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Merge branch 'next' into debug

This commit is contained in:
Antonio Ramos 2018-03-12 11:13:09 +01:00
parent 0057e60924 df1a3a13df
commit 052751fbae
7 changed files with 45 additions and 40 deletions
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16
CMakeLists.txt
View File

@ -331,7 +331,7 @@ set(GNSSSDR_ARMADILLO_LOCAL_VERSION "unstable")
set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.0")
set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.11")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.12")
@ -450,13 +450,13 @@ if(ENABLE_UNIT_TESTING OR ENABLE_SYSTEM_TESTING)
endif(LIBGTEST_DEV_DIR)
find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS ${GTEST_DIR}/include)
else(GTEST_DIR)
find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS /usr/src/googletest/googletest /usr/src/gtest /opt/local/src/gtest-1.7.0 )
find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS /usr/src/googletest/googletest /usr/src/gtest /usr/include/gtest /opt/local/src/gtest-1.7.0 )
find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS /usr/include /opt/local/src/gtest-1.7.0/include)
if(LIBGTEST_DEV_DIR)
message (STATUS "Googletest package has been found.")
else(LIBGTEST_DEV_DIR)
message (STATUS " Googletest has not been found.")
message (STATUS " Googletest will be downloaded and built automatically ")
message (STATUS " Googletest v${GNSSSDR_GTEST_LOCAL_VERSION} will be downloaded and built automatically ")
message (STATUS " when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'. ")
endif(LIBGTEST_DEV_DIR)
endif(GTEST_DIR)
@ -700,7 +700,7 @@ set(LOCAL_GFLAGS false)
find_package(GFlags)
if (NOT GFlags_FOUND)
message (STATUS " gflags library has not been found.")
message (STATUS " gflags will be downloaded and built automatically ")
message (STATUS " gflags v${GNSSSDR_GFLAGS_LOCAL_VERSION} will be downloaded and built automatically ")
message (STATUS " when doing 'make'. ")
if(CMAKE_VERSION VERSION_LESS 3.2)
@ -768,7 +768,7 @@ if (NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
if(NOT GFlags_FOUND)
message(STATUS " or it is likely not linked to gflags.")
endif(NOT GFlags_FOUND)
message (STATUS " glog will be downloaded and built automatically ")
message (STATUS " glog v${GNSSSDR_GLOG_LOCAL_VERSION} will be downloaded and built automatically ")
message (STATUS " when doing 'make'. ")
if(NOT ${LOCAL_GFLAGS})
add_library(gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION} UNKNOWN IMPORTED)
@ -957,7 +957,7 @@ endif(ARMADILLO_FOUND)
if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
message(STATUS " Armadillo has not been found.")
message(STATUS " Armadillo will be downloaded and built automatically")
message(STATUS " Armadillo ${GNSSSDR_ARMADILLO_LOCAL_VERSION} will be downloaded and built automatically")
message(STATUS " when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'. ")
set(armadillo_BRANCH ${GNSSSDR_ARMADILLO_LOCAL_VERSION})
set(armadillo_RELEASE ${armadillo_BRANCH})
@ -1100,7 +1100,7 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
if(MATIO_FOUND)
message(STATUS " Matio installed version (${MATIO_VERSION_STRING}) is too old (>= ${GNSSSDR_MATIO_MIN_VERSION} is required).")
endif(MATIO_FOUND)
message(STATUS " Matio will be downloaded and built automatically")
message(STATUS " Matio v${GNSSSDR_MATIO_LOCAL_VERSION} will be downloaded and built automatically")
message(STATUS " when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'. ")
find_package(ZLIB)
if(ZLIB_FOUND)
@ -1132,7 +1132,7 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(FATAL_ERROR "aclocal is required to build matio from source")
endif(EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.13" OR EXISTS "/usr/bin/aclocal-1.11" OR EXISTS "/usr/bin/aclocal-1.10")
endif(OS_IS_LINUX)
endif(OS_IS_LINUX)
find_package(HDF5)
if(HDF5_FOUND)
list(GET HDF5_LIBRARIES 0 HDF5_FIRST_DIR)

2
conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf
View File

@ -138,4 +138,4 @@ PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1045_rate_ms=5000
PVT.rtcm_MT1097_rate_ms=1000
PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=3
PVT.rinex_version=2

10
conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf
View File

@ -5,7 +5,7 @@ GNSS-SDR.internal_fs_sps=6625000
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource.filename=/archive/NT1065_GLONASS_L1_20160924_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
SignalSource.item_type=ibyte
SignalSource.sampling_frequency=6625000
SignalSource.samples=0
@ -39,7 +39,7 @@ Acquisition_1G.pfa=0.0001
Acquisition_1G.if=0
Acquisition_1G.doppler_max=10000
Acquisition_1G.doppler_step=250
Acquisition_1G.dump=false;
Acquisition_1G.dump=true;
Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
;Acquisition_1G.coherent_integration_time_ms=1
;Acquisition_1G.max_dwells = 5
@ -51,7 +51,7 @@ Tracking_1G.if=0
Tracking_1G.early_late_space_chips=0.5
Tracking_1G.pll_bw_hz=25.0;
Tracking_1G.dll_bw_hz=3.0;
Tracking_1G.dump=false;
Tracking_1G.dump=true;
Tracking_1G.dump_filename=/archive/glo_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
@ -59,7 +59,7 @@ TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=false;
Observables.dump=true;
Observables.dump_filename=/archive/glo_observables.dat
;######### PVT CONFIG ############
@ -76,4 +76,4 @@ PVT.rtcm_MT1019_rate_ms=5000
PVT.rtcm_MT1045_rate_ms=5000
PVT.rtcm_MT1097_rate_ms=1000
PVT.rtcm_MT1077_rate_ms=1000
PVT.rinex_version=3
PVT.rinex_version=2

35
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -3958,6 +3958,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
out << line << std::endl;
// -------- Line MARKER NAME
line.clear();
line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
line += Rinex_Printer::leftJustify("MARKER NAME", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line MARKER NUMBER / TYPE
if (version == 2)
{
line.clear();
@ -3977,14 +3984,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
out << line << std::endl;
}
// -------- Line MARKER TYPE
line.clear();
line += Rinex_Printer::leftJustify("NON_GEODETIC", 20); // put a flag or a property
line += std::string(40, ' ');
line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line OBSERVER / AGENCY
line.clear();
std::string username;
@ -4279,7 +4278,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
// -------- Line MARKER NAME
line.clear();
line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60); // put a flag or a property,
line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
line += Rinex_Printer::leftJustify("MARKER NAME", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
@ -5998,6 +5997,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
{
// RINEX observations timestamps are GPS timestamps.
std::string line;
double int_sec = 0;
// Avoid compiler warning
if (glonass_band.size())
@ -6008,12 +6008,12 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
std::string timestring = boost::posix_time::to_iso_string(p_glonass_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
//double gps_t = eph.sv_clock_correction(obs_time);
double glonass_t = obs_time;
std::string month(timestring, 4, 2);
std::string day(timestring, 6, 2);
std::string hour(timestring, 9, 2);
std::string minutes(timestring, 11, 2);
double utc_sec = modf(obs_time, &int_sec) + p_glonass_time.time_of_day().seconds();
if (version == 2)
{
@ -6046,12 +6046,11 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += std::string(1, ' ');
line += minutes;
line += std::string(1, ' ');
double second_ = fmod(glonass_t, 60);
if (second_ < 10)
if (utc_sec < 10)
{
line += std::string(1, ' ');
}
line += Rinex_Printer::asString(second_, 7);
line += Rinex_Printer::asString(utc_sec, 7);
line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
@ -6149,13 +6148,12 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
line += minutes;
line += std::string(1, ' ');
double seconds = fmod(glonass_t, 60);
// Add extra 0 if seconds are < 10
if (seconds < 10)
if (utc_sec < 10)
{
line += std::string(1, '0');
}
line += Rinex_Printer::asString(seconds, 7);
line += Rinex_Printer::asString(utc_sec, 7);
line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
@ -8324,8 +8322,8 @@ boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephe
boost::posix_time::ptime ls_time(d3, t3);
if (utc_time >= ls_time)
{
// We subtract the leap second when going from gpst to utc
utc_time = utc_time - boost::posix_time::time_duration(0, 0, fabs(GLONASS_LEAP_SECONDS[i][6]));
// We subtract the leap second when going from gpst to utc, values store as negatives
utc_time = utc_time + boost::posix_time::time_duration(0, 0, GLONASS_LEAP_SECONDS[i][6]);
break;
}
}
@ -8333,7 +8331,6 @@ boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephe
return utc_time;
}
double Rinex_Printer::get_leap_second(const Glonass_Gnav_Ephemeris& eph, const double gps_obs_time)
{
double tod = 0.0;

1
src/tests/CMakeLists.txt
View File

@ -209,6 +209,7 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
################################################################################
find_package(GPSTK)
if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
message(STATUS "GPSTk v${GNSSSDR_GPSTK_LOCAL_VERSION} will be automatically donwloaded and built when doing 'make'.")
if(NOT ENABLE_FPGA)
if(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add(

9
src/utils/reproducibility/ieee-access18/L2-access18.conf
View File

@ -69,6 +69,9 @@ Channel7.signal=2S
Channel8.signal=2S
Channel9.signal=2S
;######### SPECIFIC CHANNELS CONFIG ######
Channel0.satellite=19
;######### ACQUISITION GLOBAL CONFIG ############
@ -89,14 +92,13 @@ Acquisition_2S.blocking=true
;######### TRACKING GLOBAL CONFIG ############
Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
Tracking_2S.item_type=gr_complex
Tracking_2S.pll_bw_hz=4.0;
Tracking_2S.dll_bw_hz=0.75;
Tracking_2S.dll_bw_hz=1;
Tracking_2S.early_late_space_chips=0.5;
@ -104,14 +106,17 @@ Tracking_2S.dump=true
Tracking_2S.dump_filename=./data/track_ch_
;######### TELEMETRY DECODER CONFIG ############
TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT

12
src/utils/reproducibility/ieee-access18/plot_dump.m
View File

@ -186,7 +186,7 @@ plot(0,0,'k*');
[x,y,z] = cylinder([TWO_DRMS TWO_DRMS],200);
plot(x(1,:),y(1,:),[0 0.6 0],'Color',[0 0.6 0]);
plot(x(1,:),y(1,:),'Color',[0 0.6 0]);
str = strcat('2DRMS=',num2str(TWO_DRMS), ' m');
text(cosd(65)*TWO_DRMS,sind(65)*TWO_DRMS,str,'Color',[0 0.6 0]);
@ -227,11 +227,13 @@ hSurface=surf(MRSE*x,MRSE*y,MRSE*z); % sphere centered at origin
set(hSurface,'facecolor','none','edgecolor',[0 0.6 0],'edgealpha',1,'facealpha',1);
%axis equal;
xlabel('North [m]','fontname','Times','fontsize', fontsize)
ylabel('East [m]','fontname','Times','fontsize', fontsize)
zlabel('Up [m]','fontname','Times','fontsize', fontsize)
str = strcat('MRSE=',num2str(MRSE), ' m');
xlabel('North [m]','fontname','Times','fontsize', fontsize-2)
ylabel('East [m]','fontname','Times','fontsize', fontsize-2)
zlabel('Up [m]','fontname','Times','fontsize', fontsize-2)
str = strcat('MRSE=',num2str(MRSE), ' m')
text(cosd(45)*MRSE,sind(45)*MRSE,20,str,'Color',[0 0.6 0]);
a=gca;
set(a,'fontsize',fontsize-6)
hh=findall(hf,'-property','FontName');
set(hh,'FontName','Times');