObservablesTest_tlm_msg_rx_Fpga_make();
    void msg_handler_events(pmt::pmt_t msg);
    HybridObservablesTest_tlm_msg_rx_Fpga();

public:
    int rx_message;
    ~HybridObservablesTest_tlm_msg_rx_Fpga();  //!< Default destructor
};

HybridObservablesTest_tlm_msg_rx_Fpga_sptr HybridObservablesTest_tlm_msg_rx_Fpga_make()
{
    return HybridObservablesTest_tlm_msg_rx_Fpga_sptr(new HybridObservablesTest_tlm_msg_rx_Fpga());
}

void HybridObservablesTest_tlm_msg_rx_Fpga::msg_handler_events(pmt::pmt_t msg)
{
    try
        {
            int64_t message = pmt::to_long(msg);
            rx_message = message;
        }
    catch (boost::bad_any_cast& e)
        {
            LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
            rx_message = 0;
        }
}

HybridObservablesTest_tlm_msg_rx_Fpga::HybridObservablesTest_tlm_msg_rx_Fpga() : gr::block("HybridObservablesTest_tlm_msg_rx_Fpga", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
    this->message_port_register_in(pmt::mp("events"));
    this->set_msg_handler(pmt::mp("events"), boost::bind(&HybridObservablesTest_tlm_msg_rx_Fpga::msg_handler_events, this, _1));
    rx_message = 0;
}

HybridObservablesTest_tlm_msg_rx_Fpga::~HybridObservablesTest_tlm_msg_rx_Fpga()
{
}


// ###########################################################


class HybridObservablesTestFpga : public ::testing::Test
{
public:
    std::string generator_binary;
    std::string p1;
    std::string p2;
    std::string p3;
    std::string p4;
    std::string p5;
    std::string implementation = FLAGS_trk_test_implementation;

    const int baseband_sampling_freq = FLAGS_fs_gen_sps;

    std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
    std::string filename_raw_data = FLAGS_filename_raw_data;

    int configure_generator();
    int generate_signal();
    bool save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename);
    void check_results_carrier_phase(
        arma::mat& true_ch0,
        arma::vec& true_tow_s,
        arma::mat& measured_ch0,
        std::string data_title);
    void check_results_carrier_phase_double_diff(
        arma::mat& true_ch0,
        arma::mat& true_ch1,
        arma::vec& true_tow_ch0_s,
        arma::vec& true_tow_ch1_s,
        arma::mat& measured_ch0,
        arma::mat& measured_ch1,
        std::string data_title);
    void check_results_carrier_doppler(arma::mat& true_ch0,
        arma::vec& true_tow_s,
        arma::mat& measured_ch0,
        std::string data_title);
    void check_results_carrier_doppler_double_diff(
        arma::mat& true_ch0,
        arma::mat& true_ch1,
        arma::vec& true_tow_ch0_s,
        arma::vec& true_tow_ch1_s,
        arma::mat& measured_ch0,
        arma::mat& measured_ch1,
        std::string data_title);
    void check_results_code_pseudorange(
        arma::mat& true_ch0,
        arma::mat& true_ch1,
        arma::vec& true_tow_ch0_s,
        arma::vec& true_tow_ch1_s,
        arma::mat& measured_ch0,
        arma::mat& measured_ch1,
        std::string data_title);

    HybridObservablesTestFpga()
    {
        factory = std::make_shared<GNSSBlockFactory>();
        config = std::make_shared<InMemoryConfiguration>();
        item_size = sizeof(gr_complex);
    }

    ~HybridObservablesTestFpga()
    {
    }

    bool ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_Synchro gnss);

    bool acquire_signal();
    void configure_receiver(
        double PLL_wide_bw_hz,
        double DLL_wide_bw_hz,
        double PLL_narrow_bw_hz,
        double DLL_narrow_bw_hz,
        int extend_correlation_symbols);

    gr::top_block_sptr top_block;
    std::shared_ptr<GNSSBlockFactory> factory;
    std::shared_ptr<InMemoryConfiguration> config;
    Gnss_Synchro gnss_synchro_master;
    std::vector<Gnss_Synchro> gnss_synchro_vec;
    size_t item_size;
};

int HybridObservablesTestFpga::configure_generator()
{
    // Configure signal generator
    generator_binary = FLAGS_generator_binary;

    p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
    if (FLAGS_dynamic_position.empty())
        {
            p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
        }
    else
        {
            p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
        }
    p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs;               // RINEX 2.10 observation file output
    p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data;                  // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
    p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq);  //Baseband sampling frequency [MSps]
    return 0;
}


int HybridObservablesTestFpga::generate_signal()
{
    int child_status;

    char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL};

    int pid;
    if ((pid = fork()) == -1)
        perror("fork err");
    else if (pid == 0)
        {
            execv(&generator_binary[0], parmList);
            std::cout << "Return not expected. Must be an execv err." << std::endl;
            std::terminate();
        }

    waitpid(pid, &child_status, 0);

    std::cout << "Signal and Observables RINEX and RAW files created." << std::endl;
    return 0;
}


const size_t TEST_OBS_PAGE_SIZE = 0x10000;
const unsigned int TEST_OBS_TEST_REGISTER_TRACK_WRITEVAL = 0x55AA;

void setup_fpga_switch_obs_test(void)
{
    int switch_device_descriptor;        // driver descriptor
    volatile unsigned *switch_map_base;  // driver memory map

    if ((switch_device_descriptor = open("/dev/uio1", O_RDWR | O_SYNC)) == -1)
        {
            LOG(WARNING) << "Cannot open deviceio" << "/dev/uio1";
        }
    switch_map_base = reinterpret_cast<volatile unsigned *>(mmap(nullptr, TEST_OBS_PAGE_SIZE,
        PROT_READ | PROT_WRITE, MAP_SHARED, switch_device_descriptor, 0));

    if (switch_map_base == reinterpret_cast<void *>(-1))
        {
            LOG(WARNING) << "Cannot map the FPGA switch module into tracking memory";
            std::cout << "Could not map switch memory." << std::endl;
        }

    // sanity check : check test register
    unsigned writeval = TEST_OBS_TEST_REGISTER_TRACK_WRITEVAL;
    unsigned readval;
    // write value to test register
    switch_map_base[3] = writeval;
    // read value from test register
    readval = switch_map_base[3];

    if (writeval != readval)
        {
            LOG(WARNING) << "Test register sanity check failed";
        }
    else
        {
            LOG(INFO) << "Test register sanity check success !";
        }

    switch_map_base[0] = 0; //0 -> DMA to queue 0, 1 -> DMA to queue 1, 2 -> A/Ds to queues
}


static pthread_mutex_t mutex_obs_test = PTHREAD_MUTEX_INITIALIZER;

volatile unsigned int send_samples_start_obs_test = 0;

int8_t input_samples_obs_test[TEST_OBS_MAX_INPUT_COMPLEX_SAMPLES_TOTAL*TEST_OBS_COMPLEX_SAMPLE_SIZE]; // re - im
int8_t input_samples_dma_obs_test[TEST_OBS_MAX_INPUT_COMPLEX_SAMPLES_TOTAL*TEST_OBS_COMPLEX_SAMPLE_SIZE*TEST_OBS_NUM_QUEUES];

struct DMA_handler_args_obs_test {
    std::string file;
    unsigned int nsamples_tx;
    unsigned int skip_used_samples;
    unsigned int freq_band; // 0 for GPS L1/ Galileo E1, 1 for GPS L5/Galileo E5
};

void *handler_DMA_obs_test(void *arguments)
{

	// DMA process that configures the DMA to send the samples to the acquisition engine
	int tx_fd; 															// DMA descriptor
	FILE *rx_signal_file_id;											// Input file descriptor
	bool file_completed = false;										// flag to indicate if the file is completed
	unsigned int nsamples_block;										// number of samples to send in the next DMA block of samples
	unsigned int nread_elements;										// number of elements effectively read from the input file
	unsigned int nsamples = 0;											// number of complex samples effectively transferred
	unsigned int index0, dma_index = 0;									// counters used for putting the samples in the order expected by the DMA
	unsigned int num_bytes_to_transfer;									// DMA transfer block size in bytes

	unsigned int nsamples_transmitted;

	struct DMA_handler_args *args = (struct DMA_handler_args *) arguments;

	unsigned int nsamples_tx = args->nsamples_tx;
	//printf("in handler DMA to send %d\n", nsamples_tx);
	std::string file = args->file; // input filename
	unsigned int skip_used_samples = args->skip_used_samples;

	// open DMA device
	tx_fd = open("/dev/loop_tx", O_WRONLY);
	if ( tx_fd < 0 )
	{
		printf("DMA can't open loop device\n");
		exit(1);
	}
	else

	// open input file
	rx_signal_file_id = fopen(file.c_str(), "rb");
	if (rx_signal_file_id < 0)
	{
		printf("DMA can't open input file\n");
		exit(1);
	}
	//printf("in handler DMA waiting for send samples start\n");
	while(send_samples_start_obs_test == 0); // wait until acquisition starts
	//printf("in handler DMA going to send samples\n");
	// skip initial samples
	int skip_samples = (int) FLAGS_skip_samples;

	fseek( rx_signal_file_id, (skip_samples + skip_used_samples)*2, SEEK_SET );
	//printf("sending %d samples starting at position %d\n", nsamples_tx,skip_samples + skip_used_samples);
	//printf("\n dma skip_samples = %d\n", skip_samples);
	//printf("\n dma skip used samples = %d\n", skip_used_samples);
	//printf("dma skip_samples = %d\n", skip_samples);
	//printf("dma skip used samples = %d\n", skip_used_samples);
	//printf("dma file_completed = %d\n", file_completed);
	//printf("dma nsamples = %d\n", nsamples);
	//printf("dma nsamples_tx = %d\n", nsamples_tx);

	usleep(50000); // wait some time to give time to the main thread to start the acquisition module
	unsigned int kk;
	//printf("enter kk");
	//scanf("%d", &kk);

	//printf("args->freq_band = %d\n", (int) args->freq_band);
	while (file_completed == false)
	{
		//printf("samples sent = %d\n", nsamples);
		if (nsamples_tx - nsamples > MAX_INPUT_COMPLEX_SAMPLES_TOTAL)
		{
			nsamples_block = MAX_INPUT_COMPLEX_SAMPLES_TOTAL;
		}
		else
		{
			nsamples_block = nsamples_tx - nsamples; // remaining samples to be sent
			file_completed = true;
		}

		nread_elements = fread(input_samples_obs_test, sizeof(int8_t), nsamples_block*COMPLEX_SAMPLE_SIZE, rx_signal_file_id);

		if (nread_elements != nsamples_block * COMPLEX_SAMPLE_SIZE)
		{
			printf("file completed\n");
			file_completed = true;
		}

		nsamples+=(nread_elements/COMPLEX_SAMPLE_SIZE);

		if (nread_elements > 0)
		{
			// for the 32-BIT DMA
			dma_index = 0;
			for (index0 = 0;index0 < (nread_elements);index0+=COMPLEX_SAMPLE_SIZE)
			{
				if (args->freq_band == 0)
				{
					// channel 1 (queue 1) -> E5/L5
					input_samples_dma_obs_test[dma_index] = 0;
					input_samples_dma_obs_test[dma_index+1] = 0;
					// channel 0 (queue 0) -> E1/L1
					input_samples_dma_obs_test[dma_index+2] = input_samples_obs_test[index0];
					input_samples_dma_obs_test[dma_index+3] = input_samples_obs_test[index0+1];
				}
				else
				{
					// channel 1 (queue 1) -> E5/L5
					input_samples_dma_obs_test[dma_index] = input_samples_obs_test[index0];
					input_samples_dma_obs_test[dma_index+1] = input_samples_obs_test[index0+1];
					// channel 0 (queue 0) -> E1/L1
					input_samples_dma_obs_test[dma_index+2] = 0;
					input_samples_dma_obs_test[dma_index+3] = 0;
				}
				dma_index += 4;
			}
			//printf("writing samples to send\n");
			nsamples_transmitted = write(tx_fd, &input_samples_dma_obs_test[0], nread_elements*NUM_QUEUES);
			//printf("exited writing samples to send\n");
			if (nsamples_transmitted != nread_elements*NUM_QUEUES)
			{
				std::cout << "Error : DMA could not send all the requested samples" << std::endl;
			}
		}
	}


	close(tx_fd);
	fclose(rx_signal_file_id);
	//printf("DMA finished\n");
	return NULL;

}


bool HybridObservablesTestFpga::acquire_signal()
{

	pthread_t thread_DMA;

	int baseband_sampling_freq_acquisition;
	// step 0 determine the sampling frequency
	if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
	{
		baseband_sampling_freq_acquisition = baseband_sampling_freq/4;	// downsampling filter in L1/E1
		//printf(" aaaaaa baseband_sampling_freq_acquisition = %d\n", baseband_sampling_freq_acquisition);
	}
	else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
	{
		baseband_sampling_freq_acquisition = baseband_sampling_freq/4;  // downsampling filter in L1/E1
		//printf(" aaaaaa baseband_sampling_freq_acquisition = %d\n", baseband_sampling_freq_acquisition);
	}
	else
	{
		baseband_sampling_freq_acquisition = baseband_sampling_freq;
	}

    // 1. Setup GNU Radio flowgraph (file_source -> Acquisition_10m)
    gr::top_block_sptr top_block;
    top_block = gr::make_top_block("Acquisition test");
    int SV_ID = 1;  //initial sv id

    // Satellite signal definition
    Gnss_Synchro tmp_gnss_synchro;
    tmp_gnss_synchro.Channel_ID = 0;
    config = std::make_shared<InMemoryConfiguration>();
    config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
    //config->set_property("Acquisition.blocking_on_standby", "true"); -- not used in the HW
    //config->set_property("Acquisition.blocking", "true"); -- not used in the HW
    //config->set_property("Acquisition.dump", "false"); -- not used in the HW
    //config->set_property("Acquisition.dump_filename", "./data/acquisition.dat"); -- not used in the HW
    //config->set_property("Acquisition.use_CFAR_algorithm", "false"); -- not used in the HW at this moment

    //config->set_property("Acquisition.item_type", "cshort");
    //config->set_property("Acquisition.if", "0");
    //config->set_property("Acquisition.sampled_ms", "4");
    //config->set_property("Acquisition.select_queue_Fpga", "0");
    //config->set_property("Acquisition.devicename", "/dev/uio0");

    //config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));

    //if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
    //{
    //	config->set_property("Acquisition.acquire_pilot", "false"); -- ALREADY THE DEFAULT VALUE
    //}

    std::shared_ptr<AcquisitionInterface> acquisition;

    std::string System_and_Signal;

    struct DMA_handler_args_obs_test args;

    //create the correspondign acquisition block according to the desired tracking signal
    //printf("AAAAAAAAAAAAAAAAAAAAA\n");
    if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
        {
    		//config->set_property("Acquisition.select_queue_Fpga", "0");
    		//config->set_property("Acquisition.sampled_ms", "1");
    		//printf("AAAAAAAAAAAAAAAAAAAAA2222\n");
            tmp_gnss_synchro.System = 'G';
            std::string signal = "1C";
            signal.copy(tmp_gnss_synchro.Signal, 2, 0);
            tmp_gnss_synchro.PRN = SV_ID;
            System_and_Signal = "GPS L1 CA";
            //config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
            ////acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFineDoppler>(config.get(), "Acquisition", 1, 0);
            //acquisition = std::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);

            args.freq_band = 0;

            acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);

        }
    else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
        {
    		//config->set_property("Acquisition.select_queue_Fpga", "0");
    		//config->set_property("Acquisition.sampled_ms", "4");
            tmp_gnss_synchro.System = 'E';
            std::string signal = "1B";
            signal.copy(tmp_gnss_synchro.Signal, 2, 0);
            tmp_gnss_synchro.PRN = SV_ID;
            System_and_Signal = "Galileo E1B";
            //config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
            //acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisition>(config.get(), "Acquisition", 1, 0);

            args.freq_band = 0;

            acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);

        }

    else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
        {
    		//config->set_property("Acquisition.select_queue_Fpga", "1");
    		//config->set_property("Acquisition.sampled_ms", "1");
            tmp_gnss_synchro.System = 'E';
            std::string signal = "5X";
            signal.copy(tmp_gnss_synchro.Signal, 2, 0);
            tmp_gnss_synchro.PRN = SV_ID;
            System_and_Signal = "Galileo E5a";
            //config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
            //acquisition = std::make_shared<GalileoE5aPcpsAcquisition>(config.get(), "Acquisition", 1, 0);

            args.freq_band = 1;

            acquisition = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);

        }
    else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
        {
    		//config->set_property("Acquisition.select_queue_Fpga", "1");
    		//config->set_property("Acquisition.sampled_ms", "1");
            tmp_gnss_synchro.System = 'G';
            std::string signal = "L5";
            signal.copy(tmp_gnss_synchro.Signal, 2, 0);
            tmp_gnss_synchro.PRN = SV_ID;
            System_and_Signal = "GPS L5I";
            //config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
            //acquisition = std::make_shared<GpsL5iPcpsAcquisition>(config.get(), "Acquisition", 1, 0);

            args.freq_band = 1;

            acquisition = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);

        }
    else
        {
            std::cout << "The test can not run with the selected tracking implementation\n ";
            throw(std::exception());
        }

    acquisition->set_channel(0);
    acquisition->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
    acquisition->connect(top_block);

    std::string file = FLAGS_signal_file;
    const char* file_name = file.c_str();

//    struct DMA_handler_args_obs_test args;

    boost::shared_ptr<Acquisition_msg_rx> msg_rx;
    try
        {
            msg_rx = Acquisition_msg_rx_make();
        }
    catch (const std::exception& e)
        {
            std::cout << "Failure connecting the message port system: " << e.what() << std::endl;
            exit(0);
        }

    msg_rx->top_block = top_block;

    top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));


    // 5. Run the flowgraph
    // Get visible GPS satellites (positive acquisitions with Doppler measurements)
    // record startup time
    std::chrono::time_point<std::chrono::system_clock> start, end;
    std::chrono::duration<double> elapsed_seconds;
    start = std::chrono::system_clock::now();

    bool start_msg = true;

    unsigned int MAX_PRN_IDX = 0;

    switch (tmp_gnss_synchro.System)
        {
        case 'G':
            MAX_PRN_IDX = 33;
            break;
        case 'E':
            MAX_PRN_IDX = 37;
            break;
        default:
            MAX_PRN_IDX = 33;
        }

    setup_fpga_switch_obs_test();

	unsigned int code_length;
	unsigned int nsamples_to_transfer;
	if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
	{
		code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq_acquisition) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
		nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
		//printf("dddddd code_length = %d nsamples_to_transfer = %d\n", code_length, nsamples_to_transfer);
	}
	else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
	{
		code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq_acquisition) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
		nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
		//printf("dddddd code_length = %d nsamples_to_transfer = %d\n", code_length, nsamples_to_transfer);
	}
	else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
	{
		code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq_acquisition) / GALILEO_E5A_CODE_CHIP_RATE_HZ * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS)));
		nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GALILEO_E5A_CODE_CHIP_RATE_HZ / GALILEO_E5A_CODE_LENGTH_CHIPS)));
	}
	else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
	{
		code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq_acquisition) / (GPS_L5I_CODE_RATE_HZ / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS))));
		nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L5I_CODE_RATE_HZ / GPS_L5I_CODE_LENGTH_CHIPS)));
	}

	float nbits = ceilf(log2f((float)code_length*2));
	unsigned int fft_size = pow(2, nbits);
	unsigned int nsamples_total = fft_size;
	//printf("EEEEEEEEEEEEEEEEEEEEE nbits = %f nsamples_total = %d\n", nbits, fft_size);

	int acq_doppler_max = config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz);
	int acq_doppler_step = config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz);

	/*
	if (doppler_loop_control_in_sw_obs_test == 1)
	{

		if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
		{
			//printf("EEEEEEEEEEEEEEEEEEEEEEE2\n");
			acquisition_GpsL1Ca_Fpga->set_single_doppler_flag(1);
		}
		else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
		{
			acquisition_GpsE1_Fpga->set_single_doppler_flag(1);
		}
		else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
		{
			acquisition_GpsE5a_Fpga->set_single_doppler_flag(1);
		}
		else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
		{
			acquisition_GpsL5_Fpga->set_single_doppler_flag(1);
		}


		int num_doppler_steps = (2*acq_doppler_max)/acq_doppler_step + 1;

		float result_table[MAX_PRN_IDX][num_doppler_steps][3];

		uint32_t index_debug[MAX_PRN_IDX];
		uint32_t samplestamp_debug[MAX_PRN_IDX];

		for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
		//for (unsigned int PRN = 6; PRN < 8; PRN++)
			{
			//printf("PRN %d\n", PRN);
			uint32_t max_index = 0;
			float max_magnitude = 0.0;
			float second_magnitude = 0.0;
			uint64_t initial_sample = 0;
			//float power_sum = 0;
			uint32_t doppler_index = 0;

			uint32_t max_index_iteration;
			uint32_t total_fft_scaling_factor;
			uint32_t fw_fft_scaling_factor;
			float max_magnitude_iteration;
			float second_magnitude_iteration;
			uint64_t initial_sample_iteration;
			//float power_sum_iteration;
			uint32_t doppler_index_iteration;
			int doppler_shift_selected;
			int doppler_num = 0;

			for (int doppler_shift = -acq_doppler_max;doppler_shift <= acq_doppler_max;doppler_shift = doppler_shift + acq_doppler_step)
				{

					//printf("main loop doppler_shift = %d\n", doppler_shift);
					tmp_gnss_synchro.PRN = PRN;

					pthread_mutex_lock(&mutex_obs_test);
					send_samples_start_obs_test = 0;
					pthread_mutex_unlock(&mutex_obs_test);

					if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
					{
						acquisition_GpsL1Ca_Fpga->reset_acquisition(); // reset the whole system including the sample counters
						acquisition_GpsL1Ca_Fpga->set_doppler_max(doppler_shift);
						acquisition_GpsL1Ca_Fpga->set_doppler_step(0);

						acquisition_GpsL1Ca_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
						acquisition_GpsL1Ca_Fpga->init();
						acquisition_GpsL1Ca_Fpga->set_local_code();
						args.freq_band = 0;
					}
					else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
					{
						//printf("starting configuring acquisition\n");
						acquisition_GpsE1_Fpga->reset_acquisition(); // reset the whole system including the sample counters
						acquisition_GpsE1_Fpga->set_doppler_max(doppler_shift);
						acquisition_GpsE1_Fpga->set_doppler_step(0);

						acquisition_GpsE1_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
						acquisition_GpsE1_Fpga->init();
						acquisition_GpsE1_Fpga->set_local_code();
						args.freq_band = 0;
						//printf("ffffffffffff ending configuring acquisition\n");
					}
					else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
					{
						acquisition_GpsE5a_Fpga->reset_acquisition(); // reset the whole system including the sample counters
						acquisition_GpsE5a_Fpga->set_doppler_max(doppler_shift);
						acquisition_GpsE5a_Fpga->set_doppler_step(0);

						acquisition_GpsE5a_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
						acquisition_GpsE5a_Fpga->init();
						acquisition_GpsE5a_Fpga->set_local_code();
						args.freq_band = 1;
					}
					else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
					{
						acquisition_GpsL5_Fpga->reset_acquisition(); // reset the whole system including the sample counters
						acquisition_GpsL5_Fpga->set_doppler_max(doppler_shift);
						acquisition_GpsL5_Fpga->set_doppler_step(0);

						acquisition_GpsL5_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
						acquisition_GpsL5_Fpga->init();
						acquisition_GpsL5_Fpga->set_local_code();
						args.freq_band = 1;
					}

					args.file = file;

					if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0))
					{
						//printf("gggggggg \n");
						//----------------------------------------------------------------------------------
						// send the previous samples to set the downsampling filter in a good condition
						send_samples_start_obs_test = 0;
						if (test_observables_skip_samples_already_used == 1)
						{
							args.skip_used_samples = (PRN -1)*fft_size - DOWNAMPLING_FILTER_INIT_SAMPLES; // set the counter 2000 samples before
						}
						else
						{
							args.skip_used_samples = - DOWNAMPLING_FILTER_INIT_SAMPLES; // set the counter 2000 samples before
						}
						args.nsamples_tx = DOWNAMPLING_FILTER_INIT_SAMPLES + DOWNSAMPLING_FILTER_DELAY + DOWNSAMPLING_FILTER_OFFSET_SAMPLES; //50000;		// max size of the FFT
						//printf("sending pre init %d\n", args.nsamples_tx);

						if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void *)&args) < 0)
						{
							printf("ERROR cannot create DMA Process\n");
						}
						pthread_mutex_lock(&mutex);
						send_samples_start_obs_test = 1;
						pthread_mutex_unlock(&mutex);
						pthread_join(thread_DMA, NULL);
						send_samples_start_obs_test = 0;

						//printf("finished sending samples init filter status and back to main thread\n");
						//-----------------------------------------------------------------------------------

						// debug
						args.nsamples_tx = nsamples_to_transfer; //fft_size; //50000;		// max size of the FFT

						if (test_observables_skip_samples_already_used == 1)
						{
							args.skip_used_samples = (PRN -1)*fft_size + DOWNSAMPLING_FILTER_DELAY + DOWNSAMPLING_FILTER_OFFSET_SAMPLES;
						}
						else
						{
							args.skip_used_samples = DOWNSAMPLING_FILTER_DELAY + DOWNSAMPLING_FILTER_OFFSET_SAMPLES;
						}
					}
					else
					{
						// debug
						args.nsamples_tx = nsamples_to_transfer; //fft_size; //50000;		// max size of the FFT

						if (test_observables_skip_samples_already_used == 1)
						{
							args.skip_used_samples = (PRN -1)*fft_size;
						}
						else
						{
							args.skip_used_samples = 0;
						}
					}



					// create DMA child process
					if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void *)&args) < 0)
					{
						printf("ERROR cannot create DMA Process\n");
					}

					msg_rx->rx_message = 0;
					top_block->start();

					pthread_mutex_lock(&mutex_obs_test);
					send_samples_start_obs_test = 1;
					pthread_mutex_unlock(&mutex_obs_test);

					if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
					{
						acquisition_GpsL1Ca_Fpga->reset();
					}
					else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
					{
						acquisition_GpsE1_Fpga->reset();
					}
					else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
					{
						acquisition_GpsE5a_Fpga->reset();
					}
					else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
					{
						acquisition_GpsL5_Fpga->reset();
					}

					if (start_msg == true)
						{
							std::cout << "Reading external signal file: " << FLAGS_signal_file << std::endl;
							std::cout << "Searching for " << System_and_Signal << " Satellites..." << std::endl;
							std::cout << "[";
							start_msg = false;
						}

					// wait for the child DMA process to finish
					pthread_join(thread_DMA, NULL);

					pthread_mutex_lock(&mutex_obs_test);
					send_samples_start_obs_test = 0;
					pthread_mutex_unlock(&mutex_obs_test);

					while (msg_rx->rx_message == 0)
						{
							usleep(100000);
						}

					if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
					{
						acquisition_GpsL1Ca_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
						//acquisition_GpsL1Ca_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
					}
					else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
					{
						//printf("iiiiiiiiiiiiii\n");
						acquisition_GpsE1_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
						//acquisition_GpsE1_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
					}
					else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
					{
						acquisition_GpsE5a_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
						//acquisition_GpsE5a_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
					}
					else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
					{
						acquisition_GpsL5_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
						//acquisition_GpsL5_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
					}

					result_table[PRN][doppler_num][0] = max_magnitude_iteration;
					result_table[PRN][doppler_num][1] = second_magnitude_iteration;
					result_table[PRN][doppler_num][2] = total_fft_scaling_factor;
					doppler_num = doppler_num + 1;

					if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0))
					{
						//printf("jjjjjjjjjjjjjjj\n");
						if (max_magnitude_iteration > max_magnitude)
						{
							int interpolation_factor = 4;
							index_debug[PRN - 1] = max_index_iteration;
							max_index = max_index_iteration; // - interpolation_factor*(DOWNSAMPLING_FILTER_DELAY - 1);
							max_magnitude = max_magnitude_iteration;
							second_magnitude = second_magnitude_iteration;
							samplestamp_debug[PRN - 1] = initial_sample_iteration;
							initial_sample = 0; //initial_sample_iteration;
							doppler_index = doppler_index_iteration;
							doppler_shift_selected = doppler_shift;
						}
					}
					else
					{

						if (max_magnitude_iteration > max_magnitude)
						{
							max_index = max_index_iteration;
							max_magnitude = max_magnitude_iteration;
							second_magnitude = second_magnitude_iteration;
							initial_sample = initial_sample_iteration;
							doppler_index = doppler_index_iteration;
							doppler_shift_selected = doppler_shift;
						}
					}
					top_block->stop();
				}


//					power_sum = (power_sum - max_magnitude) / (fft_size - 1);
//					float test_statistics = (max_magnitude / power_sum);
//					float threshold = config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold);
//					if (test_statistics > threshold)
				float test_statistics = max_magnitude/second_magnitude;
				float threshold = config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold);
				if (test_statistics > threshold)
					{
						std::cout << " " << PRN << " ";

						//doppler_measurements_map.insert(std::pair<int, double>(PRN, static_cast<double>(doppler_shift_selected)));
						//code_delay_measurements_map.insert(std::pair<int, double>(PRN, static_cast<double>(max_index % nsamples_total)));
						//acq_samplestamp_map.insert(std::pair<int, double>(PRN, initial_sample)); // should be 0 (first sample upon which acq starts is always 0 in this case)

						tmp_gnss_synchro.Acq_doppler_hz = doppler_shift_selected;
						tmp_gnss_synchro.Acq_delay_samples = max_index;
						tmp_gnss_synchro.Acq_samplestamp_samples = initial_sample;  // delay due to the downsampling filter in the acquisition


						gnss_synchro_vec.push_back(tmp_gnss_synchro);
					}
				else
					{
						std::cout << " . ";
					}

				std::cout.flush();

			}

		uint32_t max_index = 0;
		uint32_t total_fft_scaling_factor;
		//uint32_t fw_fft_scaling_factor;
		float max_magnitude = 0.0;
		uint64_t initial_sample = 0;
		float second_magnitude = 0;
		float peak_to_power = 0;
		float test_statistics;
		uint32_t doppler_index = 0;

			if (test_observables_show_results_table == 1)
			{
				for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
				{
					std::cout << std::endl << "############################################ Results for satellite " << PRN << std::endl;
					int doppler_num = 0;
					for (int doppler_shift = -acq_doppler_max;doppler_shift <= acq_doppler_max;doppler_shift = doppler_shift + acq_doppler_step)
					{
						max_magnitude = result_table[PRN][doppler_num][0];
						//power_sum = result_table[PRN][doppler_num][1];
						second_magnitude = result_table[PRN][doppler_num][1];
						total_fft_scaling_factor = result_table[PRN][doppler_num][2];
						doppler_num = doppler_num + 1;

						std::cout << "==================== Doppler shift " << doppler_shift << std::endl;
						std::cout << "Max magnitude = " << max_magnitude << std::endl;
						std::cout << "Second magnitude = " << second_magnitude << std::endl;
						std::cout << "FFT total scaling factor = " << total_fft_scaling_factor << std::endl;
						test_statistics = (max_magnitude / second_magnitude);
						std::cout << " test_statistics = " << test_statistics << std::endl;

					}
					int dummy_val;
					std::cout << "Enter a value to continue";
					std::cin >> dummy_val;
				}
			}
	}
	else // DOPPLER CONTROL IN HW
	{
	*/

		for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
		//for (unsigned int PRN = 0; PRN < 17; PRN++)
			{

			uint32_t max_index = 0;
			float max_magnitude = 0.0;
			float second_magnitude = 0.0;
			uint64_t initial_sample = 0;
			//float power_sum = 0;
			uint32_t doppler_index = 0;

			uint32_t max_index_iteration;
			uint32_t total_fft_scaling_factor;
			uint32_t fw_fft_scaling_factor;
			float max_magnitude_iteration;
			float second_magnitude_iteration;
			uint64_t initial_sample_iteration;
			//float power_sum_iteration;
			uint32_t doppler_index_iteration;
			int doppler_shift_selected;
			int doppler_num = 0;

			tmp_gnss_synchro.PRN = PRN;

			acquisition->stop_acquisition(); // reset the whole system including the sample counters
			acquisition->set_doppler_max(acq_doppler_max);
			acquisition->set_doppler_step(acq_doppler_step);
			acquisition->set_gnss_synchro(&tmp_gnss_synchro);
			acquisition->init();
			acquisition->set_local_code();

			args.file = file;


			send_samples_start_obs_test = 0;

			if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0))
			{
				//printf("gggggggg \n");
				//----------------------------------------------------------------------------------
				// send the previous samples to set the downsampling filter in a good condition
				//send_samples_start = 0;

				args.skip_used_samples = - DOWNAMPLING_FILTER_INIT_SAMPLES; // set the counter 2000 samples before

				args.nsamples_tx = DOWNAMPLING_FILTER_INIT_SAMPLES + DOWNSAMPLING_FILTER_DELAY + DOWNSAMPLING_FILTER_OFFSET_SAMPLES; //50000;		// max size of the FFT

				//printf("sending pre init %d\n", args.nsamples_tx);

				if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void *)&args) < 0)
				{
					printf("ERROR cannot create DMA Process\n");
				}
				pthread_mutex_lock(&mutex);
				send_samples_start_obs_test = 1;
				pthread_mutex_unlock(&mutex);
				pthread_join(thread_DMA, NULL);
				send_samples_start_obs_test = 0;
				//printf("finished sending samples init filter status\n");
				//-----------------------------------------------------------------------------------

				// debug
				args.nsamples_tx = nsamples_to_transfer; //fft_size; //50000;		// max size of the FFT

				args.skip_used_samples = DOWNSAMPLING_FILTER_DELAY + DOWNSAMPLING_FILTER_OFFSET_SAMPLES;

			}
			else
			{
				// debug
				args.nsamples_tx = nsamples_to_transfer; //fft_size; //50000;		// max size of the FFT

				args.skip_used_samples = 0;
			}





			// create DMA child process
			//printf("||||||||1 args freq_band = %d\n", args.freq_band);
			//printf("sending samples main DMA %d\n", args.nsamples_tx);
			if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void *)&args) < 0)
			{
				printf("ERROR cannot create DMA Process\n");
			}

			msg_rx->rx_message = 0;
			top_block->start();

			pthread_mutex_lock(&mutex);
			send_samples_start_obs_test = 1;
			pthread_mutex_unlock(&mutex);

			acquisition->reset(); // set active

//					pthread_mutex_lock(&mutex); // it doesn't work if it is done here
//					send_samples_start = 1;
//					pthread_mutex_unlock(&mutex);

			if (start_msg == true)
				{
					std::cout << "Reading external signal file: " << FLAGS_signal_file << std::endl;
					std::cout << "Searching for " << System_and_Signal << " Satellites..." << std::endl;
					std::cout << "[";
					start_msg = false;
				}

			// wait for the child DMA process to finish
			pthread_join(thread_DMA, NULL);

			pthread_mutex_lock(&mutex);
			send_samples_start_obs_test = 0;
			pthread_mutex_unlock(&mutex);

//			while (msg_rx->rx_message == 0)
//				{
//					usleep(100000);
//				}

			// the DMA sends the exact number of samples needed for the acquisition.
			// however because of the LPF in the GPS L1/Gal E1 acquisition, this calculation is approximate
			// and some extra samples might be sent. Wait at least once to give time the HW to consume any extra
			// sample the DMA might have sent.
            do {
            	usleep(100000);
            } while (msg_rx->rx_message == 0);

			if (msg_rx->rx_message == 1)
				{
					std::cout << " " << PRN << " ";

					tmp_gnss_synchro.Acq_doppler_hz = tmp_gnss_synchro.Acq_doppler_hz;
					tmp_gnss_synchro.Acq_delay_samples = tmp_gnss_synchro.Acq_delay_samples;
					tmp_gnss_synchro.Acq_samplestamp_samples = 0; // do not take into account the filter internal state initialisation
					tmp_gnss_synchro.Acq_samplestamp_samples = tmp_gnss_synchro.Acq_samplestamp_samples;  // delay due to the downsampling filter in the acquisition


					gnss_synchro_vec.push_back(tmp_gnss_synchro);


//		                    doppler_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_doppler_hz));
//		                    code_delay_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_delay_samples));
//		                    tmp_gnss_synchro.Acq_samplestamp_samples = 0; // do not take into account the filter internal state initialisation
//		                    acq_samplestamp_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_samplestamp_samples));
				}
			else
				{
					std::cout << " . ";
				}

//				while (msg_rx->rx_message == 0)
//					{
//						usleep(100000);
//					}

//				if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
//				{
//					acquisition_GpsL1Ca_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
//					//acquisition_GpsL1Ca_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
//				}
//				else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
//				{
//					//printf("iiiiiiiiiiiiii\n");
//					acquisition_GpsE1_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
//					//acquisition_GpsE1_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
//				}
//				else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
//				{
//					acquisition_GpsE5a_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
//					//acquisition_GpsE5a_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
//				}
//				else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
//				{
//					acquisition_GpsL5_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
//					//acquisition_GpsL5_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
//				}
//
//				if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0))
//				{
//					int interpolation_factor = 4;
//					//index_debug[PRN - 1] = max_index_iteration;
//					max_index = max_index_iteration; // - interpolation_factor*(DOWNSAMPLING_FILTER_DELAY - 1);
//					max_magnitude = max_magnitude_iteration;
//					second_magnitude = second_magnitude_iteration;
//					//samplestamp_debug[PRN - 1] = initial_sample_iteration;
//					initial_sample = 0; //initial_sample_iteration;
//					doppler_index = doppler_index_iteration;
//					doppler_shift_selected = -acq_doppler_max + acq_doppler_step * (doppler_index_iteration - 1);
//				}
//				else
//				{
//					max_index = max_index_iteration;
//					max_magnitude = max_magnitude_iteration;
//					second_magnitude = second_magnitude_iteration;
//					initial_sample = initial_sample_iteration;
//					doppler_index = doppler_index_iteration;
//					doppler_shift_selected = -acq_doppler_max + acq_doppler_step * (doppler_index_iteration - 1);
//				}
			top_block->stop();


//				float test_statistics = max_magnitude/second_magnitude;
//				float threshold = config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold);
//				if (test_statistics > threshold)
//					{
//						//printf("XXXXXXXXXXXXXXXXXXXXXXXXXXX max index = %d = %d \n", max_index, max_index % nsamples_total);
//						std::cout << " " << PRN << " ";
//						doppler_measurements_map.insert(std::pair<int, double>(PRN, static_cast<double>(doppler_shift_selected)));
//						code_delay_measurements_map.insert(std::pair<int, double>(PRN, static_cast<double>(max_index % nsamples_total)));
//						code_delay_measurements_map.insert(std::pair<int, double>(PRN, static_cast<double>(max_index)));
//						acq_samplestamp_map.insert(std::pair<int, double>(PRN, initial_sample)); // should be 0 (first sample upon which acq starts is always 0 in this case)
//					}
//				else
//					{
//						std::cout << " . ";
//					}

			std::cout.flush();

/*		} */

	}
//		}
    std::cout << "]" << std::endl;
    std::cout << "-------------------------------------------\n";

    for (auto& x : gnss_synchro_vec)
        {
            std::cout << "DETECTED SATELLITE " << System_and_Signal
                      << " PRN: " << x.PRN
                      << " with Doppler: " << x.Acq_doppler_hz
                      << " [Hz], code phase: " << x.Acq_delay_samples
                      << " [samples] at signal SampleStamp " << x.Acq_samplestamp_samples << "\n";
        }

    // report the elapsed time
    end = std::chrono::system_clock::now();
    elapsed_seconds = end - start;
    std::cout << "Total signal acquisition run time "
              << elapsed_seconds.count()
              << " [seconds]" << std::endl;
    if (gnss_synchro_vec.size() > 0)
        {
            return true;
        }
    else
        {
            return false;
        }


    return true;
}


void HybridObservablesTestFpga::configure_receiver(
    double PLL_wide_bw_hz,
    double DLL_wide_bw_hz,
    double PLL_narrow_bw_hz,
    double DLL_narrow_bw_hz,
    int extend_correlation_symbols)
{
    config = std::make_shared<InMemoryConfiguration>();
    config->set_property("Tracking.dump", "true");
    config->set_property("Tracking.dump_filename", "./tracking_ch_");
    config->set_property("Tracking.implementation", implementation);
    config->set_property("Tracking.item_type", "gr_complex");
    config->set_property("Tracking.pll_bw_hz", std::to_string(PLL_wide_bw_hz));
    config->set_property("Tracking.dll_bw_hz", std::to_string(DLL_wide_bw_hz));
    config->set_property("Tracking.extend_correlation_symbols", std::to_string(extend_correlation_symbols));
    config->set_property("Tracking.pll_bw_narrow_hz", std::to_string(PLL_narrow_bw_hz));
    config->set_property("Tracking.dll_bw_narrow_hz", std::to_string(DLL_narrow_bw_hz));
    config->set_property("Observables.implementation", "Hybrid_Observables");
    config->set_property("Observables.dump", "true");
    config->set_property("TelemetryDecoder.dump", "true");

    gnss_synchro_master.Channel_ID = 0;
    config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));

    std::string System_and_Signal;
    if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
        {
            gnss_synchro_master.System = 'G';
            std::string signal = "1C";
            System_and_Signal = "GPS L1 CA";
            const char* str = signal.c_str();                                     // get a C style null terminated string
            std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3);  // copy string into synchro char array: 2 char + null

            config->set_property("Tracking.early_late_space_chips", "0.5");
            config->set_property("Tracking.early_late_space_narrow_chips", "0.5");

            config->set_property("TelemetryDecoder.implementation", "GPS_L1_CA_Telemetry_Decoder");
        }
    else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
        {
            gnss_synchro_master.System = 'E';
            std::string signal = "1B";
            System_and_Signal = "Galileo E1B";
            const char* str = signal.c_str();                                     // get a C style null terminated string
            std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3);  // copy string into synchro char array: 2 char + null

            config->set_property("Tracking.early_late_space_chips", "0.15");
            config->set_property("Tracking.very_early_late_space_chips", "0.6");
            config->set_property("Tracking.early_late_space_narrow_chips", "0.15");
            config->set_property("Tracking.very_early_late_space_narrow_chips", "0.6");
            config->set_property("Tracking.track_pilot", "true");

            config->set_property("TelemetryDecoder.implementation", "Galileo_E1B_Telemetry_Decoder");
        }
//    else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking") == 0)
//        {
//            gnss_synchro_master.System = 'G';
//            std::string signal = "2S";
//            System_and_Signal = "GPS L2CM";
//            const char* str = signal.c_str();                                     // get a C style null terminated string
//            std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3);  // copy string into synchro char array: 2 char + null
//
//            config->set_property("Tracking.early_late_space_chips", "0.5");
//            config->set_property("Tracking.track_pilot", "false");
//
//            config->set_property("TelemetryDecoder.implementation", "GPS_L2C_Telemetry_Decoder");
//        }
    else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0) // or implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
        {
            gnss_synchro_master.System = 'E';
            std::string signal = "5X";
            System_and_Signal = "Galileo E5a";
            const char* str = signal.c_str();                                     // get a C style null terminated string
            std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3);  // copy string into synchro char array: 2 char + null

            //if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
            //    {
            //        config->supersede_property("Tracking.implementation", std::string("Galileo_E5a_DLL_PLL_Tracking"));
            //    }
            config->set_property("Tracking.early_late_space_chips", "0.5");
            config->set_property("Tracking.track_pilot", "true");
            config->set_property("Tracking.order", "2");

            config->set_property("TelemetryDecoder.implementation", "Galileo_E5a_Telemetry_Decoder");
        }
    else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
        {
            gnss_synchro_master.System = 'G';
            std::string signal = "L5";
            System_and_Signal = "GPS L5I";
            const char* str = signal.c_str();                                     // get a C style null terminated string
            std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3);  // copy string into synchro char array: 2 char + null

            config->set_property("Tracking.early_late_space_chips", "0.5");
            config->set_property("Tracking.track_pilot", "true");
            config->set_property("Tracking.order", "2");

            config->set_property("TelemetryDecoder.implementation", "GPS_L5_Telemetry_Decoder");
        }
    else
        {
            std::cout << "The test can not run with the selected tracking implementation\n ";
            throw(std::exception());
        }

    std::cout << "*****************************************\n";
    std::cout << "*** Tracking configuration parameters ***\n";
    std::cout << "*****************************************\n";
    std::cout << "Signal: " << System_and_Signal << "\n";
    std::cout << "implementation: " << config->property("Tracking.implementation", std::string("undefined")) << " \n";
    std::cout << "pll_bw_hz: " << config->property("Tracking.pll_bw_hz", 0.0) << " Hz\n";
    std::cout << "dll_bw_hz: " << config->property("Tracking.dll_bw_hz", 0.0) << " Hz\n";
    std::cout << "pll_bw_narrow_hz: " << config->property("Tracking.pll_bw_narrow_hz", 0.0) << " Hz\n";
    std::cout << "dll_bw_narrow_hz: " << config->property("Tracking.dll_bw_narrow_hz", 0.0) << " Hz\n";
    std::cout << "extend_correlation_symbols: " << config->property("Tracking.extend_correlation_symbols", 0) << " Symbols\n";
    std::cout << "*****************************************\n";
    std::cout << "*****************************************\n";
}

void HybridObservablesTestFpga::check_results_carrier_phase(
    arma::mat& true_ch0,
    arma::vec& true_tow_s,
    arma::mat& measured_ch0,
    std::string data_title)
{
    //1. True value interpolation to match the measurement times

    double t0 = measured_ch0(0, 0);
    int size1 = measured_ch0.col(0).n_rows;
    double t1 = measured_ch0(size1 - 1, 0);
    arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
    //conversion between arma::vec and std:vector
    arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
    std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);

    arma::vec true_ch0_phase_interp;
    arma::interp1(true_tow_s, true_ch0.col(3), t, true_ch0_phase_interp);

    arma::vec meas_ch0_phase_interp;
    arma::interp1(measured_ch0.col(0), measured_ch0.col(3), t, meas_ch0_phase_interp);

    //2. RMSE
    arma::vec err_ch0_cycles;

    //compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
    err_ch0_cycles = meas_ch0_phase_interp - true_ch0_phase_interp - meas_ch0_phase_interp(0) + true_ch0_phase_interp(0);

    arma::vec err2_ch0 = arma::square(err_ch0_cycles);
    double rmse_ch0 = sqrt(arma::mean(err2_ch0));

    //3. Mean err and variance
    double error_mean_ch0 = arma::mean(err_ch0_cycles);
    double error_var_ch0 = arma::var(err_ch0_cycles);

    // 4. Peaks
    double max_error_ch0 = arma::max(err_ch0_cycles);
    double min_error_ch0 = arma::min(err_ch0_cycles);

    //5. report
    std::streamsize ss = std::cout.precision();
    std::cout << std::setprecision(10) << data_title << " Accumulated Carrier phase RMSE = "
              << rmse_ch0 << ", mean = " << error_mean_ch0
              << ", stdev = " << sqrt(error_var_ch0)
              << " (max,min) = " << max_error_ch0
              << "," << min_error_ch0
              << " [cycles]" << std::endl;
    std::cout.precision(ss);

    //plots
    if (FLAGS_show_plots)
        {
            Gnuplot g3("linespoints");
            g3.set_title(data_title + "Accumulated Carrier phase error [cycles]");
            g3.set_grid();
            g3.set_xlabel("Time [s]");
            g3.set_ylabel("Carrier Phase error [cycles]");
            //conversion between arma::vec and std:vector
            std::vector<double> error_vec(err_ch0_cycles.colptr(0), err_ch0_cycles.colptr(0) + err_ch0_cycles.n_rows);
            g3.cmd("set key box opaque");
            g3.plot_xy(time_vector, error_vec,
                "Carrier Phase error");
            g3.set_legend();
            g3.savetops(data_title + "Carrier_phase_error");

            g3.showonscreen();  // window output
        }

    //check results against the test tolerance
    ASSERT_LT(rmse_ch0, 0.25);
    ASSERT_LT(error_mean_ch0, 0.2);
    ASSERT_GT(error_mean_ch0, -0.2);
    ASSERT_LT(error_var_ch0, 0.5);
    ASSERT_LT(max_error_ch0, 0.5);
    ASSERT_GT(min_error_ch0, -0.5);
}


void HybridObservablesTestFpga::check_results_carrier_phase_double_diff(
    arma::mat& true_ch0,
    arma::mat& true_ch1,
    arma::vec& true_tow_ch0_s,
    arma::vec& true_tow_ch1_s,
    arma::mat& measured_ch0,
    arma::mat& measured_ch1,
    std::string data_title)
{
    //1. True value interpolation to match the measurement times

    double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
    int size1 = measured_ch0.col(0).n_rows;
    int size2 = measured_ch1.col(0).n_rows;
    double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));

    arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
    //conversion between arma::vec and std:vector
    arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
    std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);


    arma::vec true_ch0_carrier_phase_interp;
    arma::vec true_ch1_carrier_phase_interp;
    arma::interp1(true_tow_ch0_s, true_ch0.col(3), t, true_ch0_carrier_phase_interp);
    arma::interp1(true_tow_ch1_s, true_ch1.col(3), t, true_ch1_carrier_phase_interp);

    arma::vec meas_ch0_carrier_phase_interp;
    arma::vec meas_ch1_carrier_phase_interp;
    arma::interp1(measured_ch0.col(0), measured_ch0.col(3), t, meas_ch0_carrier_phase_interp);
    arma::interp1(measured_ch1.col(0), measured_ch1.col(3), t, meas_ch1_carrier_phase_interp);

    // generate double difference accumulated carrier phases
    //compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
    arma::vec delta_true_carrier_phase_cycles = (true_ch0_carrier_phase_interp - true_ch0_carrier_phase_interp(0)) - (true_ch1_carrier_phase_interp - true_ch1_carrier_phase_interp(0));
    arma::vec delta_measured_carrier_phase_cycles = (meas_ch0_carrier_phase_interp - meas_ch0_carrier_phase_interp(0)) - (meas_ch1_carrier_phase_interp - meas_ch1_carrier_phase_interp(0));

    //2. RMSE
    arma::vec err;

    err = delta_measured_carrier_phase_cycles - delta_true_carrier_phase_cycles;
    arma::vec err2 = arma::square(err);
    double rmse = sqrt(arma::mean(err2));

    //3. Mean err and variance
    double error_mean = arma::mean(err);
    double error_var = arma::var(err);

    // 4. Peaks
    double max_error = arma::max(err);
    double min_error = arma::min(err);

    //5. report
    std::streamsize ss = std::cout.precision();
    std::cout << std::setprecision(10) << data_title << "Double diff Carrier Phase RMSE = "
              << rmse << ", mean = " << error_mean
              << ", stdev = " << sqrt(error_var)
              << " (max,min) = " << max_error
              << "," << min_error
              << " [Cycles]" << std::endl;
    std::cout.precision(ss);

    //plots
    if (FLAGS_show_plots)
        {
            Gnuplot g3("linespoints");
            g3.set_title(data_title + "Double diff Carrier Phase error [Cycles]");
            g3.set_grid();
            g3.set_xlabel("Time [s]");
            g3.set_ylabel("Double diff Carrier Phase error [Cycles]");
            //conversion between arma::vec and std:vector
            std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
            g3.cmd("set key box opaque");
            g3.plot_xy(time_vector, range_error_m,
                "Double diff Carrier Phase error");
            g3.set_legend();
            g3.savetops(data_title + "double_diff_carrier_phase_error");

            g3.showonscreen();  // window output
        }

    //check results against the test tolerance
    ASSERT_LT(rmse, 0.25);
    ASSERT_LT(error_mean, 0.2);
    ASSERT_GT(error_mean, -0.2);
    ASSERT_LT(error_var, 0.5);
    ASSERT_LT(max_error, 0.5);
    ASSERT_GT(min_error, -0.5);
}


void HybridObservablesTestFpga::check_results_carrier_doppler_double_diff(
    arma::mat& true_ch0,
    arma::mat& true_ch1,
    arma::vec& true_tow_ch0_s,
    arma::vec& true_tow_ch1_s,
    arma::mat& measured_ch0,
    arma::mat& measured_ch1,
    std::string data_title)
{
    //1. True value interpolation to match the measurement times

    double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
    int size1 = measured_ch0.col(0).n_rows;
    int size2 = measured_ch1.col(0).n_rows;
    double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));

    arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
    //conversion between arma::vec and std:vector
    arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
    std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);


    arma::vec true_ch0_carrier_doppler_interp;
    arma::vec true_ch1_carrier_doppler_interp;
    arma::interp1(true_tow_ch0_s, true_ch0.col(2), t, true_ch0_carrier_doppler_interp);
    arma::interp1(true_tow_ch1_s, true_ch1.col(2), t, true_ch1_carrier_doppler_interp);

    arma::vec meas_ch0_carrier_doppler_interp;
    arma::vec meas_ch1_carrier_doppler_interp;
    arma::interp1(measured_ch0.col(0), measured_ch0.col(2), t, meas_ch0_carrier_doppler_interp);
    arma::interp1(measured_ch1.col(0), measured_ch1.col(2), t, meas_ch1_carrier_doppler_interp);

    // generate double difference carrier Doppler
    arma::vec delta_true_carrier_doppler_cycles = true_ch0_carrier_doppler_interp - true_ch1_carrier_doppler_interp;
    arma::vec delta_measured_carrier_doppler_cycles = meas_ch0_carrier_doppler_interp - meas_ch1_carrier_doppler_interp;

    //2. RMSE
    arma::vec err;

    err = delta_measured_carrier_doppler_cycles - delta_true_carrier_doppler_cycles;
    arma::vec err2 = arma::square(err);
    double rmse = sqrt(arma::mean(err2));

    //3. Mean err and variance
    double error_mean = arma::mean(err);
    double error_var = arma::var(err);

    // 4. Peaks
    double max_error = arma::max(err);
    double min_error = arma::min(err);

    //5. report
    std::streamsize ss = std::cout.precision();
    std::cout << std::setprecision(10) << data_title << "Double diff Carrier Doppler RMSE = "
              << rmse << ", mean = " << error_mean
              << ", stdev = " << sqrt(error_var)
              << " (max,min) = " << max_error
              << "," << min_error
              << " [Hz]" << std::endl;
    std::cout.precision(ss);

    //plots
    if (FLAGS_show_plots)
        {
            Gnuplot g3("linespoints");
            g3.set_title(data_title + "Double diff Carrier Doppler error [Hz]");
            g3.set_grid();
            g3.set_xlabel("Time [s]");
            g3.set_ylabel("Double diff Carrier Doppler error [Hz]");
            //conversion between arma::vec and std:vector
            std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
            g3.cmd("set key box opaque");
            g3.plot_xy(time_vector, range_error_m,
                "Double diff Carrier Doppler error");
            g3.set_legend();
            g3.savetops(data_title + "double_diff_carrier_doppler_error");

            g3.showonscreen();  // window output
        }

    //check results against the test tolerance
    ASSERT_LT(error_mean, 5);
    ASSERT_GT(error_mean, -5);
    //assuming PLL BW=35
    ASSERT_LT(error_var, 200);
    ASSERT_LT(max_error, 70);
    ASSERT_GT(min_error, -70);
    ASSERT_LT(rmse, 30);
}


void HybridObservablesTestFpga::check_results_carrier_doppler(
    arma::mat& true_ch0,
    arma::vec& true_tow_s,
    arma::mat& measured_ch0,
    std::string data_title)
{
    //1. True value interpolation to match the measurement times

    double t0 = measured_ch0(0, 0);
    int size1 = measured_ch0.col(0).n_rows;
    double t1 = measured_ch0(size1 - 1, 0);
    arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
    //conversion between arma::vec and std:vector
    arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
    std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);

    arma::vec true_ch0_doppler_interp;
    arma::interp1(true_tow_s, true_ch0.col(2), t, true_ch0_doppler_interp);

    arma::vec meas_ch0_doppler_interp;
    arma::interp1(measured_ch0.col(0), measured_ch0.col(2), t, meas_ch0_doppler_interp);

    //2. RMSE
    arma::vec err_ch0_hz;

    //compute error
    err_ch0_hz = meas_ch0_doppler_interp - true_ch0_doppler_interp;

    arma::vec err2_ch0 = arma::square(err_ch0_hz);
    double rmse_ch0 = sqrt(arma::mean(err2_ch0));

    //3. Mean err and variance
    double error_mean_ch0 = arma::mean(err_ch0_hz);
    double error_var_ch0 = arma::var(err_ch0_hz);

    // 4. Peaks
    double max_error_ch0 = arma::max(err_ch0_hz);
    double min_error_ch0 = arma::min(err_ch0_hz);

    //5. report
    std::streamsize ss = std::cout.precision();
    std::cout << std::setprecision(10) << data_title << "Carrier Doppler RMSE = "
              << rmse_ch0 << ", mean = " << error_mean_ch0
              << ", stdev = " << sqrt(error_var_ch0)
              << " (max,min) = " << max_error_ch0
              << "," << min_error_ch0
              << " [Hz]" << std::endl;
    std::cout.precision(ss);

    //plots
    if (FLAGS_show_plots)
        {
            Gnuplot g3("linespoints");
            g3.set_title(data_title + "Carrier Doppler error [Hz]");
            g3.set_grid();
            g3.set_xlabel("Time [s]");
            g3.set_ylabel("Carrier Doppler error [Hz]");
            //conversion between arma::vec and std:vector
            std::vector<double> error_vec(err_ch0_hz.colptr(0), err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
            g3.cmd("set key box opaque");
            g3.plot_xy(time_vector, error_vec,
                "Carrier Doppler error");
            g3.set_legend();
            g3.savetops(data_title + "Carrier_doppler_error");

            g3.showonscreen();  // window output
        }

    //check results against the test tolerance
    ASSERT_LT(error_mean_ch0, 5);
    ASSERT_GT(error_mean_ch0, -5);
    //assuming PLL BW=35
    ASSERT_LT(error_var_ch0, 200);
    ASSERT_LT(max_error_ch0, 70);
    ASSERT_GT(min_error_ch0, -70);
    ASSERT_LT(rmse_ch0, 30);
}

bool HybridObservablesTestFpga::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
{
    try
        {
            // WRITE MAT FILE
            mat_t* matfp;
            matvar_t* matvar;
            filename.append(".mat");
            std::cout << "save_mat_xy write " << filename << std::endl;
            matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT5);
            if (reinterpret_cast<int64_t*>(matfp) != NULL)
                {
                    size_t dims[2] = {1, x.size()};
                    matvar = Mat_VarCreate("x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &x[0], 0);
                    Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB);  // or MAT_COMPRESSION_NONE
                    Mat_VarFree(matvar);

                    matvar = Mat_VarCreate("y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, &y[0], 0);
                    Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB);  // or MAT_COMPRESSION_NONE
                    Mat_VarFree(matvar);
                }
            else
                {
                    std::cout << "save_mat_xy: error creating file" << std::endl;
                }
            Mat_Close(matfp);
            return true;
        }
    catch (const std::exception& ex)
        {
            std::cout << "save_mat_xy: " << ex.what() << std::endl;
            return false;
        }
}

void HybridObservablesTestFpga::check_results_code_pseudorange(
    arma::mat& true_ch0,
    arma::mat& true_ch1,
    arma::vec& true_tow_ch0_s,
    arma::vec& true_tow_ch1_s,
    arma::mat& measured_ch0,
    arma::mat& measured_ch1,
    std::string data_title)
{
    //1. True value interpolation to match the measurement times

    double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
    int size1 = measured_ch0.col(0).n_rows;
    int size2 = measured_ch1.col(0).n_rows;
    double t1 = std::min(measured_ch0(size1 - 1, 0), measured_ch1(size2 - 1, 0));

    arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
    //conversion between arma::vec and std:vector
    arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
    std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);


    arma::vec true_ch0_dist_interp;
    arma::vec true_ch1_dist_interp;
    arma::interp1(true_tow_ch0_s, true_ch0.col(1), t, true_ch0_dist_interp);
    arma::interp1(true_tow_ch1_s, true_ch1.col(1), t, true_ch1_dist_interp);

    arma::vec meas_ch0_dist_interp;
    arma::vec meas_ch1_dist_interp;
    arma::interp1(measured_ch0.col(0), measured_ch0.col(4), t, meas_ch0_dist_interp);
    arma::interp1(measured_ch1.col(0), measured_ch1.col(4), t, meas_ch1_dist_interp);

    // generate delta pseudoranges
    arma::vec delta_true_dist_m = true_ch0_dist_interp - true_ch1_dist_interp;
    arma::vec delta_measured_dist_m = meas_ch0_dist_interp - meas_ch1_dist_interp;

    //2. RMSE
    arma::vec err;

    err = delta_measured_dist_m - delta_true_dist_m;
    arma::vec err2 = arma::square(err);
    double rmse = sqrt(arma::mean(err2));

    //3. Mean err and variance
    double error_mean = arma::mean(err);
    double error_var = arma::var(err);

    // 4. Peaks
    double max_error = arma::max(err);
    double min_error = arma::min(err);

    //5. report
    std::streamsize ss = std::cout.precision();
    std::cout << std::setprecision(10) << data_title << "Double diff Pseudorange RMSE = "
              << rmse << ", mean = " << error_mean
              << ", stdev = " << sqrt(error_var)
              << " (max,min) = " << max_error
              << "," << min_error
              << " [meters]" << std::endl;
    std::cout.precision(ss);

    //plots
    if (FLAGS_show_plots)
        {
            Gnuplot g3("linespoints");
            g3.set_title(data_title + "Double diff Pseudorange error [m]");
            g3.set_grid();
            g3.set_xlabel("Time [s]");
            g3.set_ylabel("Double diff Pseudorange error [m]");
            //conversion between arma::vec and std:vector
            std::vector<double> range_error_m(err.colptr(0), err.colptr(0) + err.n_rows);
            g3.cmd("set key box opaque");
            g3.plot_xy(time_vector, range_error_m,
                "Double diff Pseudorrange error");
            g3.set_legend();
            g3.savetops(data_title + "double_diff_pseudorrange_error");

            g3.showonscreen();  // window output
        }

    //check results against the test tolerance
    ASSERT_LT(rmse, 3.0);
    ASSERT_LT(error_mean, 1.0);
    ASSERT_GT(error_mean, -1.0);
    ASSERT_LT(error_var, 10.0);
    ASSERT_LT(max_error, 10.0);
    ASSERT_GT(min_error, -10.0);
}

bool HybridObservablesTestFpga::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_Synchro gnss)
{
    // Open and read reference RINEX observables file
    try
        {
            gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
            r_ref.exceptions(std::ios::failbit);
            gpstk::Rinex3ObsData r_ref_data;
            gpstk::Rinex3ObsHeader r_ref_header;

            gpstk::RinexDatum dataobj;

            r_ref >> r_ref_header;

            std::vector<bool> first_row;
            gpstk::SatID prn;
            for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
                {
                    first_row.push_back(true);
                    obs_vec->push_back(arma::zeros<arma::mat>(1, 4));
                }
            while (r_ref >> r_ref_data)
                {
                    for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
                        {
                            int myprn = gnss_synchro_vec.at(n).PRN;

                            switch (gnss.System)
                                {
                                case 'G':
                                    prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS);
                                    break;
                                case 'E':
                                    prn = gpstk::SatID(myprn, gpstk::SatID::systemGalileo);
                                    break;
                                default:
                                    prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS);
                                }

                            gpstk::CommonTime time = r_ref_data.time;
                            double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);

                            gpstk::Rinex3ObsData::DataMap::iterator pointer = r_ref_data.obs.find(prn);
                            if (pointer == r_ref_data.obs.end())
                                {
                                    // PRN not present; do nothing
                                }
                            else
                                {
                                    if (first_row.at(n) == false)
                                        {
                                            //insert next column
                                            obs_vec->at(n).insert_rows(obs_vec->at(n).n_rows, 1);
                                        }
                                    else
                                        {
                                            first_row.at(n) = false;
                                        }
                                    if (strcmp("1C\0", gnss.Signal) == 0)
                                        {
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
                                            dataobj = r_ref_data.getObs(prn, "C1C", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 1) = dataobj.data;  //C1C P1 (psudorange L1)
                                            dataobj = r_ref_data.getObs(prn, "D1C", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 2) = dataobj.data;  //D1C Carrier Doppler
                                            dataobj = r_ref_data.getObs(prn, "L1C", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data;  //L1C Carrier Phase
                                        }
                                    else if (strcmp("1B\0", gnss.Signal) == 0)
                                        {
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
                                            dataobj = r_ref_data.getObs(prn, "C1B", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 1) = dataobj.data;
                                            dataobj = r_ref_data.getObs(prn, "D1B", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 2) = dataobj.data;
                                            dataobj = r_ref_data.getObs(prn, "L1B", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data;
                                        }
                                    else if (strcmp("2S\0", gnss.Signal) == 0)  //L2M
                                        {
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
                                            dataobj = r_ref_data.getObs(prn, "C2S", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 1) = dataobj.data;
                                            dataobj = r_ref_data.getObs(prn, "D2S", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 2) = dataobj.data;
                                            dataobj = r_ref_data.getObs(prn, "L2S", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data;
                                        }
                                    else if (strcmp("L5\0", gnss.Signal) == 0)
                                        {
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
                                            dataobj = r_ref_data.getObs(prn, "C5I", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 1) = dataobj.data;
                                            dataobj = r_ref_data.getObs(prn, "D5I", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 2) = dataobj.data;
                                            dataobj = r_ref_data.getObs(prn, "L5I", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data;
                                        }
                                    else if (strcmp("5X\0", gnss.Signal) == 0)  //Simulator gives RINEX with E5a+E5b
                                        {
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 0) = sow;
                                            dataobj = r_ref_data.getObs(prn, "C8I", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 1) = dataobj.data;
                                            dataobj = r_ref_data.getObs(prn, "D8I", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 2) = dataobj.data;
                                            dataobj = r_ref_data.getObs(prn, "L8I", r_ref_header);
                                            obs_vec->at(n)(obs_vec->at(n).n_rows - 1, 3) = dataobj.data;
                                        }
                                    else
                                        {
                                            std::cout << "ReadRinexObs unknown signal requested: " << gnss.Signal << std::endl;
                                            return false;
                                        }
                                }
                        }
                }  // end while
        }          // End of 'try' block
    catch (const gpstk::FFStreamError& e)
        {
            std::cout << e;
            return false;
        }
    catch (const gpstk::Exception& e)
        {
            std::cout << e;
            return false;
        }
    catch (const std::exception& e)
        {
            std::cout << "Exception: " << e.what();
            std::cout << "unknown error.  I don't feel so well..." << std::endl;
            return false;
        }
    std::cout << "ReadRinexObs info:" << std::endl;
    for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
        {
            std::cout << "SAT PRN " << gnss_synchro_vec.at(n).PRN << " RINEX epoch readed: " << obs_vec->at(n).n_rows << std::endl;
        }
    return true;
}
TEST_F(HybridObservablesTestFpga, ValidationOfResults)
{

	// pointer to the DMA thread that sends the samples to the acquisition engine
	pthread_t thread_DMA;

	struct DMA_handler_args_obs_test args;

    // Configure the signal generator
    configure_generator();

    // Generate signal raw signal samples and observations RINEX file
    if (FLAGS_disable_generator == false)
        {
            generate_signal();
        }
    else
    {
    	//printf("PATH IS OK 0 \n");
    }

    std::chrono::time_point<std::chrono::system_clock> start, end;
    std::chrono::duration<double> elapsed_seconds(0);

    // use generator or use an external capture file
    if (FLAGS_enable_external_signal_file)
        {
    		//printf("PATH IS OK 1 \n");
            //create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
            ASSERT_EQ(acquire_signal(), true);
        }
    else
        {
            Gnss_Synchro tmp_gnss_synchro;
            tmp_gnss_synchro.System = 'G';
            std::string signal = "1C";
            signal.copy(tmp_gnss_synchro.Signal, 2, 0);

            std::istringstream ss(FLAGS_test_satellite_PRN_list);
            std::string token;

            while (std::getline(ss, token, ','))
                {
                    tmp_gnss_synchro.PRN = boost::lexical_cast<int>(token);
                    gnss_synchro_vec.push_back(tmp_gnss_synchro);
                }
        }
    //printf("KKKKKKKKK FIRST PART FINISHED\n");

    //printf("@@@@@@@@@@@@@@@@@@@@@@@@@@ Signal Acquired\n");
    configure_receiver(FLAGS_PLL_bw_hz_start,
        FLAGS_DLL_bw_hz_start,
        FLAGS_PLL_narrow_bw_hz,
        FLAGS_DLL_narrow_bw_hz,
        FLAGS_extend_correlation_symbols);
    //printf("@@@@@@@@@@@@@@@@@@@@@@@@@@ Receiver Configured\n");

    for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
        {
            //setup the signal synchronization, simulating an acquisition
            if (!FLAGS_enable_external_signal_file)
                {
            		//printf("HERE\n");
                    //based on true observables metadata (for custom sdr generator)
                    //open true observables log file written by the simulator or based on provided RINEX obs
                    //std::vector<std::shared_ptr<tracking_true_obs_reader>> true_reader_vec;
                    std::vector<std::shared_ptr<Tracking_True_Obs_Reader>> true_reader_vec;
                    //read true data from the generator logs
                    true_reader_vec.push_back(std::make_shared<Tracking_True_Obs_Reader>());
                    std::cout << "Loading true observable data for PRN " << gnss_synchro_vec.at(n).PRN << std::endl;
                    std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
                    true_obs_file.append(std::to_string(gnss_synchro_vec.at(n).PRN));
                    true_obs_file.append(".dat");
                    ASSERT_NO_THROW({
                        if (true_reader_vec.back()->open_obs_file(true_obs_file) == false)
                            {
                                throw std::exception();
                            };
                    }) << "Failure opening true observables file";

                    // load acquisition data based on the first epoch of the true observations
                    ASSERT_NO_THROW({
                        if (true_reader_vec.back()->read_binary_obs() == false)
                            {
                                throw std::exception();
                            };
                    }) << "Failure reading true observables file";

                    //restart the epoch counter
                    true_reader_vec.back()->restart();

                    std::cout << "Initial Doppler [Hz]=" << true_reader_vec.back()->doppler_l1_hz << " Initial code delay [Chips]="
                              << true_reader_vec.back()->prn_delay_chips << std::endl;
                    gnss_synchro_vec.at(n).Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_reader_vec.back()->prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
                    gnss_synchro_vec.at(n).Acq_doppler_hz = true_reader_vec.back()->doppler_l1_hz;
                    gnss_synchro_vec.at(n).Acq_samplestamp_samples = 0;
                }
            else
                {
            		//printf("OR THERE\n");
                    //based on the signal acquisition process
                    std::cout << "Estimated Initial Doppler " << gnss_synchro_vec.at(n).Acq_doppler_hz
                              << " [Hz], estimated Initial code delay " << gnss_synchro_vec.at(n).Acq_delay_samples << " [Samples]"
                              << " Acquisition SampleStamp is " << gnss_synchro_vec.at(n).Acq_samplestamp_samples << std::endl;
                    //gnss_synchro_vec.at(n).Acq_samplestamp_samples = 0; // caution ! samplestamp_samples may not zero if doppler runs inside the FPGA
                }
        }

    //printf("@@@@@@@@@@@@@@@@@@@@@@@@@@ First part is done\n");

    unsigned int code_length;
	//unsigned int nsamples_to_transfer;


    if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
    {
    	code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
    	//nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
    	//printf("sssssss code_length = %d \n", code_length);
    }
    else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
    {
        code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
    	//nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
        //printf("sssssss code_length = %d \n", code_length);
    }
    else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
    {
        code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / GALILEO_E5A_CODE_CHIP_RATE_HZ * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS)));
    	//nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
        //printf("sssssss code_length = %d \n", code_length);
    }
    else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
    {
        code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L5I_CODE_RATE_HZ / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS))));
    	//nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
        //printf("sssssss code_length = %d \n", code_length);
    }


	float nbits = ceilf(log2f((float)code_length*2));
	unsigned int fft_size = pow(2, nbits);

	// The HW has been reset after the acquisition phase when the acquisition class was destroyed.
	// No more samples remained in the DMA. Therefore any intermediate state in the LPF of the
	// GPS L1 / Galileo E1 filter has been cleared.
	// During this test all the samples coming from the DMA are consumed so in principle there would be
	// no need to reset the HW. However we need to clear the sample counter in each test. Therefore we have
	// to reset the HW at the beginning of each test.

	// instantiate the acquisition modules in order to use them to reset the HW.
	// (note that the constructor of the acquisition modules resets the HW too)


	std::shared_ptr<AcquisitionInterface> acquisition;

    // reset the HW to clear the sample counters: the acquisition constructor generates a reset
	if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
	{
		acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
		args.freq_band = 0;

	}
	else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
	{
		acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
		args.freq_band = 0;
	}
	else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
	{
		acquisition = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
		args.freq_band = 1;
	}
	else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
	{
		acquisition = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
		args.freq_band = 1;
	}
	else
	{
		std::cout << "The test can not run with the selected tracking implementation\n ";
		throw(std::exception());
	}


    std::vector<std::shared_ptr<TrackingInterface>> tracking_ch_vec;
    std::vector<std::shared_ptr<TelemetryDecoderInterface>> tlm_ch_vec;

    std::vector<gr::blocks::null_sink::sptr> null_sink_vec;
    for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
        {
            //set channels ids
            gnss_synchro_vec.at(n).Channel_ID = n;

            //create the tracking channels and create the telemetry decoders

            std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking", config->property("Tracking.implementation", std::string("undefined")), 1, 1);
            tracking_ch_vec.push_back(std::dynamic_pointer_cast<TrackingInterface>(trk_));
            std::shared_ptr<GNSSBlockInterface> tlm_ = factory->GetBlock(config, "TelemetryDecoder", config->property("TelemetryDecoder.implementation", std::string("undefined")), 1, 1);
            tlm_ch_vec.push_back(std::dynamic_pointer_cast<TelemetryDecoderInterface>(tlm_));

            //create null sinks for observables output
            null_sink_vec.push_back(gr::blocks::null_sink::make(sizeof(Gnss_Synchro)));

            ASSERT_NO_THROW({
                tlm_ch_vec.back()->set_channel(gnss_synchro_vec.at(n).Channel_ID);

                switch (gnss_synchro_master.System)
                    {
                    case 'G':
                        tlm_ch_vec.back()->set_satellite(Gnss_Satellite(std::string("GPS"), gnss_synchro_vec.at(n).PRN));
                        break;
                    case 'E':
                        tlm_ch_vec.back()->set_satellite(Gnss_Satellite(std::string("Galileo"), gnss_synchro_vec.at(n).PRN));
                        break;
                    default:
                        tlm_ch_vec.back()->set_satellite(Gnss_Satellite(std::string("GPS"), gnss_synchro_vec.at(n).PRN));
                    }
            }) << "Failure setting gnss_synchro.";

            ASSERT_NO_THROW({
                tracking_ch_vec.back()->set_channel(gnss_synchro_vec.at(n).Channel_ID);
            }) << "Failure setting channel.";

            ASSERT_NO_THROW({
                tracking_ch_vec.back()->set_gnss_synchro(&gnss_synchro_vec.at(n));
            }) << "Failure setting gnss_synchro.";
        }

	top_block = gr::make_top_block("Telemetry_Decoder test");
	boost::shared_ptr<HybridObservablesTest_msg_rx_Fpga> dummy_msg_rx_trk = HybridObservablesTest_msg_rx_Fpga_make();
	boost::shared_ptr<HybridObservablesTest_tlm_msg_rx_Fpga> dummy_tlm_msg_rx = HybridObservablesTest_tlm_msg_rx_Fpga_make();
	//Observables
	std::shared_ptr<ObservablesInterface> observables(new HybridObservables(config.get(), "Observables", tracking_ch_vec.size() + 1, tracking_ch_vec.size()));

	for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
		{
			ASSERT_NO_THROW({
				tracking_ch_vec.at(n)->connect(top_block);
			}) << "Failure connecting tracking to the top_block.";
		}

	std::string file;
	const char* file_name;

	ASSERT_NO_THROW({
		//std::string file;
		if (!FLAGS_enable_external_signal_file)
			{
				file = "./" + filename_raw_data;
			}
		else
			{
				file = FLAGS_signal_file;
			}
		//const char* file_name = file.c_str();
		file_name = file.c_str();
		//gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
		//gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
		int observable_interval_ms = 20;
		//gnss_sdr_sample_counter_sptr samp_counter = gnss_sdr_make_sample_counter(static_cast<double>(baseband_sampling_freq), observable_interval_ms, sizeof(gr_complex));
		//top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
		//top_block->connect(gr_interleaved_char_to_complex, 0, samp_counter, 0);

		double fs = static_cast<double>(config->property("GNSS-SDR.internal_fs_sps", 0));

		gnss_sdr_fpga_sample_counter_sptr ch_out_fpga_sample_counter;
		ch_out_fpga_sample_counter = gnss_sdr_make_fpga_sample_counter(fs, observable_interval_ms);



		for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
			{
				//top_block->connect(gr_interleaved_char_to_complex, 0, tracking_ch_vec.at(n)->get_left_block(), 0);
				top_block->connect(tracking_ch_vec.at(n)->get_right_block(), 0, tlm_ch_vec.at(n)->get_left_block(), 0);
				top_block->connect(tlm_ch_vec.at(n)->get_right_block(), 0, observables->get_left_block(), n);
				top_block->msg_connect(tracking_ch_vec.at(n)->get_right_block(), pmt::mp("events"), dummy_msg_rx_trk, pmt::mp("events"));
				top_block->connect(observables->get_right_block(), n, null_sink_vec.at(n), 0);
			}
		//connect sample counter and timmer to the last channel in observables block (extra channel)
		//top_block->connect(samp_counter, 0, observables->get_left_block(), tracking_ch_vec.size());
		top_block->connect(ch_out_fpga_sample_counter, 0, observables->get_left_block(), tracking_ch_vec.size());  //extra port for the sample counter pulse

	//file_source->seek(2 * FLAGS_skip_samples, 0);  //skip head. ibyte, two bytes per complex sample
	}) << "Failure connecting the blocks.";


	args.file = file;
	//args.nsamples_tx = TEST_OBS_NSAMPLES_TRACKING;		// number of samples to transfer
	args.nsamples_tx = baseband_sampling_freq*FLAGS_duration;;

	//if (test_observables_skip_samples_already_used == 1 && test_observables_doppler_control_in_sw == 1)
	//{
	//	args.skip_used_samples = (gnss_synchro.PRN - 1)*fft_size;
	//}
	//else
	//{
		args.skip_used_samples = 0;
	//}

	//printf("2222222222222 CREATE PROCES\n");
	//printf("%s\n", file.c_str());
	if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void *)&args) < 0)
	{
		printf("ERROR cannot create DMA Process\n");
	}


	for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
		{
			tracking_ch_vec.at(n)->start_tracking();
		}


	//printf("222222222222222222 bis\n");
	pthread_mutex_lock(&mutex_obs_test);
	send_samples_start_obs_test = 1;
	pthread_mutex_unlock(&mutex_obs_test);


	top_block->start();
	//printf("33333333333333333333 top block started\n");



	EXPECT_NO_THROW({
		start = std::chrono::system_clock::now();
		//top_block->run();  // Start threads and wait
		end = std::chrono::system_clock::now();
		elapsed_seconds = end - start;
	}) << "Failure running the top_block.";


	// wait for the child DMA process to finish
	pthread_join(thread_DMA, NULL);



	//printf("444444444444 CHILD PROCESS FINISHED\n");

	top_block->stop();


	//printf("55555555555 TOP BLOCK STOPPED\n");


	/*
	// send more samples to unblock the tracking process in case it was waiting for samples
	args.file = file;
	//if (test_observables_skip_samples_already_used == 1 && test_observables_doppler_control_in_sw == 1)
	//{
		// skip the samples that have already been used
		args.skip_used_samples = 0; //args.nsamples_tx;
	//}
	//else
	//{
	//	args.skip_used_samples = 0;
	//}
	args.nsamples_tx = TEST_OBS_NSAMPLES_FINAL;
	//printf("666666666 CREATE PROCESS TO SEND EXTRA SAMPLES\n");
	if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void *)&args) < 0)
	{
		printf("ERROR cannot create DMA Process\n");
	}
	pthread_join(thread_DMA, NULL);
	//printf("777777777 PROCESS FINISHED \n");
*/

    // reset the HW AGAIN
	acquisition->stop_acquisition();


	//	pthread_mutex_lock(&mutex_obs_test);
	//	send_samples_start_obs_test = 0;
	//	pthread_mutex_unlock(&mutex_obs_test);



	//check results
	// Matrices for storing columnwise true GPS time, Range, Doppler and Carrier phase
	std::vector<arma::mat> true_obs_vec;

	if (!FLAGS_enable_external_signal_file)
		{
			//load the true values
			True_Observables_Reader true_observables;
			ASSERT_NO_THROW({
				if (true_observables.open_obs_file(std::string("./obs_out.bin")) == false)
					{
						throw std::exception();
					}
			}) << "Failure opening true observables file";

			unsigned int nepoch = static_cast<unsigned int>(true_observables.num_epochs());

			std::cout << "True observation epochs = " << nepoch << std::endl;

			true_observables.restart();
			int64_t epoch_counter = 0;
			for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
				{
					true_obs_vec.push_back(arma::zeros<arma::mat>(nepoch, 4));
				}

			ASSERT_NO_THROW({
				while (true_observables.read_binary_obs())
					{
						for (unsigned int n = 0; n < true_obs_vec.size(); n++)
							{
								if (round(true_observables.prn[n]) != gnss_synchro_vec.at(n).PRN)
									{
										std::cout << "True observables SV PRN does not match measured ones: "
												  << round(true_observables.prn[n]) << " vs. " << gnss_synchro_vec.at(n).PRN << std::endl;
										throw std::exception();
									}
								true_obs_vec.at(n)(epoch_counter, 0) = true_observables.gps_time_sec[n];
								true_obs_vec.at(n)(epoch_counter, 1) = true_observables.dist_m[n];
								true_obs_vec.at(n)(epoch_counter, 2) = true_observables.doppler_l1_hz[n];
								true_obs_vec.at(n)(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[n];
							}
						epoch_counter++;
					}
			});
		}
	else
		{
			ASSERT_EQ(ReadRinexObs(&true_obs_vec, gnss_synchro_master), true)
				<< "Failure reading RINEX file";
		}


	//read measured values
	Observables_Dump_Reader estimated_observables(tracking_ch_vec.size());
	ASSERT_NO_THROW({
		if (estimated_observables.open_obs_file(std::string("./observables.dat")) == false)
			{
				throw std::exception();
			}
	}) << "Failure opening dump observables file";

	unsigned int nepoch = static_cast<unsigned int>(estimated_observables.num_epochs());
	std::cout << "Measured observations epochs = " << nepoch << std::endl;

	// Matrices for storing columnwise measured RX_time, TOW, Doppler, Carrier phase and Pseudorange
	std::vector<arma::mat> measured_obs_vec;
	std::vector<int64_t> epoch_counters_vec;
	for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
		{
			measured_obs_vec.push_back(arma::zeros<arma::mat>(nepoch, 5));
			epoch_counters_vec.push_back(0);
		}

	estimated_observables.restart();
	//printf("Observables : ............................\n");
	while (estimated_observables.read_binary_obs())
		{
			for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
				{
					if (static_cast<bool>(estimated_observables.valid[n]))
						{
							//printf("estimated_observables.RX_time[%d] = %d\n", n, estimated_observables.RX_time[n]);
							//printf("estimated_observables.TOW_at_current_symbol_s[%d] = %d\n", n, estimated_observables.TOW_at_current_symbol_s[n]);
							//printf("estimated_observables.Carrier_Doppler_hz[%d] = %d\n", n, estimated_observables.Carrier_Doppler_hz[n]);
							//printf("estimated_observables.Acc_carrier_phase_hz[%d] = %d\n", n, estimated_observables.Acc_carrier_phase_hz[n]);
							//printf("estimated_observables.Pseudorange_m[%d] = %d\n", n, estimated_observables.Pseudorange_m[n]);
							measured_obs_vec.at(n)(epoch_counters_vec.at(n), 0) = estimated_observables.RX_time[n];
							measured_obs_vec.at(n)(epoch_counters_vec.at(n), 1) = estimated_observables.TOW_at_current_symbol_s[n];
							measured_obs_vec.at(n)(epoch_counters_vec.at(n), 2) = estimated_observables.Carrier_Doppler_hz[n];
							measured_obs_vec.at(n)(epoch_counters_vec.at(n), 3) = estimated_observables.Acc_carrier_phase_hz[n];
							measured_obs_vec.at(n)(epoch_counters_vec.at(n), 4) = estimated_observables.Pseudorange_m[n];
							epoch_counters_vec.at(n)++;
						}
				}
		}


	//Cut measurement tail zeros
	arma::uvec index;
	for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
		{
			index = arma::find(measured_obs_vec.at(n).col(0) > 0.0, 1, "last");
			if ((index.size() > 0) and index(0) < (nepoch - 1))
				{
					measured_obs_vec.at(n).shed_rows(index(0) + 1, nepoch - 1);
				}
		}

	//Cut measurement initial transitory of the measurements

	double initial_transitory_s = FLAGS_skip_obs_transitory_s;

	for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
		{
			index = arma::find(measured_obs_vec.at(n).col(0) >= (measured_obs_vec.at(n)(0, 0) + initial_transitory_s), 1, "first");
			if ((index.size() > 0) and (index(0) > 0))
				{
					measured_obs_vec.at(n).shed_rows(0, index(0));
				}

			index = arma::find(measured_obs_vec.at(n).col(0) >= true_obs_vec.at(n)(0, 0), 1, "first");
			if ((index.size() > 0) and (index(0) > 0))
				{
					measured_obs_vec.at(n).shed_rows(0, index(0));
				}
		}


	//Correct the clock error using true values (it is not possible for a receiver to correct
	//the receiver clock offset error at the observables level because it is required the
	//decoding of the ephemeris data and solve the PVT equations)

	//Find the reference satellite (the nearest) and compute the receiver time offset at observable level
	double min_pr = std::numeric_limits<double>::max();
	unsigned int min_pr_ch_id = 0;
	for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
		{
			if (epoch_counters_vec.at(n) > 10)  //discard non-valid channels
				{
					{
						if (measured_obs_vec.at(n)(0, 4) < min_pr)
							{
								min_pr = measured_obs_vec.at(n)(0, 4);
								min_pr_ch_id = n;
							}
					}
				}
			else
				{
					std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
				}
		}

	arma::vec receiver_time_offset_ref_channel_s;
	//receiver_time_offset_ref_channel_s = true_obs_vec.at(min_pr_ch_id).col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
	receiver_time_offset_ref_channel_s = (true_obs_vec.at(min_pr_ch_id).col(1)(0) - measured_obs_vec.at(min_pr_ch_id).col(4)(0)) / GPS_C_M_S;
	std::cout << "Ref channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;

	for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
		{
			//debug save to .mat
			std::vector<double> tmp_vector_x(true_obs_vec.at(n).col(0).colptr(0),
				true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
			std::vector<double> tmp_vector_y(true_obs_vec.at(n).col(1).colptr(0),
				true_obs_vec.at(n).col(1).colptr(0) + true_obs_vec.at(n).col(1).n_rows);
			save_mat_xy(tmp_vector_x, tmp_vector_y, std::string("true_pr_ch_" + std::to_string(n)));

			std::vector<double> tmp_vector_x2(measured_obs_vec.at(n).col(0).colptr(0),
				measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
			std::vector<double> tmp_vector_y2(measured_obs_vec.at(n).col(4).colptr(0),
				measured_obs_vec.at(n).col(4).colptr(0) + measured_obs_vec.at(n).col(4).n_rows);
			save_mat_xy(tmp_vector_x2, tmp_vector_y2, std::string("measured_pr_ch_" + std::to_string(n)));

			std::vector<double> tmp_vector_x3(true_obs_vec.at(n).col(0).colptr(0),
				true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
			std::vector<double> tmp_vector_y3(true_obs_vec.at(n).col(2).colptr(0),
				true_obs_vec.at(n).col(2).colptr(0) + true_obs_vec.at(n).col(2).n_rows);
			save_mat_xy(tmp_vector_x3, tmp_vector_y3, std::string("true_doppler_ch_" + std::to_string(n)));

			std::vector<double> tmp_vector_x4(measured_obs_vec.at(n).col(0).colptr(0),
				measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
			std::vector<double> tmp_vector_y4(measured_obs_vec.at(n).col(2).colptr(0),
				measured_obs_vec.at(n).col(2).colptr(0) + measured_obs_vec.at(n).col(2).n_rows);
			save_mat_xy(tmp_vector_x4, tmp_vector_y4, std::string("measured_doppler_ch_" + std::to_string(n)));

			if (epoch_counters_vec.at(n) > 10)  //discard non-valid channels
				{
					arma::vec true_TOW_ref_ch_s = true_obs_vec.at(min_pr_ch_id).col(0) - receiver_time_offset_ref_channel_s(0);
					arma::vec true_TOW_ch_s = true_obs_vec.at(n).col(0) - receiver_time_offset_ref_channel_s(0);
					//Compare measured observables
					if (min_pr_ch_id != n)
						{
							check_results_code_pseudorange(true_obs_vec.at(n),
								true_obs_vec.at(min_pr_ch_id),
								true_TOW_ch_s,
								true_TOW_ref_ch_s,
								measured_obs_vec.at(n),
								measured_obs_vec.at(min_pr_ch_id),
								"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
							check_results_carrier_phase_double_diff(true_obs_vec.at(n),
								true_obs_vec.at(min_pr_ch_id),
								true_TOW_ch_s,
								true_TOW_ref_ch_s,
								measured_obs_vec.at(n),
								measured_obs_vec.at(min_pr_ch_id),
								"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");

							check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
								true_obs_vec.at(min_pr_ch_id),
								true_TOW_ch_s,
								true_TOW_ref_ch_s,
								measured_obs_vec.at(n),
								measured_obs_vec.at(min_pr_ch_id),
								"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
						}
					else
						{
							std::cout << "[CH " << std::to_string(n) << "] PRN " << std::to_string(gnss_synchro_vec.at(n).PRN) << " is the reference satellite" << std::endl;
						}
					if (FLAGS_compute_single_diffs)
						{
							check_results_carrier_phase(true_obs_vec.at(n),
								true_TOW_ch_s,
								measured_obs_vec.at(n),
								"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
							check_results_carrier_doppler(true_obs_vec.at(n),
								true_TOW_ch_s,
								measured_obs_vec.at(n),
								"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
						}
				}
			else
				{
					std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
				}
		}


	std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
}