Merge branch 'next' of https://github.com/carlesfernandez/gnss-sdr into next

src/core/receiver/gnss_flowgraph.cc

@@ -205,12 +205,11 @@ void GNSSFlowgraph::connect()
 
     DLOG(INFO) << "blocks connected internally";
     // Signal Source (i) >  Signal conditioner (i) >
-    int RF_Channels = 0;
-    int signal_conditioner_ID = 0;
-
 
 #ifndef ENABLE_FPGA
 
+    int RF_Channels = 0;
+    int signal_conditioner_ID = 0;
     for (int i = 0; i < sources_count_; i++)
         {
             try
@@ -357,12 +356,13 @@ void GNSSFlowgraph::connect()
 #endif
 
     // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
-    int selected_signal_conditioner_ID = 0;
-    bool use_acq_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
-    uint32_t fs = configuration_->property("GNSS-SDR.internal_fs_sps", 0);
     for (unsigned int i = 0; i < channels_count_; i++)
         {
 #ifndef ENABLE_FPGA
+
+            int selected_signal_conditioner_ID = 0;
+            bool use_acq_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
+            uint32_t fs = configuration_->property("GNSS-SDR.internal_fs_sps", 0);
             if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
                 {
                     try
@@ -861,9 +861,11 @@ void GNSSFlowgraph::disconnect()
         }
 #endif
     // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
-    int selected_signal_conditioner_ID;
+
     for (unsigned int i = 0; i < channels_count_; i++)
         {
+#ifndef ENABLE_FPGA
+            int selected_signal_conditioner_ID;
             try
                 {
                     selected_signal_conditioner_ID = configuration_->property("Channel" + std::to_string(i) + ".RF_channel_ID", 0);
@@ -874,7 +876,6 @@ void GNSSFlowgraph::disconnect()
                     top_block_->disconnect_all();
                     return;
                 }
-#ifndef ENABLE_FPGA
             try
                 {
                     top_block_->disconnect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,

src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc

@@ -81,13 +81,15 @@ void thread_acquisition_send_rx_samples(gr::top_block_sptr top_block,
     buffer_float = (char *)malloc(FLOAT_SIZE);  // allocate space for the temporary buffer
     if (!buffer_float)
         {
-            fprintf(stderr, "Memory error!");
+            std::cerr << "Memory error!" << std::endl;
+            return;
         }
 
     rx_signal_file = fopen(file_name, "rb");  // file containing the received signal
     if (!rx_signal_file)
         {
-            printf("Unable to open file!");
+            std::cerr << "Unable to open file!" << std::endl;
+            return;
         }
 
     // determine the length of the file that contains the received signal
@@ -96,7 +98,6 @@ void thread_acquisition_send_rx_samples(gr::top_block_sptr top_block,
     fseek(rx_signal_file, 0, SEEK_SET);
 
     // first step: check for the maximum value of the received signal
-
     float max = 0;
     float *pointer_float;
     pointer_float = (float *)&buffer_float[0];
@@ -118,23 +119,21 @@ void thread_acquisition_send_rx_samples(gr::top_block_sptr top_block,
     fseek(rx_signal_file, 0, SEEK_SET);
 
     // allocate memory for the samples to be transferred to the DMA
-
     buffer_DMA = (signed char *)malloc(DMA_ACQ_TRANSFER_SIZE);
     if (!buffer_DMA)
         {
-            fprintf(stderr, "Memory error!");
+            std::cerr << "Memory error!" << std::endl;
         }
 
     // open the DMA descriptor
     dma_descr = open("/dev/loop_tx", O_WRONLY);
     if (dma_descr < 0)
         {
-            printf("can't open loop device\n");
+            std::cerr << "Can't open loop device\n";
-            exit(1);
+            return;
         }
 
     // cycle through the file containing the received samples
-
     for (int k = 0; k < NTIMES_CYCLE_THROUGH_RX_SAMPLES_FILE; k++)
         {
             fseek(rx_signal_file, 0, SEEK_SET);
@@ -176,7 +175,6 @@ void thread_acquisition_send_rx_samples(gr::top_block_sptr top_block,
     close(dma_descr);
 
     // when all the samples are sent stop the top block
-
     top_block->stop();
 }
 

src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc

@@ -293,7 +293,7 @@ std::vector<double> GpsL1CADllPllTrackingTest::check_results_doppler(arma::vec&
 
     err = meas_value - true_value_interp;
 
-    //conversion between arma::vec and std:vector
+    // conversion between arma::vec and std:vector
     std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
 
     arma::vec err2 = arma::square(err);
@@ -344,7 +344,7 @@ std::vector<double> GpsL1CADllPllTrackingTest::check_results_acc_carrier_phase(a
     //it is required to remove the initial offset in the accumulated carrier phase error
     err = (meas_value - meas_value(0)) - (true_value_interp - true_value_interp(0));
     arma::vec err2 = arma::square(err);
-    //conversion between arma::vec and std:vector
+    // conversion between arma::vec and std:vector
     std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
 
     rmse = sqrt(arma::mean(err2));
@@ -392,7 +392,7 @@ std::vector<double> GpsL1CADllPllTrackingTest::check_results_codephase(arma::vec
     arma::vec err;
 
     err = meas_value - true_value_interp;
-    //conversion between arma::vec and std:vector
+    // conversion between arma::vec and std:vector
     std::vector<double> err_std_vector(err.colptr(0), err.colptr(0) + err.n_rows);
 
     arma::vec err2 = arma::square(err);
@@ -424,10 +424,8 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
     //*************************************************
     //***** STEP 2: Prepare the parameters sweep ******
     //*************************************************
-
     std::vector<double> generator_CN0_values;
 
-
     //data containers for config param sweep
     std::vector<std::vector<double>> mean_doppler_error_sweep;     //swep config param and cn0 sweep
     std::vector<std::vector<double>> std_dev_doppler_error_sweep;  //swep config param and cn0 sweep
@@ -449,16 +447,13 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
     double acq_doppler_hz = 0.0;
     Tracking_True_Obs_Reader true_obs_data;
 
-
     // CONFIG PARAM SWEEP LOOP
     std::vector<double> PLL_wide_bw_values;
     std::vector<double> DLL_wide_bw_values;
 
-
     //***********************************************************
     //***** STEP 2: Tracking configuration parameters sweep *****
     //***********************************************************
-
     if (FLAGS_PLL_bw_hz_start == FLAGS_PLL_bw_hz_stop)
         {
             if (FLAGS_DLL_bw_hz_start == FLAGS_DLL_bw_hz_stop)
@@ -490,8 +485,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
     //*********************************************
     //***** STEP 3: Generate the input signal *****
     //*********************************************
-
-
     std::vector<double> cno_vector;
     if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
         {
@@ -587,7 +580,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
                             true_obs_data.restart();
                         }
 
-
                     std::chrono::time_point<std::chrono::system_clock> start, end;
 
                     top_block = gr::make_top_block("Tracking test");
@@ -625,7 +617,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
                         top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
                     }) << "Failure connecting the blocks of tracking test.";
 
-
                     //********************************************************************
                     //***** STEP 5: Perform the signal tracking and read the results *****
                     //********************************************************************
@@ -643,8 +634,8 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
 
                     int tracking_last_msg = msg_rx->rx_message;  //save last aasynchronous tracking message in order to detect a loss of lock
 
-                    //check results
+                    // check results
-                    //load the measured values
+                    // load the measured values
                     Tracking_Dump_Reader trk_dump;
                     ASSERT_EQ(trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")), true)
                         << "Failure opening tracking dump file";
@@ -736,7 +727,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
                                             trk_Doppler_Hz = trk_Doppler_Hz.subvec(initial_meas_point(0), trk_Doppler_Hz.size() - 1);
                                             trk_prn_delay_chips = trk_prn_delay_chips.subvec(initial_meas_point(0), trk_prn_delay_chips.size() - 1);
 
-
                                             double mean_error;
                                             double std_dev_error;
                                             double rmse;
@@ -781,7 +771,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
                                     std::cout << "Tracking output could not be used, possible loss of lock " << ex.what() << std::endl;
                                 }
                         }
-
                 }  //CN0 LOOP
 
             if (!FLAGS_enable_external_signal_file)
@@ -898,7 +887,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
                                                 }
                                         }
 
-                                    //PLOT ERROR FIGURES (only if it is used the signal generator)
+                                    // PLOT ERROR FIGURES (only if it is used the signal generator)
                                     if (!FLAGS_enable_external_signal_file)
                                         {
                                             if (FLAGS_plot_detail_level >= 1)
@@ -917,7 +906,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
                                                     g5.set_xlabel("Time [s]");
                                                     g5.set_ylabel("Code delay error [Chips]");
 
-
                                                     for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values_sweep_copy.at(config_idx).size(); current_cn0_idx++)
                                                         {
                                                             try
@@ -952,7 +940,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
                                                     g5b.set_xlabel("Time [s]");
                                                     g5b.set_ylabel("Code delay error [meters]");
 
-
                                                     for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values_sweep_copy.at(config_idx).size(); current_cn0_idx++)
                                                         {
                                                             try
@@ -973,7 +960,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
                                                     g5b.savetops("Code_error_meters");
                                                     g5b.savetopdf("Code_error_meters", 18);
 
-
                                                     Gnuplot g6("points");
                                                     if (FLAGS_show_plots)
                                                         {
@@ -988,7 +974,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
                                                     g6.set_xlabel("Time [s]");
                                                     g6.set_ylabel("Accumulated carrier phase error [Cycles]");
 
-
                                                     for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values_sweep_copy.at(config_idx).size(); current_cn0_idx++)
                                                         {
                                                             try
@@ -1064,7 +1049,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
                     if (generator_CN0_values.size() > 1)
                         {
                             //plot metrics
-
                             Gnuplot g7("linespoints");
                             if (FLAGS_show_plots)
                                 {
@@ -1098,7 +1082,6 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
                             g7.savetops("Doppler_error_metrics");
                             g7.savetopdf("Doppler_error_metrics", 18);
 
-
                             Gnuplot g8("linespoints");
                             g8.set_title("Accumulated carrier phase error metrics (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
                             g8.set_grid();
@@ -1155,6 +1138,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
         }
 }
 
+
 bool GpsL1CADllPllTrackingTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
 {
     try

src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc

@@ -79,14 +79,15 @@ void send_tracking_gps_input_samples(FILE *rx_signal_file,
     dma_descr = open("/dev/loop_tx", O_WRONLY);
     if (dma_descr < 0)
         {
-            printf("can't open loop device\n");
+            std::cerr << "Can't open loop device\n";
-            exit(1);
+            return;
         }
 
     buffer_DMA = (char *)malloc(DMA_TRACK_TRANSFER_SIZE);
     if (!buffer_DMA)
         {
-            fprintf(stderr, "Memory error!");
+            std::cerr << "Memory error!" << std::endl;
+            return;
         }
 
     while (num_remaining_samples > 0)
@@ -140,7 +141,8 @@ void sending_thread(gr::top_block_sptr top_block, const char *file_name)
     rx_signal_file = fopen(file_name, "rb");
     if (!rx_signal_file)
         {
-            printf("Unable to open file!");
+            std::cerr << "Unable to open file!" << std::endl;
+            return;
         }
 
     fseek(rx_signal_file, 0, SEEK_END);
@@ -335,7 +337,7 @@ void GpsL1CADllPllTrackingTestFpga::configure_receiver()
 void GpsL1CADllPllTrackingTestFpga::check_results_doppler(arma::vec &true_time_s,
     arma::vec &true_value, arma::vec &meas_time_s, arma::vec &meas_value)
 {
-    //1. True value interpolation to match the measurement times
+    // 1. True value interpolation to match the measurement times
     arma::vec true_value_interp;
     arma::uvec true_time_s_valid = find(true_time_s > 0);
     true_time_s = true_time_s(true_time_s_valid);
@@ -345,22 +347,21 @@ void GpsL1CADllPllTrackingTestFpga::check_results_doppler(arma::vec &true_time_s
     meas_value = meas_value(meas_time_s_valid);
     arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
 
-    //2. RMSE
+    // 2. RMSE
     arma::vec err;
-
     err = meas_value - true_value_interp;
     arma::vec err2 = arma::square(err);
     double rmse = sqrt(arma::mean(err2));
 
-    //3. Mean err and variance
+    // 3. Mean err and variance
     double error_mean = arma::mean(err);
     double error_var = arma::var(err);
 
-    // 5. Peaks
+    // 4. Peaks
     double max_error = arma::max(err);
     double min_error = arma::min(err);
 
-    //5. report
+    // 5. report
     std::streamsize ss = std::cout.precision();
     std::cout << std::setprecision(10) << "TRK Doppler RMSE=" << rmse
               << ", mean=" << error_mean << ", stdev=" << sqrt(error_var)
@@ -384,14 +385,14 @@ void GpsL1CADllPllTrackingTestFpga::check_results_acc_carrier_phase(
     meas_value = meas_value(meas_time_s_valid);
     arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
 
-    //2. RMSE
+    // 2. RMSE
     arma::vec err;
 
     err = meas_value - true_value_interp;
     arma::vec err2 = arma::square(err);
     double rmse = sqrt(arma::mean(err2));
 
-    //3. Mean err and variance
+    // 3. Mean err and variance
     double error_mean = arma::mean(err);
     double error_var = arma::var(err);
 
@@ -399,7 +400,7 @@ void GpsL1CADllPllTrackingTestFpga::check_results_acc_carrier_phase(
     double max_error = arma::max(err);
     double min_error = arma::min(err);
 
-    //5. report
+    // 5. report
     std::streamsize ss = std::cout.precision();
     std::cout << std::setprecision(10) << "TRK acc carrier phase RMSE=" << rmse
               << ", mean=" << error_mean << ", stdev=" << sqrt(error_var)
@@ -413,7 +414,7 @@ void GpsL1CADllPllTrackingTestFpga::check_results_codephase(
     arma::vec &true_time_s, arma::vec &true_value, arma::vec &meas_time_s,
     arma::vec &meas_value)
 {
-    //1. True value interpolation to match the measurement times
+    // 1. True value interpolation to match the measurement times
     arma::vec true_value_interp;
     arma::uvec true_time_s_valid = find(true_time_s > 0);
     true_time_s = true_time_s(true_time_s_valid);
@@ -423,13 +424,13 @@ void GpsL1CADllPllTrackingTestFpga::check_results_codephase(
     meas_value = meas_value(meas_time_s_valid);
     arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
 
-    //2. RMSE
+    // 2. RMSE
     arma::vec err;
     err = meas_value - true_value_interp;
     arma::vec err2 = arma::square(err);
     double rmse = sqrt(arma::mean(err2));
 
-    //3. Mean err and variance
+    // 3. Mean err and variance
     double error_mean = arma::mean(err);
     double error_var = arma::var(err);
 
@@ -437,7 +438,7 @@ void GpsL1CADllPllTrackingTestFpga::check_results_codephase(
     double max_error = arma::max(err);
     double min_error = arma::min(err);
 
-    //5. report
+    // 5. report
     std::streamsize ss = std::cout.precision();
     std::cout << std::setprecision(10) << "TRK code phase RMSE=" << rmse
               << ", mean=" << error_mean << ", stdev=" << sqrt(error_var)
@@ -459,7 +460,7 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
 
     configure_receiver();
 
-    //open true observables log file written by the simulator
+    // open true observables log file written by the simulator
     Tracking_True_Obs_Reader true_obs_data;
     int test_satellite_PRN = FLAGS_test_satellite_PRN;
     std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
@@ -491,7 +492,7 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
         })
         << "Failure reading true observables file";
 
-    //restart the epoch counter
+    // restart the epoch counter
     true_obs_data.restart();
 
     std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz
@@ -550,8 +551,8 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
     // wait until child thread terminates
     t.join();
 
-    //check results
+    // check results
-    //load the true values
+    // load the true values
     int64_t nepoch = true_obs_data.num_epochs();
     std::cout << "True observation epochs=" << nepoch << std::endl;
 
@@ -572,7 +573,7 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
             epoch_counter++;
         }
 
-    //load the measured values
+    // load the measured values
     Tracking_Dump_Reader trk_dump;
     ASSERT_NO_THROW(
         {
@@ -604,7 +605,7 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
             epoch_counter++;
         }
 
-    //Align initial measurements and cut the tracking pull-in transitory
+    // Align initial measurements and cut the tracking pull-in transitory
     double pull_in_offset_s = 1.0;
     arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");