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

README.md

@@ -64,7 +64,8 @@ $ sudo apt-get install build-essential cmake git libboost-dev libboost-date-time
        libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev \
        libboost-serialization-dev liblog4cpp5-dev libuhd-dev gnuradio-dev gr-osmosdr \
        libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev \
-       libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev libgtest-dev
+       libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev libpugixml-dev \
+       libgtest-dev
 ~~~~~~
 
 Please note that the required files from `libgtest-dev` were moved to `googletest` in Debian 9 "stretch" and Ubuntu 18.04 "bionic", and moved back again to `libgtest-dev` in Debian 10 "buster" and Ubuntu 18.10 "cosmic".
@@ -85,7 +86,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel cmake git boost-devel
        boost-date-time boost-system boost-filesystem boost-thread boost-chrono \
        boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \
        blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \
-       glog-devel openssl-devel libpcap-devel python-mako python-six
+       glog-devel openssl-devel libpcap-devel python-mako python-six pugixml-devel
 ~~~~~~
 
 Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@@ -102,7 +103,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel libtool \
        hdf5-devel cmake git boost-devel boost-date-time boost-system \
        boost-filesystem boost-thread boost-chrono boost-serialization \
        log4cpp-devel gnuradio-devel gr-osmosdr-devel blas-devel lapack-devel \
-       armadillo-devel openssl-devel libpcap-devel python-mako python-six
+       armadillo-devel openssl-devel libpcap-devel python-mako python-six pugixml-devel
 ~~~~~~
 
 Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@@ -113,7 +114,7 @@ If you are using Arch Linux (with base-devel group installed):
 
 ~~~~~~
 $ pacman -S cmake git boost boost-libs log4cpp libvolk gnuradio gnuradio-osmosdr \
-       blas lapack gflags google-glog openssl python2-mako python2-six \
+       blas lapack gflags google-glog openssl pugixml python-mako python-six \
        libmatio libpcap gtest
 ~~~~~~
 
@@ -201,9 +202,9 @@ The full stop separated from ```cmake``` by a space is important. [CMake](https:
 #### Install [Gflags](https://github.com/gflags/gflags "Gflags' Homepage"), a commandline flags processing module for C++:
 
 ~~~~~~
-$ wget https://github.com/gflags/gflags/archive/v2.2.1.tar.gz
+$ wget https://github.com/gflags/gflags/archive/v2.2.2.tar.gz
-$ tar xvfz v2.2.1.tar.gz
+$ tar xvfz v2.2.2.tar.gz
-$ cd gflags-2.2.1
+$ cd gflags-2.2.2
 $ cmake -DBUILD_SHARED_LIBS=ON -DBUILD_STATIC_LIBS=OFF -DBUILD_gflags_nothreads_LIB=OFF .
 $ make
 $ sudo make install
@@ -547,6 +548,7 @@ $ sudo port install google-glog +gflags
 $ sudo port install py27-mako
 $ sudo port install py27-six
 $ sudo port install matio
+$ sudo port install pugixml
 ~~~~~~
 
 You also might need to activate a Python installation. The list of installed versions can be retrieved with:
@@ -586,6 +588,7 @@ $ brew install armadillo
 $ brew install glog gflags gnutls
 $ brew install gnuradio
 $ brew install libmatio
+$ brew install pugixml
 $ pip install mako
 $ pip install six
 ~~~~~~

cmake/Modules/CMakeParseArgumentsCopy.cmake

@@ -1,138 +0,0 @@
-# CMAKE_PARSE_ARGUMENTS(<prefix> <options> <one_value_keywords> <multi_value_keywords> args...)
-#
-# CMAKE_PARSE_ARGUMENTS() is intended to be used in macros or functions for
-# parsing the arguments given to that macro or function.
-# It processes the arguments and defines a set of variables which hold the
-# values of the respective options.
-#
-# The <options> argument contains all options for the respective macro,
-# i.e. keywords which can be used when calling the macro without any value
-# following, like e.g. the OPTIONAL keyword of the install() command.
-#
-# The <one_value_keywords> argument contains all keywords for this macro
-# which are followed by one value, like e.g. DESTINATION keyword of the
-# install() command.
-#
-# The <multi_value_keywords> argument contains all keywords for this macro
-# which can be followed by more than one value, like e.g. the TARGETS or
-# FILES keywords of the install() command.
-#
-# When done, CMAKE_PARSE_ARGUMENTS() will have defined for each of the
-# keywords listed in <options>, <one_value_keywords> and
-# <multi_value_keywords> a variable composed of the given <prefix>
-# followed by "_" and the name of the respective keyword.
-# These variables will then hold the respective value from the argument list.
-# For the <options> keywords this will be TRUE or FALSE.
-#
-# All remaining arguments are collected in a variable
-# <prefix>_UNPARSED_ARGUMENTS, this can be checked afterwards to see whether
-# your macro was called with unrecognized parameters.
-#
-# As an example here a my_install() macro, which takes similar arguments as the
-# real install() command:
-#
-#   function(MY_INSTALL)
-#     set(options OPTIONAL FAST)
-#     set(oneValueArgs DESTINATION RENAME)
-#     set(multiValueArgs TARGETS CONFIGURATIONS)
-#     cmake_parse_arguments(MY_INSTALL "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
-#     ...
-#
-# Assume my_install() has been called like this:
-#   my_install(TARGETS foo bar DESTINATION bin OPTIONAL blub)
-#
-# After the cmake_parse_arguments() call the macro will have set the following
-# variables:
-#   MY_INSTALL_OPTIONAL = TRUE
-#   MY_INSTALL_FAST = FALSE (this option was not used when calling my_install()
-#   MY_INSTALL_DESTINATION = "bin"
-#   MY_INSTALL_RENAME = "" (was not used)
-#   MY_INSTALL_TARGETS = "foo;bar"
-#   MY_INSTALL_CONFIGURATIONS = "" (was not used)
-#   MY_INSTALL_UNPARSED_ARGUMENTS = "blub" (no value expected after "OPTIONAL"
-#
-# You can the continue and process these variables.
-#
-# Keywords terminate lists of values, e.g. if directly after a one_value_keyword
-# another recognized keyword follows, this is interpreted as the beginning of
-# the new option.
-# E.g. my_install(TARGETS foo DESTINATION OPTIONAL) would result in
-# MY_INSTALL_DESTINATION set to "OPTIONAL", but MY_INSTALL_DESTINATION would
-# be empty and MY_INSTALL_OPTIONAL would be set to TRUE therefor.
-
-#=============================================================================
-# Copyright 2010 Alexander Neundorf <neundorf@kde.org>
-#
-# Distributed under the OSI-approved BSD License (the "License");
-# see accompanying file Copyright.txt for details.
-#
-# This software is distributed WITHOUT ANY WARRANTY; without even the
-# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the License for more information.
-#=============================================================================
-# (To distribute this file outside of CMake, substitute the full
-#  License text for the above reference.)
-
-
-if(__CMAKE_PARSE_ARGUMENTS_INCLUDED)
-  return()
-endif()
-set(__CMAKE_PARSE_ARGUMENTS_INCLUDED TRUE)
-
-
-function(CMAKE_PARSE_ARGUMENTS prefix _optionNames _singleArgNames _multiArgNames)
-  # first set all result variables to empty/FALSE
-  foreach(arg_name ${_singleArgNames} ${_multiArgNames})
-    set(${prefix}_${arg_name})
-  endforeach(arg_name)
-
-  foreach(option ${_optionNames})
-    set(${prefix}_${option} FALSE)
-  endforeach(option)
-
-  set(${prefix}_UNPARSED_ARGUMENTS)
-
-  set(insideValues FALSE)
-  set(currentArgName)
-
-  # now iterate over all arguments and fill the result variables
-  foreach(currentArg ${ARGN})
-    list(FIND _optionNames "${currentArg}" optionIndex)  # ... then this marks the end of the arguments belonging to this keyword
-    list(FIND _singleArgNames "${currentArg}" singleArgIndex)  # ... then this marks the end of the arguments belonging to this keyword
-    list(FIND _multiArgNames "${currentArg}" multiArgIndex)  # ... then this marks the end of the arguments belonging to this keyword
-
-    if(${optionIndex} EQUAL -1  AND  ${singleArgIndex} EQUAL -1  AND  ${multiArgIndex} EQUAL -1)
-      if(insideValues)
-        if("${insideValues}" STREQUAL "SINGLE")
-          set(${prefix}_${currentArgName} ${currentArg})
-          set(insideValues FALSE)
-        elseif("${insideValues}" STREQUAL "MULTI")
-          list(APPEND ${prefix}_${currentArgName} ${currentArg})
-        endif()
-      else(insideValues)
-        list(APPEND ${prefix}_UNPARSED_ARGUMENTS ${currentArg})
-      endif(insideValues)
-    else()
-      if(NOT ${optionIndex} EQUAL -1)
-        set(${prefix}_${currentArg} TRUE)
-        set(insideValues FALSE)
-      elseif(NOT ${singleArgIndex} EQUAL -1)
-        set(currentArgName ${currentArg})
-        set(${prefix}_${currentArgName})
-        set(insideValues "SINGLE")
-      elseif(NOT ${multiArgIndex} EQUAL -1)
-        set(currentArgName ${currentArg})
-        set(${prefix}_${currentArgName})
-        set(insideValues "MULTI")
-      endif()
-    endif()
-
-  endforeach(currentArg)
-
-  # propagate the result variables to the caller:
-  foreach(arg_name ${_singleArgNames} ${_multiArgNames} ${_optionNames})
-    set(${prefix}_${arg_name}  ${${prefix}_${arg_name}} PARENT_SCOPE)
-  endforeach(arg_name)
-  set(${prefix}_UNPARSED_ARGUMENTS ${${prefix}_UNPARSED_ARGUMENTS} PARENT_SCOPE)
-
-endfunction(CMAKE_PARSE_ARGUMENTS _options _singleArgs _multiArgs)

cmake/Modules/FindGFLAGS.cmake

@@ -0,0 +1,102 @@
+# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
+#
+# 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/>.
+
+# - Try to find GFlags
+#
+# The following variables are optionally searched for defaults
+# GFlags_ROOT_DIR: Base directory where all GFlags components are found
+#
+# The following are set after configuration is done:
+# GFlags_FOUND
+# GFlags_INCLUDE_DIRS
+# GFlags_LIBS
+# GFlags_LIBRARY_DIRS
+
+if(APPLE)
+    find_path(GFlags_ROOT_DIR
+      libgflags.dylib
+      PATHS
+      /opt/local/lib
+      /usr/local/lib
+    )
+else()
+    find_path(GFlags_ROOT_DIR
+      libgflags.so
+      HINTS
+      /usr/local/lib
+      /usr/lib/x86_64-linux-gnu
+      /usr/lib/i386-linux-gnu
+      /usr/lib/arm-linux-gnueabihf
+      /usr/lib/arm-linux-gnueabi
+      /usr/lib/aarch64-linux-gnu
+      /usr/lib/mipsel-linux-gnu
+      /usr/lib/mips-linux-gnu
+      /usr/lib/mips64el-linux-gnuabi64
+      /usr/lib/powerpc-linux-gnu
+      /usr/lib/powerpc64-linux-gnu
+      /usr/lib/powerpc64le-linux-gnu
+      /usr/lib/powerpc-linux-gnuspe
+      /usr/lib/hppa-linux-gnu
+      /usr/lib/s390x-linux-gnu
+      /usr/lib/i386-gnu
+      /usr/lib/hppa-linux-gnu
+      /usr/lib/x86_64-kfreebsd-gnu
+      /usr/lib/i386-kfreebsd-gnu
+      /usr/lib/m68k-linux-gnu
+      /usr/lib/sh4-linux-gnu
+      /usr/lib/sparc64-linux-gnu
+      /usr/lib/x86_64-linux-gnux32
+      /usr/lib/alpha-linux-gnu
+      /usr/lib64
+      /usr/lib
+    )
+endif()
+
+if(GFlags_ROOT_DIR)
+    # We are testing only a couple of files in the include directories
+    find_path(GFlags_INCLUDE_DIRS
+      gflags/gflags.h
+      HINTS
+      /opt/local/include
+      /usr/local/include
+      /usr/include
+      ${GFlags_ROOT_DIR}/src
+    )
+
+    # Find the libraries
+    set(GFlags_LIBRARY_DIRS ${GFlags_ROOT_DIR})
+
+    find_library(GFlags_lib gflags ${GFlags_LIBRARY_DIRS})
+    if(EXISTS ${GFlags_INCLUDE_DIRS}/gflags/gflags_gflags.h)
+      set(GFLAGS_GREATER_20 TRUE)
+    else()
+      set(GFLAGS_GREATER_20 FALSE)
+    endif()
+    # set up include and link directory
+    include_directories(${GFlags_INCLUDE_DIRS})
+    link_directories(${GFlags_LIBRARY_DIRS})
+    message(STATUS "gflags library found at ${GFlags_lib}")
+    set(GFlags_LIBS ${GFlags_lib})
+    set(GFlags_FOUND true)
+    mark_as_advanced(GFlags_INCLUDE_DIRS)
+else()
+    message(STATUS "Cannot find gflags")
+    set(GFlags_FOUND false)
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(GFLAGS DEFAULT_MSG GFlags_LIBS GFlags_INCLUDE_DIRS)

cmake/Modules/FindGFORTRAN.cmake

@@ -144,5 +144,5 @@
         /usr/lib/gcc/alpha-linux-gnu/8
 )
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(GFORTRAN DEFAULT_MSG GFORTRAN)
+find_package_handle_standard_args(GFORTRAN DEFAULT_MSG GFORTRAN)

cmake/Modules/FindGFlags.cmake

@@ -1,102 +0,0 @@
-# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
-#
-# 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/>.
-
-# - Try to find GFlags
-#
-# The following variables are optionally searched for defaults
-# GFlags_ROOT_DIR: Base directory where all GFlags components are found
-#
-# The following are set after configuration is done:
-# GFlags_FOUND
-# GFlags_INCLUDE_DIRS
-# GFlags_LIBS
-# GFlags_LIBRARY_DIRS
-
-cmake_minimum_required(VERSION 2.6)
-
-if(APPLE)
-     FIND_PATH(GFlags_ROOT_DIR
-     libgflags.dylib
-     PATHS
-     /opt/local/lib
-     /usr/local/lib
-     )
-else(APPLE)
-     FIND_PATH(GFlags_ROOT_DIR
-     libgflags.so
-     HINTS
-     /usr/local/lib
-     /usr/lib/x86_64-linux-gnu
-     /usr/lib/i386-linux-gnu
-     /usr/lib/arm-linux-gnueabihf
-     /usr/lib/arm-linux-gnueabi
-     /usr/lib/aarch64-linux-gnu
-     /usr/lib/mipsel-linux-gnu
-     /usr/lib/mips-linux-gnu
-     /usr/lib/mips64el-linux-gnuabi64
-     /usr/lib/powerpc-linux-gnu
-     /usr/lib/powerpc64-linux-gnu
-     /usr/lib/powerpc64le-linux-gnu
-     /usr/lib/powerpc-linux-gnuspe
-     /usr/lib/hppa-linux-gnu
-     /usr/lib/s390x-linux-gnu
-     /usr/lib/i386-gnu
-     /usr/lib/hppa-linux-gnu
-     /usr/lib/x86_64-kfreebsd-gnu
-     /usr/lib/i386-kfreebsd-gnu
-     /usr/lib/m68k-linux-gnu
-     /usr/lib/sh4-linux-gnu
-     /usr/lib/sparc64-linux-gnu
-     /usr/lib/x86_64-linux-gnux32
-     /usr/lib/alpha-linux-gnu
-     /usr/lib64
-     /usr/lib
-     )
-endif(APPLE)
-
-IF(GFlags_ROOT_DIR)
-     # We are testing only a couple of files in the include directories
-          FIND_PATH(GFlags_INCLUDE_DIRS
-          gflags/gflags.h
-          HINTS
-          /opt/local/include
-          /usr/local/include
-          /usr/include
-          ${GFlags_ROOT_DIR}/src
-          )
-
-     # Find the libraries
-     SET(GFlags_LIBRARY_DIRS ${GFlags_ROOT_DIR})
-
-     FIND_LIBRARY(GFlags_lib gflags ${GFlags_LIBRARY_DIRS})
-     if(EXISTS ${GFlags_INCLUDE_DIRS}/gflags/gflags_gflags.h)
-         set(GFLAGS_GREATER_20 TRUE)
-     else(EXISTS ${GFlags_INCLUDE_DIRS}/gflags/gflags_gflags.h)
-         set(GFLAGS_GREATER_20 FALSE)
-     endif(EXISTS ${GFlags_INCLUDE_DIRS}/gflags/gflags_gflags.h)
-     # set up include and link directory
-     include_directories(${GFlags_INCLUDE_DIRS})
-     link_directories(${GFlags_LIBRARY_DIRS})
-     message(STATUS "gflags library found at ${GFlags_lib}")
-     SET(GFlags_LIBS ${GFlags_lib})
-     SET(GFlags_FOUND true)
-     MARK_AS_ADVANCED(GFlags_INCLUDE_DIRS)
-ELSE(GFlags_ROOT_DIR)
-     MESSAGE(STATUS "Cannot find gflags")
-     SET(GFlags_FOUND false)
-ENDIF(GFlags_ROOT_DIR)
-

cmake/Modules/FindGLOG.cmake

@@ -30,13 +30,13 @@
 
 if(NOT DEFINED GLOG_ROOT)
     set(GLOG_ROOT /usr /usr/local)
-endif (NOT DEFINED GLOG_ROOT)
+endif()
 
 if(MSVC)
     set(LIB_PATHS ${GLOG_ROOT} ${GLOG_ROOT}/Release)
-else(MSVC)
+else()
     set(LIB_PATHS ${GLOG_ROOT} ${GLOG_ROOT}/lib)
-endif(MSVC)
+endif()
 
 macro(_FIND_GLOG_LIBRARIES _var)
     find_library(${_var}
@@ -88,7 +88,7 @@ if(MSVC)
             ${GLOG_ROOT}/src/windows
             ${GLOG_ROOT}/src/windows/glog
     )
-else(MSVC)
+else()
     # Linux/OS X builds
     find_path(GLOG_INCLUDE_DIR NAMES raw_logging.h
         PATHS
@@ -96,20 +96,20 @@ else(MSVC)
             /usr/include/glog
             /opt/local/include/glog   # default location in Macports
     )
-endif(MSVC)
+endif()
 
 # Find the libraries
 if(MSVC)
-     _FIND_GLOG_LIBRARIES(GLOG_LIBRARIES libglog.lib)
+    _find_glog_libraries(GLOG_LIBRARIES libglog.lib)
-else(MSVC)
+else()
     # Linux/OS X builds
     if(UNIX)
-          _FIND_GLOG_LIBRARIES(GLOG_LIBRARIES libglog.so)
+        _find_glog_libraries(GLOG_LIBRARIES libglog.so)
-     endif(UNIX)
+    endif()
     if(APPLE)
-          _FIND_GLOG_LIBRARIES(GLOG_LIBRARIES libglog.dylib)
+        _find_glog_libraries(GLOG_LIBRARIES libglog.dylib)
-     endif(APPLE)
+    endif()
-endif(MSVC)
+endif()
 
 if(GLOG_FOUND)
     message(STATUS "glog library found at ${GLOG_LIBRARIES}")
@@ -117,20 +117,19 @@ endif()
 
 # handle the QUIETLY and REQUIRED arguments and set GLOG_FOUND to TRUE if
 # all listed variables are TRUE
-include("${CMAKE_ROOT}/Modules/FindPackageHandleStandardArgs.cmake")
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(Glog DEFAULT_MSG
+find_package_handle_standard_args(GLOG DEFAULT_MSG GLOG_LIBRARIES)
-     GLOG_LIBRARIES)
 
 if(MSVC)
     string(REGEX REPLACE "/glog$" "" VAR_WITHOUT ${GLOG_INCLUDE_DIR})
     string(REGEX REPLACE "/windows$" "" VAR_WITHOUT ${VAR_WITHOUT})
     set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS} "${VAR_WITHOUT}")
     string(REGEX REPLACE "/libglog.lib" "" GLOG_LIBRARIES_DIR ${GLOG_LIBRARIES})
-else(MSVC)
+else()
     # Linux/OS X builds
     set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
     string(REGEX REPLACE "/libglog.so" "" GLOG_LIBRARIES_DIR ${GLOG_LIBRARIES})
-endif(MSVC)
+endif()
 
 if(GLOG_FOUND)
     # _GLOG_APPEND_LIBRARIES(GLOG GLOG_LIBRARIES)

cmake/Modules/FindGNSSSIMULATOR.cmake

@@ -15,7 +15,6 @@
 # You should have received a copy of the GNU General Public License
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 
-
 find_program(SW_GENERATOR_BIN gnss_sim
     PATHS /usr/bin
         /usr/local/bin
@@ -23,6 +22,6 @@ find_program(SW_GENERATOR_BIN gnss_sim
         ${CMAKE_INSTALL_PREFIX}/bin
     PATH_SUFFIXES bin)
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNSS-SIMULATOR  DEFAULT_MSG  SW_GENERATOR_BIN)
+find_package_handle_standard_args(GNSSSIMULATOR  DEFAULT_MSG  SW_GENERATOR_BIN)
-MARK_AS_ADVANCED(SW_GENERATOR_BIN)
+mark_as_advanced(SW_GENERATOR_BIN)

cmake/Modules/FindGNURADIO.cmake

@@ -19,15 +19,14 @@
 # Find GNU Radio
 ########################################################################
 
-INCLUDE(FindPkgConfig)
+include(FindPkgConfig)
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
 
 # if GR_REQUIRED_COMPONENTS is not defined, it will be set to the following list
 if(NOT GR_REQUIRED_COMPONENTS)
   set(GR_REQUIRED_COMPONENTS RUNTIME ANALOG BLOCKS DIGITAL FFT FILTER PMT FEC TRELLIS UHD)
 endif()
 
-
 # Allows us to use all .cmake files in this directory
 list(INSERT CMAKE_MODULE_PATH 0 ${CMAKE_CURRENT_LIST_DIR})
 
@@ -35,18 +34,17 @@ list(INSERT CMAKE_MODULE_PATH 0 ${CMAKE_CURRENT_LIST_DIR})
 set(GNURADIO_ALL_LIBRARIES "")
 set(GNURADIO_ALL_INCLUDE_DIRS "")
 
-MACRO(LIST_CONTAINS var value)
+macro(LIST_CONTAINS var value)
-  SET(${var})
+  set(${var})
-  FOREACH(value2 ${ARGN})
+  foreach(value2 ${ARGN})
-    IF (${value} STREQUAL ${value2})
+    if(${value} STREQUAL ${value2})
-      SET(${var} TRUE)
+      set(${var} TRUE)
-    ENDIF(${value} STREQUAL ${value2})
+    endif()
-  ENDFOREACH(value2)
+  endforeach()
-ENDMACRO(LIST_CONTAINS)
+endmacro()
 
 function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
-
+    list_contains(REQUIRED_MODULE ${EXTVAR} ${GR_REQUIRED_COMPONENTS})
-    LIST_CONTAINS(REQUIRED_MODULE ${EXTVAR} ${GR_REQUIRED_COMPONENTS})
     if(NOT REQUIRED_MODULE)
         #message("Ignoring GNU Radio Module ${EXTVAR}")
         return()
@@ -55,7 +53,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
     message(STATUS "Checking for GNU Radio Module: ${EXTVAR}")
 
     # check for .pc hints
-    PKG_CHECK_MODULES(PC_GNURADIO_${EXTVAR} ${PCNAME})
+    pkg_check_modules(PC_GNURADIO_${EXTVAR} ${PCNAME})
 
     if(NOT PC_GNURADIO_${EXTVAR}_FOUND)
         set(PC_GNURADIO_${EXTVAR}_LIBRARIES ${LIBFILE})
@@ -67,7 +65,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
     set(PC_LIBDIR ${PC_GNURADIO_${EXTVAR}_LIBDIR})
 
     # look for include files
-    FIND_PATH(
+    find_path(
         ${INCVAR_NAME}
         NAMES ${INCFILE}
         HINTS $ENV{GNURADIO_RUNTIME_DIR}/include
@@ -81,7 +79,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
 
     # look for libs
     foreach(libname ${PC_GNURADIO_${EXTVAR}_LIBRARIES})
-        FIND_LIBRARY(
+        find_library(
             ${LIBVAR_NAME}_${libname}
             NAMES ${libname} ${libname}-${PC_GNURADIO_RUNTIME_VERSION}
             HINTS $ENV{GNURADIO_RUNTIME_DIR}/lib
@@ -119,7 +117,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
                   ${GNURADIO_INSTALL_PREFIX}/lib
         )
         list(APPEND ${LIBVAR_NAME} ${${LIBVAR_NAME}_${libname}})
-    endforeach(libname)
+    endforeach()
 
     set(${LIBVAR_NAME} ${${LIBVAR_NAME}} PARENT_SCOPE)
 
@@ -131,7 +129,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
     set(GNURADIO_ALL_INCLUDE_DIRS ${GNURADIO_ALL_INCLUDE_DIRS} ${GNURADIO_${EXTVAR}_INCLUDE_DIRS} PARENT_SCOPE)
     set(GNURADIO_ALL_LIBRARIES    ${GNURADIO_ALL_LIBRARIES}    ${GNURADIO_${EXTVAR}_LIBRARIES}    PARENT_SCOPE)
 
-    FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_${EXTVAR} DEFAULT_MSG GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
+    find_package_handle_standard_args(GNURADIO_${EXTVAR} DEFAULT_MSG GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
     message(STATUS "GNURADIO_${EXTVAR}_FOUND = ${GNURADIO_${EXTVAR}_FOUND}")
     set(GNURADIO_${EXTVAR}_FOUND ${GNURADIO_${EXTVAR}_FOUND} PARENT_SCOPE)
 
@@ -140,29 +138,28 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
         message(STATUS "Required GNU Radio Component: ${EXTVAR} missing!")
     endif()
 
-    MARK_AS_ADVANCED(GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
+    mark_as_advanced(GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
-
 endfunction()
 
-GR_MODULE(RUNTIME gnuradio-runtime gnuradio/top_block.h gnuradio-runtime)
+gr_module(RUNTIME gnuradio-runtime gnuradio/top_block.h gnuradio-runtime)
-GR_MODULE(ANALOG gnuradio-analog gnuradio/analog/api.h gnuradio-analog)
+gr_module(ANALOG gnuradio-analog gnuradio/analog/api.h gnuradio-analog)
-GR_MODULE(AUDIO gnuradio-audio gnuradio/audio/api.h gnuradio-audio)
+gr_module(AUDIO gnuradio-audio gnuradio/audio/api.h gnuradio-audio)
-GR_MODULE(BLOCKS gnuradio-blocks gnuradio/blocks/api.h gnuradio-blocks)
+gr_module(BLOCKS gnuradio-blocks gnuradio/blocks/api.h gnuradio-blocks)
-GR_MODULE(CHANNELS gnuradio-channels gnuradio/channels/api.h gnuradio-channels)
+gr_module(CHANNELS gnuradio-channels gnuradio/channels/api.h gnuradio-channels)
-GR_MODULE(DIGITAL gnuradio-digital gnuradio/digital/api.h gnuradio-digital)
+gr_module(DIGITAL gnuradio-digital gnuradio/digital/api.h gnuradio-digital)
-GR_MODULE(FCD gnuradio-fcd gnuradio/fcd_api.h gnuradio-fcd)
+gr_module(FCD gnuradio-fcd gnuradio/fcd_api.h gnuradio-fcd)
-GR_MODULE(FEC gnuradio-fec gnuradio/fec/api.h gnuradio-fec)
+gr_module(FEC gnuradio-fec gnuradio/fec/api.h gnuradio-fec)
-GR_MODULE(FFT gnuradio-fft gnuradio/fft/api.h gnuradio-fft)
+gr_module(FFT gnuradio-fft gnuradio/fft/api.h gnuradio-fft)
-GR_MODULE(FILTER gnuradio-filter gnuradio/filter/api.h gnuradio-filter)
+gr_module(FILTER gnuradio-filter gnuradio/filter/api.h gnuradio-filter)
-GR_MODULE(NOAA gnuradio-noaa gnuradio/noaa/api.h gnuradio-noaa)
+gr_module(NOAA gnuradio-noaa gnuradio/noaa/api.h gnuradio-noaa)
-GR_MODULE(PAGER gnuradio-pager gnuradio/pager/api.h gnuradio-pager)
+gr_module(PAGER gnuradio-pager gnuradio/pager/api.h gnuradio-pager)
-GR_MODULE(QTGUI gnuradio-qtgui gnuradio/qtgui/api.h gnuradio-qtgui)
+gr_module(QTGUI gnuradio-qtgui gnuradio/qtgui/api.h gnuradio-qtgui)
-GR_MODULE(TRELLIS gnuradio-trellis gnuradio/trellis/api.h gnuradio-trellis)
+gr_module(TRELLIS gnuradio-trellis gnuradio/trellis/api.h gnuradio-trellis)
-GR_MODULE(UHD gnuradio-uhd gnuradio/uhd/api.h gnuradio-uhd)
+gr_module(UHD gnuradio-uhd gnuradio/uhd/api.h gnuradio-uhd)
-GR_MODULE(VOCODER gnuradio-vocoder gnuradio/vocoder/api.h gnuradio-vocoder)
+gr_module(VOCODER gnuradio-vocoder gnuradio/vocoder/api.h gnuradio-vocoder)
-GR_MODULE(WAVELET gnuradio-wavelet gnuradio/wavelet/api.h gnuradio-wavelet)
+gr_module(WAVELET gnuradio-wavelet gnuradio/wavelet/api.h gnuradio-wavelet)
-GR_MODULE(WXGUI gnuradio-wxgui gnuradio/wxgui/api.h gnuradio-wxgui)
+gr_module(WXGUI gnuradio-wxgui gnuradio/wxgui/api.h gnuradio-wxgui)
-GR_MODULE(PMT gnuradio-runtime pmt/pmt.h gnuradio-pmt)
+gr_module(PMT gnuradio-runtime pmt/pmt.h gnuradio-pmt)
 
 list(REMOVE_DUPLICATES GNURADIO_ALL_INCLUDE_DIRS)
 list(REMOVE_DUPLICATES GNURADIO_ALL_LIBRARIES)
@@ -180,7 +177,7 @@ if(NOT PC_GNURADIO_RUNTIME_VERSION)
               )
     if(GNURADIO_VERSION_GREATER_THAN_373)
         set(PC_GNURADIO_RUNTIME_VERSION "3.7.4+")
-     endif(GNURADIO_VERSION_GREATER_THAN_373)
+    endif()
 
     find_file(GNURADIO_VERSION_GREATER_THAN_38
               NAMES gnuradio/filter/mmse_resampler_cc.h
@@ -193,5 +190,5 @@ if(NOT PC_GNURADIO_RUNTIME_VERSION)
               )
     if(GNURADIO_VERSION_GREATER_THAN_38)
         set(PC_GNURADIO_RUNTIME_VERSION "3.8.0+")
-     endif(GNURADIO_VERSION_GREATER_THAN_38)
+    endif()
-endif(NOT PC_GNURADIO_RUNTIME_VERSION)
+endif()

cmake/Modules/FindGPERFTOOLS.cmake

@@ -19,7 +19,7 @@
 #
 # Usage of this module as follows:
 #
-# find_package(Gperftools)
+# find_package(GPERFTOOLS)
 #
 # Variables used by this module, they can change the default behaviour and need
 # to be set before calling find_package:
@@ -54,7 +54,7 @@ set(GPERFTOOLS_LIBRARIES ${GPERFTOOLS_TCMALLOC_AND_PROFILER})
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(
-  Gperftools
+  GPERFTOOLS
   DEFAULT_MSG
   GPERFTOOLS_LIBRARIES
   GPERFTOOLS_INCLUDE_DIR

cmake/Modules/FindGPSTK.cmake

@@ -19,29 +19,22 @@
 # Find the native gpstk includes and library
 # This module defines
 #  GPSTK_INCLUDE_DIR, where to find Rinex3ObsBase.hpp, etc.
-#  GPSTK_LIBRARIES, libraries to link against to use GPSTK.
 #  GPSTK_FOUND, If false, do not try to use GPSTK.
-# also defined, but not for general use are
 #  GPSTK_LIBRARY, where to find the GPSTK library.
 
-FIND_PATH(GPSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
+find_path(GPSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
     HINTS /usr/include
         /usr/local/include
         /opt/local/include)
 
-SET(GPSTK_NAMES ${GPSTK_NAMES} gpstk libgpstk)
+set(GPSTK_NAMES ${GPSTK_NAMES} gpstk libgpstk)
-FIND_LIBRARY(GPSTK_LIBRARY NAMES ${GPSTK_NAMES}
+find_library(GPSTK_LIBRARY NAMES ${GPSTK_NAMES}
     HINTS /usr/lib
         /usr/local/lib
         /opt/local/lib)
 
 # handle the QUIETLY and REQUIRED arguments and set GPSTK_FOUND to TRUE if
 # all listed variables are TRUE
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(GPSTK  DEFAULT_MSG  GPSTK_LIBRARY  GPSTK_INCLUDE_DIR)
+find_package_handle_standard_args(GPSTK DEFAULT_MSG GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
-
+mark_as_advanced(GPSTK_INCLUDE_DIR GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
-IF(GPSTK_FOUND)
-  SET( GPSTK_LIBRARIES ${GPSTK_LIBRARY} )
-ENDIF(GPSTK_FOUND)
-
-MARK_AS_ADVANCED(GPSTK_INCLUDE_DIR GPSTK_LIBRARY)

cmake/Modules/FindGRDBFCTTC.cmake

@@ -19,10 +19,10 @@
 # Find  GR-DBFCTTC Module
 ########################################################################
 
-INCLUDE(FindPkgConfig)
+include(FindPkgConfig)
-PKG_CHECK_MODULES(PC_GR_DBFCTTC gr-dbfcttc)
+pkg_check_modules(PC_GR_DBFCTTC gr-dbfcttc)
 
-FIND_PATH(
+find_path(
     GR_DBFCTTC_INCLUDE_DIRS
     NAMES dbfcttc/api.h
     HINTS $ENV{GR_DBFCTTC_DIR}/include
@@ -32,7 +32,7 @@ FIND_PATH(
           /usr/local/include
 )
 
-FIND_LIBRARY(
+find_library(
     GR_DBFCTTC_LIBRARIES
     NAMES gnuradio-dbfcttc
     HINTS $ENV{GR_DBFCTTC_DIR}/lib
@@ -45,6 +45,6 @@ FIND_LIBRARY(
           /usr/local/lib64
 )
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(GR_DBFCTTC DEFAULT_MSG GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)
+find_package_handle_standard_args(GRDBFCTTC DEFAULT_MSG GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)
-MARK_AS_ADVANCED(GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)
+mark_as_advanced(GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)

cmake/Modules/FindGRGN3S.cmake

@@ -19,10 +19,10 @@
 # Find  GR-GN3S Module
 ########################################################################
 
-INCLUDE(FindPkgConfig)
+include(FindPkgConfig)
-PKG_CHECK_MODULES(PC_GR_GN3S gr-gn3s)
+pkg_check_modules(PC_GR_GN3S gr-gn3s)
 
-FIND_PATH(
+find_path(
     GR_GN3S_INCLUDE_DIRS
     NAMES gn3s/gn3s_api.h
     HINTS $ENV{GR_GN3S_DIR}/include
@@ -32,7 +32,7 @@ FIND_PATH(
           /usr/include
 )
 
-FIND_LIBRARY(
+find_library(
     GR_GN3S_LIBRARIES
     NAMES gr-gn3s
     HINTS $ENV{GR_GN3S_DIR}/lib
@@ -45,6 +45,6 @@ FIND_LIBRARY(
           /usr/lib64
 )
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(GR_GN3S DEFAULT_MSG GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)
+find_package_handle_standard_args(GRGN3S DEFAULT_MSG GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)
-MARK_AS_ADVANCED(GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)
+mark_as_advanced(GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)

cmake/Modules/FindGRIIO.cmake

@@ -15,10 +15,10 @@
 # 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(FindPkgConfig)
+include(FindPkgConfig)
-PKG_CHECK_MODULES(PC_IIO gnuradio-iio)
+pkg_check_modules(PC_IIO gnuradio-iio)
 
-FIND_PATH(
+find_path(
     IIO_INCLUDE_DIRS
     NAMES gnuradio/iio/api.h
     HINTS $ENV{IIO_DIR}/include
@@ -28,7 +28,7 @@ FIND_PATH(
           /usr/include
 )
 
-FIND_LIBRARY(
+find_library(
     IIO_LIBRARIES
     NAMES gnuradio-iio
     HINTS $ENV{IIO_DIR}/lib
@@ -63,6 +63,6 @@ FIND_LIBRARY(
           /usr/lib/sh4-linux-gnu
 )
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(IIO DEFAULT_MSG IIO_LIBRARIES IIO_INCLUDE_DIRS)
+find_package_handle_standard_args(GRIIO DEFAULT_MSG IIO_LIBRARIES IIO_INCLUDE_DIRS)
-MARK_AS_ADVANCED(IIO_LIBRARIES IIO_INCLUDE_DIRS)
+mark_as_advanced(IIO_LIBRARIES IIO_INCLUDE_DIRS)

cmake/Modules/FindGROSMOSDR.cmake

@@ -19,7 +19,7 @@
 #
 # Usage of this module as follows:
 #
-# find_package(GrOsmoSDR)
+# find_package(GROSMOSDR)
 #
 # Variables used by this module, they can change the default behaviour and need
 # to be set before calling find_package:
@@ -34,7 +34,6 @@
 # GROSMOSDR_LIBRARIES The gr-osmosdr libraries (gnuradio-osmosdr)
 # GROSMOSDR_INCLUDE_DIR The location of gr-osmosdr headers
 
-if(NOT GROSMOSDR_FOUND)
 pkg_check_modules(GROSMOSDR_PKG gnuradio-osmosdr)
 find_path(GROSMOSDR_INCLUDE_DIR
   NAMES osmosdr/source.h
@@ -77,14 +76,6 @@ if(NOT GROSMOSDR_FOUND)
     /usr/lib64
 )
 
-  if(GROSMOSDR_INCLUDE_DIR AND GROSMOSDR_LIBRARIES)
+include(FindPackageHandleStandardArgs)
-    set(GROSMOSDR_FOUND TRUE CACHE INTERNAL "gnuradio-osmosdr found")
+find_package_handle_standard_args(GROSMOSDR DEFAULT_MSG GROSMOSDR_LIBRARIES GROSMOSDR_INCLUDE_DIR)
-    message(STATUS "Found gnuradio-osmosdr: ${GROSMOSDR_INCLUDE_DIR}, ${GROSMOSDR_LIBRARIES}")
+mark_as_advanced(GROSMOSDR_LIBRARIES GROSMOSDR_INCLUDE_DIR)
-  else(GROSMOSDR_INCLUDE_DIR AND GROSMOSDR_LIBRARIES)
-    set(GROSMOSDR_FOUND FALSE CACHE INTERNAL "gnuradio-osmosdr found")
-    message(STATUS "gnuradio-osmosdr not found.")
-  endif(GROSMOSDR_INCLUDE_DIR AND GROSMOSDR_LIBRARIES)
-
-mark_as_advanced(GROSMOSDR_INCLUDE_DIR GROSMOSDR_LIBRARIES)
-
-endif(NOT GROSMOSDR_FOUND)

cmake/Modules/FindLIBIIO.cmake

@@ -15,10 +15,10 @@
 # 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(FindPkgConfig)
+include(FindPkgConfig)
-PKG_CHECK_MODULES(PC_LIBIIO libiio)
+pkg_check_modules(PC_LIBIIO libiio)
 
-FIND_PATH(
+find_path(
     LIBIIO_INCLUDE_DIRS
     NAMES iio.h
     HINTS $ENV{LIBIIO_DIR}/include
@@ -29,7 +29,7 @@ FIND_PATH(
           /opt/local/include
 )
 
-FIND_LIBRARY(
+find_library(
     LIBIIO_LIBRARIES
     NAMES iio libiio.so.0
     HINTS $ENV{LIBIIO_DIR}/lib
@@ -65,6 +65,6 @@ FIND_LIBRARY(
           /Library/Frameworks/iio.framework/
 )
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(LIBIIO DEFAULT_MSG LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)
+find_package_handle_standard_args(LIBIIO DEFAULT_MSG LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)
-MARK_AS_ADVANCED(LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)
+mark_as_advanced(LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)

cmake/Modules/FindLIBOSMOSDR.cmake

@@ -19,7 +19,7 @@
 #
 # Usage of this module as follows:
 #
-# find_package(LibOsmoSDR)
+# find_package(LIBOSMOSDR)
 #
 #
 # Variables defined by this module:
@@ -28,8 +28,6 @@
 # LIBOSMOSDR_LIBRARIES The libosmosdr libraries
 # LIBOSMOSDR_INCLUDE_DIR The location of libosmosdr headers
 
-
-if(NOT LIBOSMOSDR_FOUND)
 pkg_check_modules(LIBOSMOSDR_PKG libosmosdr)
 find_path(LIBOSMOSDR_INCLUDE_DIR NAMES osmosdr.h
   PATHS
@@ -69,14 +67,6 @@ if(NOT LIBOSMOSDR_FOUND)
     /usr/lib64
   )
 
-  if(LIBOSMOSDR_INCLUDE_DIR AND LIBOSMOSDR_LIBRARIES)
+include(FindPackageHandleStandardArgs)
-    set(LIBOSMOSDR_FOUND TRUE CACHE INTERNAL "libosmosdr found")
+find_package_handle_standard_args(LIBOSMOSDR DEFAULT_MSG LIBOSMOSDR_INCLUDE_DIR LIBOSMOSDR_LIBRARIES)
-    message(STATUS "Found libosmosdr: ${LIBOSMOSDR_INCLUDE_DIR}, ${LIBOSMOSDR_LIBRARIES}")
-  else(LIBOSMOSDR_INCLUDE_DIR AND LIBOSMOSDR_LIBRARIES)
-    set(LIBOSMOSDR_FOUND FALSE CACHE INTERNAL "libosmosdr found")
-    message(STATUS "libosmosdr not found.")
-  endif(LIBOSMOSDR_INCLUDE_DIR AND LIBOSMOSDR_LIBRARIES)
-
 mark_as_advanced(LIBOSMOSDR_INCLUDE_DIR LIBOSMOSDR_LIBRARIES)
-
-endif(NOT LIBOSMOSDR_FOUND)

cmake/Modules/FindLOG4CPP.cmake

@@ -70,7 +70,6 @@ find_library(LOG4CPP_LIBRARY
         /opt/local/lib
 )
 
-
 if(LOG4CPP_INCLUDE_DIR AND LOG4CPP_LIBRARY)
   set(LOG4CPP_FOUND TRUE)
   set(LOG4CPP_LIBRARIES ${LOG4CPP_LIBRARY} CACHE INTERNAL "" FORCE)
@@ -83,13 +82,5 @@ else ()
   set(LOG4CPP_INCLUDE_DIRS "" CACHE INTERNAL "" FORCE)
 endif()
 
-if (LOG4CPP_FOUND)
+include(FindPackageHandleStandardArgs)
-  if (NOT LOG4CPP_FIND_QUIETLY)
+find_package_handle_standard_args(LOG4CPP DEFAULT_MSG LOG4CPP_INCLUDE_DIRS LOG4CPP_LIBRARIES)
-    message(STATUS "Found LOG4CPP: ${LOG4CPP_LIBRARIES}")
-  endif ()
-else ()
-  if (LOG4CPP_FIND_REQUIRED)
-    message(STATUS "Looked for LOG4CPP libraries named ${LOG4CPPS_NAMES}.")
-    message(FATAL_ERROR "Could NOT find LOG4CPP library")
-  endif ()
-endif ()

cmake/Modules/FindMATIO.cmake

@@ -99,19 +99,17 @@ if(MATIO_INCLUDE_DIR)
     set(MATIO_VERSION_STRING "${MATIO_MAJOR_VERSION}.${MATIO_MINOR_VERSION}.${MATIO_RELEASE_LEVEL}")
 endif()
 
-#==================
-
 mark_as_advanced(MATIO_INCLUDE_DIR MATIO_LIBRARY)
 
 # handle the QUIETLY and REQUIRED arguments and set MATIO_FOUND to TRUE if
 # all listed variables are TRUE
 include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(MATIO REQUIRED_VARS MATIO_LIBRARY MATIO_INCLUDE_DIR VERSION_VAR MATIO_VERSION_STRING)
+find_package_handle_standard_args(MATIO REQUIRED_VARS MATIO_LIBRARY MATIO_INCLUDE_DIR VERSION_VAR MATIO_VERSION_STRING)
 
 if(MATIO_FOUND)
   set(MATIO_LIBRARIES ${MATIO_LIBRARY})
   set(MATIO_INCLUDE_DIRS ${MATIO_INCLUDE_DIR})
-else(MATIO_FOUND)
+else()
   set(MATIO_LIBRARIES)
   set(MATIO_INCLUDE_DIRS)
-endif(MATIO_FOUND)
+endif()

cmake/Modules/FindOPENBLAS.cmake

@@ -20,7 +20,7 @@
 # The following environment variable is optionally searched
 # OPENBLAS_HOME: Base directory where all OpenBlas components are found
 
-SET(OPEN_BLAS_SEARCH_PATHS  /lib/ 
+set(OPEN_BLAS_SEARCH_PATHS  /lib/
                             /lib64/
                             /usr/lib
                             /usr/lib64
@@ -32,11 +32,13 @@ SET(OPEN_BLAS_SEARCH_PATHS  /lib/
                             $ENV{OPENBLAS_HOME}/lib
                             )
 
-FIND_LIBRARY(OPENBLAS NAMES openblas PATHS ${OPEN_BLAS_SEARCH_PATHS})
+find_library(OPENBLAS NAMES openblas PATHS ${OPEN_BLAS_SEARCH_PATHS})
 
-IF (OPENBLAS)
+if(OPENBLAS)
-    SET(OPENBLAS_FOUND ON)
+    set(OPENBLAS_FOUND ON)
-    MESSAGE(STATUS "Found OpenBLAS")
+    message(STATUS "Found OpenBLAS")
-ENDIF (OPENBLAS)
+endif()
 
-MARK_AS_ADVANCED(OPENBLAS)
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(OPENBLAS DEFAULT_MSG OPENBLAS)
+mark_as_advanced(OPENBLAS)

cmake/Modules/FindOPENCL.cmake

@@ -0,0 +1,110 @@
+# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
+#
+# 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/>.
+
+#
+# This file taken from FindOpenCL project @ http://gitorious.com/findopencl
+#
+# - Try to find OpenCL
+# This module tries to find an OpenCL implementation on your system. It supports
+# AMD / ATI, Apple and NVIDIA implementations, but shoudl work, too.
+#
+# Once done this will define
+# OPENCL_FOUND - system has OpenCL
+# OPENCL_INCLUDE_DIRS - the OpenCL include directory
+# OPENCL_LIBRARIES - link these to use OpenCL
+#
+# WIN32 should work, but is untested
+
+include(FindPackageHandleStandardArgs)
+
+set(OPENCL_VERSION_STRING "0.1.0")
+set(OPENCL_VERSION_MAJOR 0)
+set(OPENCL_VERSION_MINOR 1)
+set(OPENCL_VERSION_PATCH 0)
+
+if(APPLE)
+  find_library(OPENCL_LIBRARIES OpenCL DOC "OpenCL lib for OSX")
+  find_path(OPENCL_INCLUDE_DIRS OpenCL/cl.h DOC "Include for OpenCL on OSX")
+  find_path(_OPENCL_CPP_INCLUDE_DIRS OpenCL/cl.hpp DOC "Include for OpenCL CPP bindings on OSX")
+
+else()
+  if(WIN32)
+    find_path(OPENCL_INCLUDE_DIRS CL/cl.h)
+    find_path(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp)
+
+    # The AMD SDK currently installs both x86 and x86_64 libraries
+    # This is only a hack to find out architecture
+    if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
+      set(OPENCL_LIB_DIR "$ENV{ATISTREAMSDKROOT}/lib/x86_64")
+      set(OPENCL_LIB_DIR "$ENV{ATIINTERNALSTREAMSDKROOT}/lib/x86_64")
+    else()
+      set(OPENCL_LIB_DIR "$ENV{ATISTREAMSDKROOT}/lib/x86")
+      set(OPENCL_LIB_DIR "$ENV{ATIINTERNALSTREAMSDKROOT}/lib/x86")
+    endif()
+
+    # find out if the user asked for a 64-bit build, and use the corresponding
+    # 64 or 32 bit NVIDIA library paths to the search:
+    string(REGEX MATCH "Win64" ISWIN64 ${CMAKE_GENERATOR})
+    if("${ISWIN64}" STREQUAL "Win64")
+      find_library(OPENCL_LIBRARIES OpenCL.lib ${OPENCL_LIB_DIR} $ENV{CUDA_LIB_PATH} $ENV{CUDA_PATH}/lib/x64)
+    else()
+      find_library(OPENCL_LIBRARIES OpenCL.lib ${OPENCL_LIB_DIR} $ENV{CUDA_LIB_PATH} $ENV{CUDA_PATH}/lib/Win32)
+    endif()
+
+    get_filename_component(_OPENCL_INC_CAND ${OPENCL_LIB_DIR}/../../include ABSOLUTE)
+
+    # On Win32 search relative to the library
+    find_path(OPENCL_INCLUDE_DIRS CL/cl.h PATHS "${_OPENCL_INC_CAND}" $ENV{CUDA_INC_PATH} $ENV{CUDA_PATH}/include)
+    find_path(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS "${_OPENCL_INC_CAND}" $ENV{CUDA_INC_PATH} $ENV{CUDA_PATH}/include)
+
+  else()
+    # Unix style platforms
+    find_library(OPENCL_LIBRARIES OpenCL
+      ENV LD_LIBRARY_PATH
+    )
+
+    get_filename_component(OPENCL_LIB_DIR ${OPENCL_LIBRARIES} PATH)
+    get_filename_component(_OPENCL_INC_CAND ${OPENCL_LIB_DIR}/../../include ABSOLUTE)
+
+    # The AMD SDK currently does not place its headers
+    # in /usr/include, therefore also search relative
+    # to the library
+    find_path(OPENCL_INCLUDE_DIRS CL/cl.h PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include")
+    find_path(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include")
+  endif()
+endif()
+
+find_package_handle_standard_args(OPENCL DEFAULT_MSG OPENCL_LIBRARIES OPENCL_INCLUDE_DIRS)
+
+if(_OPENCL_CPP_INCLUDE_DIRS)
+  set(OPENCL_HAS_CPP_BINDINGS TRUE)
+  list(APPEND OPENCL_INCLUDE_DIRS ${_OPENCL_CPP_INCLUDE_DIRS})
+  # This is often the same, so clean up
+  list(REMOVE_DUPLICATES OPENCL_INCLUDE_DIRS)
+endif()
+
+mark_as_advanced(
+  OPENCL_INCLUDE_DIRS
+)
+
+if(OPENCL_INCLUDE_DIRS AND OPENCL_LIBRARIES)
+    set( OPENCL_FOUND TRUE )
+    add_definitions( -DOPENCL=1 )
+else()
+    set( OPENCL_FOUND FALSE )
+    add_definitions( -DOPENCL=0 )
+endif()

cmake/Modules/FindORC.cmake

@@ -15,19 +15,19 @@
 # You should have received a copy of the GNU General Public License
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 
-FIND_PACKAGE(PkgConfig)
+find_package(PkgConfig)
-PKG_CHECK_MODULES(PC_ORC "orc-0.4 > 0.4.22")
+pkg_check_modules(PC_ORC "orc-0.4 > 0.4.22")
 
-FIND_PROGRAM(ORCC_EXECUTABLE orcc
+find_program(ORCC_EXECUTABLE orcc
     HINTS ${PC_ORC_TOOLSDIR}
     PATHS ${ORC_ROOT}/bin ${CMAKE_INSTALL_PREFIX}/bin)
 
-FIND_PATH(ORC_INCLUDE_DIR NAMES orc/orc.h
+find_path(ORC_INCLUDE_DIR NAMES orc/orc.h
     HINTS ${PC_ORC_INCLUDEDIR}
     PATHS ${ORC_ROOT}/include/orc-0.4 ${CMAKE_INSTALL_PREFIX}/include/orc-0.4)
 
 
-FIND_PATH(ORC_LIBRARY_DIR NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHARED_LIBRARY_SUFFIX}
+find_path(ORC_LIBRARY_DIR NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHARED_LIBRARY_SUFFIX}
     HINTS ${PC_ORC_LIBDIR}
         /usr/local/lib
         /usr/lib/x86_64-linux-gnu
@@ -47,20 +47,20 @@ FIND_PATH(ORC_LIBRARY_DIR NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHA
         /usr/lib
     PATHS ${ORC_ROOT}/lib${LIB_SUFFIX} ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX})
 
-FIND_LIBRARY(ORC_LIB orc-0.4
+find_library(ORC_LIB orc-0.4
     HINTS ${PC_ORC_LIBRARY_DIRS}
     PATHS ${ORC_ROOT}/lib${LIB_SUFFIX} ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX})
 
-LIST(APPEND ORC_LIBRARY
+list(APPEND ORC_LIBRARY
     ${ORC_LIB}
 )
 
 
-SET(ORC_INCLUDE_DIRS ${ORC_INCLUDE_DIR})
+set(ORC_INCLUDE_DIRS ${ORC_INCLUDE_DIR})
-SET(ORC_LIBRARIES ${ORC_LIBRARY})
+set(ORC_LIBRARIES ${ORC_LIBRARY})
-SET(ORC_LIBRARY_DIRS ${ORC_LIBRARY_DIR})
+set(ORC_LIBRARY_DIRS ${ORC_LIBRARY_DIR})
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(ORC "orc files" ORC_LIBRARY ORC_INCLUDE_DIR ORCC_EXECUTABLE)
+find_package_handle_standard_args(ORC "orc files" ORC_LIBRARY ORC_INCLUDE_DIR ORCC_EXECUTABLE)
 
 mark_as_advanced(ORC_INCLUDE_DIR ORC_LIBRARY ORCC_EXECUTABLE)

cmake/Modules/FindOpenCL.cmake

@@ -1,116 +0,0 @@
-# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
-#
-# 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/>.
-
-#
-# This file taken from FindOpenCL project @ http://gitorious.com/findopencl
-#
-# - Try to find OpenCL
-# This module tries to find an OpenCL implementation on your system. It supports
-# AMD / ATI, Apple and NVIDIA implementations, but shoudl work, too.
-#
-# Once done this will define
-# OPENCL_FOUND - system has OpenCL
-# OPENCL_INCLUDE_DIRS - the OpenCL include directory
-# OPENCL_LIBRARIES - link these to use OpenCL
-#
-# WIN32 should work, but is untested
-
-FIND_PACKAGE( PackageHandleStandardArgs )
-
-SET (OPENCL_VERSION_STRING "0.1.0")
-SET (OPENCL_VERSION_MAJOR 0)
-SET (OPENCL_VERSION_MINOR 1)
-SET (OPENCL_VERSION_PATCH 0)
-
-IF (APPLE)
-
-  FIND_LIBRARY(OPENCL_LIBRARIES OpenCL DOC "OpenCL lib for OSX")
-  FIND_PATH(OPENCL_INCLUDE_DIRS OpenCL/cl.h DOC "Include for OpenCL on OSX")
-  FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS OpenCL/cl.hpp DOC "Include for OpenCL CPP bindings on OSX")
-
-ELSE (APPLE)
-
-  IF (WIN32)
-
-    FIND_PATH(OPENCL_INCLUDE_DIRS CL/cl.h)
-    FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp)
-
-    # The AMD SDK currently installs both x86 and x86_64 libraries
-    # This is only a hack to find out architecture
-    IF( ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64" )
-      SET(OPENCL_LIB_DIR "$ENV{ATISTREAMSDKROOT}/lib/x86_64")
-      SET(OPENCL_LIB_DIR "$ENV{ATIINTERNALSTREAMSDKROOT}/lib/x86_64")
-    ELSE (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
-      SET(OPENCL_LIB_DIR "$ENV{ATISTREAMSDKROOT}/lib/x86")
-      SET(OPENCL_LIB_DIR "$ENV{ATIINTERNALSTREAMSDKROOT}/lib/x86")
-    ENDIF( ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64" )
-
-    # find out if the user asked for a 64-bit build, and use the corresponding
-    # 64 or 32 bit NVIDIA library paths to the search:
-    STRING(REGEX MATCH "Win64" ISWIN64 ${CMAKE_GENERATOR})
-    IF("${ISWIN64}" STREQUAL "Win64")
-      FIND_LIBRARY(OPENCL_LIBRARIES OpenCL.lib ${OPENCL_LIB_DIR} $ENV{CUDA_LIB_PATH} $ENV{CUDA_PATH}/lib/x64)
-    ELSE("${ISWIN64}" STREQUAL "Win64")
-      FIND_LIBRARY(OPENCL_LIBRARIES OpenCL.lib ${OPENCL_LIB_DIR} $ENV{CUDA_LIB_PATH} $ENV{CUDA_PATH}/lib/Win32)
-    ENDIF("${ISWIN64}" STREQUAL "Win64")
-
-    GET_FILENAME_COMPONENT(_OPENCL_INC_CAND ${OPENCL_LIB_DIR}/../../include ABSOLUTE)
-
-    # On Win32 search relative to the library
-    FIND_PATH(OPENCL_INCLUDE_DIRS CL/cl.h PATHS "${_OPENCL_INC_CAND}" $ENV{CUDA_INC_PATH} $ENV{CUDA_PATH}/include)
-    FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS "${_OPENCL_INC_CAND}" $ENV{CUDA_INC_PATH} $ENV{CUDA_PATH}/include)
-
-  ELSE (WIN32)
-
-    # Unix style platforms
-    FIND_LIBRARY(OPENCL_LIBRARIES OpenCL
-      ENV LD_LIBRARY_PATH
-    )
-
-    GET_FILENAME_COMPONENT(OPENCL_LIB_DIR ${OPENCL_LIBRARIES} PATH)
-    GET_FILENAME_COMPONENT(_OPENCL_INC_CAND ${OPENCL_LIB_DIR}/../../include ABSOLUTE)
-
-    # The AMD SDK currently does not place its headers
-    # in /usr/include, therefore also search relative
-    # to the library
-    FIND_PATH(OPENCL_INCLUDE_DIRS CL/cl.h PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include")
-    FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include")
-
-  ENDIF (WIN32)
-
-ENDIF (APPLE)
-
-FIND_PACKAGE_HANDLE_STANDARD_ARGS( OpenCL DEFAULT_MSG OPENCL_LIBRARIES OPENCL_INCLUDE_DIRS )
-
-IF( _OPENCL_CPP_INCLUDE_DIRS )
-  SET( OPENCL_HAS_CPP_BINDINGS TRUE )
-  LIST( APPEND OPENCL_INCLUDE_DIRS ${_OPENCL_CPP_INCLUDE_DIRS} )
-  # This is often the same, so clean up
-  LIST( REMOVE_DUPLICATES OPENCL_INCLUDE_DIRS )
-ENDIF( _OPENCL_CPP_INCLUDE_DIRS )
-
-MARK_AS_ADVANCED(
-  OPENCL_INCLUDE_DIRS
-)
-
-IF( OPENCL_INCLUDE_DIRS AND OPENCL_LIBRARIES )
-    SET( OPENCL_FOUND TRUE )
-    add_definitions( -DOPENCL=1 )
-ELSE( OPENCL_INCLUDE_DIRS AND OPENCL_LIBRARIES )
-    SET( OPENCL_FOUND FALSE )
-    add_definitions( -DOPENCL=0 )
-ENDIF( OPENCL_INCLUDE_DIRS AND OPENCL_LIBRARIES )

cmake/Modules/FindPCAP.cmake

@@ -45,8 +45,8 @@
 #  PCAP_FOUND       - True if pcap found.
 
 
-IF(EXISTS $ENV{PCAPDIR})
+if(EXISTS $ENV{PCAPDIR})
-  FIND_PATH(PCAP_INCLUDE_DIR 
+  find_path(PCAP_INCLUDE_DIR
     NAMES
     pcap/pcap.h
     pcap.h
@@ -54,68 +54,60 @@ IF(EXISTS $ENV{PCAPDIR})
       $ENV{PCAPDIR}
     NO_DEFAULT_PATH
   )
-  
+  find_library(PCAP_LIBRARY
-  FIND_LIBRARY(PCAP_LIBRARY
     NAMES
       pcap
     PATHS
       $ENV{PCAPDIR}
     NO_DEFAULT_PATH
   )
-  
+else()
-
+  find_path(PCAP_INCLUDE_DIR
-ELSE(EXISTS $ENV{PCAPDIR})
-  FIND_PATH(PCAP_INCLUDE_DIR 
     NAMES
     pcap/pcap.h
     pcap.h
   )
 
-  FIND_LIBRARY(PCAP_LIBRARY
+  find_library(PCAP_LIBRARY
     NAMES
       pcap
   )
+endif()
 
-ENDIF(EXISTS $ENV{PCAPDIR})
+set(PCAP_INCLUDE_DIRS ${PCAP_INCLUDE_DIR})
+set(PCAP_LIBRARIES ${PCAP_LIBRARY})
 
-SET(PCAP_INCLUDE_DIRS ${PCAP_INCLUDE_DIR})
+if(PCAP_INCLUDE_DIRS)
-SET(PCAP_LIBRARIES ${PCAP_LIBRARY})
+  message(STATUS "Pcap include dirs set to ${PCAP_INCLUDE_DIRS}")
+else()
+  message(FATAL " Pcap include dirs cannot be found")
+endif()
 
-IF(PCAP_INCLUDE_DIRS)
+if(PCAP_LIBRARIES)
-  MESSAGE(STATUS "Pcap include dirs set to ${PCAP_INCLUDE_DIRS}")
+  message(STATUS "Pcap library set to ${PCAP_LIBRARIES}")
-ELSE(PCAP_INCLUDE_DIRS)
+else()
-  MESSAGE(FATAL " Pcap include dirs cannot be found")
+  message(FATAL "Pcap library cannot be found")
-ENDIF(PCAP_INCLUDE_DIRS)
+endif()
-
-IF(PCAP_LIBRARIES)
-  MESSAGE(STATUS "Pcap library set to ${PCAP_LIBRARIES}")
-ELSE(PCAP_LIBRARIES)
-  MESSAGE(FATAL "Pcap library cannot be found")
-ENDIF(PCAP_LIBRARIES)
 
 #Functions
-INCLUDE(CheckFunctionExists)
+include(CheckFunctionExists)
-SET(CMAKE_REQUIRED_INCLUDES ${PCAP_INCLUDE_DIRS})
+set(CMAKE_REQUIRED_INCLUDES ${PCAP_INCLUDE_DIRS})
-SET(CMAKE_REQUIRED_LIBRARIES ${PCAP_LIBRARIES})
+set(CMAKE_REQUIRED_LIBRARIES ${PCAP_LIBRARIES})
-CHECK_FUNCTION_EXISTS("pcap_breakloop" HAVE_PCAP_BREAKLOOP)
+check_function_exists("pcap_breakloop" HAVE_PCAP_BREAKLOOP)
-CHECK_FUNCTION_EXISTS("pcap_datalink_name_to_val" HAVE_PCAP_DATALINK_NAME_TO_VAL)
+check_function_exists("pcap_datalink_name_to_val" HAVE_PCAP_DATALINK_NAME_TO_VAL)
-CHECK_FUNCTION_EXISTS("pcap_datalink_val_to_name" HAVE_PCAP_DATALINK_VAL_TO_NAME)
+check_function_exists("pcap_datalink_val_to_name" HAVE_PCAP_DATALINK_VAL_TO_NAME)
-CHECK_FUNCTION_EXISTS("pcap_findalldevs" HAVE_PCAP_FINDALLDEVS)
+check_function_exists("pcap_findalldevs" HAVE_PCAP_FINDALLDEVS)
-CHECK_FUNCTION_EXISTS("pcap_freecode" HAVE_PCAP_FREECODE)
+check_function_exists("pcap_freecode" HAVE_PCAP_FREECODE)
-CHECK_FUNCTION_EXISTS("pcap_get_selectable_fd" HAVE_PCAP_GET_SELECTABLE_FD)
+check_function_exists("pcap_get_selectable_fd" HAVE_PCAP_GET_SELECTABLE_FD)
-CHECK_FUNCTION_EXISTS("pcap_lib_version" HAVE_PCAP_LIB_VERSION)
+check_function_exists("pcap_lib_version" HAVE_PCAP_LIB_VERSION)
-CHECK_FUNCTION_EXISTS("pcap_list_datalinks" HAVE_PCAP_LIST_DATALINKS)
+check_function_exists("pcap_list_datalinks" HAVE_PCAP_LIST_DATALINKS)
-CHECK_FUNCTION_EXISTS("pcap_open_dead" HAVE_PCAP_OPEN_DEAD)
+check_function_exists("pcap_open_dead" HAVE_PCAP_OPEN_DEAD)
-CHECK_FUNCTION_EXISTS("pcap_set_datalink" HAVE_PCAP_SET_DATALINK)
+check_function_exists("pcap_set_datalink" HAVE_PCAP_SET_DATALINK)
 
-
+mark_as_advanced(
-#Is pcap found ?
-IF(PCAP_INCLUDE_DIRS AND PCAP_LIBRARIES)
-  SET( PCAP_FOUND true )
-ENDIF(PCAP_INCLUDE_DIRS AND PCAP_LIBRARIES)
-
-
-MARK_AS_ADVANCED(
   PCAP_LIBRARIES
   PCAP_INCLUDE_DIRS
 )
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(PCAP DEFAULT_MSG PCAP_INCLUDE_DIRS PCAP_LIBRARIES)

cmake/Modules/FindPUGIXML.cmake

@@ -0,0 +1,67 @@
+# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
+#
+# 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/>.
+
+# Find the pugixml XML parsing library.
+#
+# Sets the usual variables expected for find_package scripts:
+#
+# PUGIXML_INCLUDE_DIR - header location
+# PUGIXML_LIBRARIES - library to link against
+# PUGIXML_FOUND - true if pugixml was found.
+
+find_path(PUGIXML_INCLUDE_DIR
+    NAMES pugixml.hpp
+    PATHS ${PUGIXML_HOME}/include
+        /usr/include
+        /usr/local/include
+        /opt/local/include)
+
+find_library(PUGIXML_LIBRARY
+    NAMES pugixml
+    PATHS ${PUGIXML_HOME}/lib
+        /usr/lib/x86_64-linux-gnu
+        /usr/lib/aarch64-linux-gnu
+        /usr/lib/arm-linux-gnueabi
+        /usr/lib/arm-linux-gnueabihf
+        /usr/lib/i386-linux-gnu
+        /usr/lib/mips-linux-gnu
+        /usr/lib/mips64el-linux-gnuabi64
+        /usr/lib/mipsel-linux-gnu
+        /usr/lib/powerpc64le-linux-gnu
+        /usr/lib/s390x-linux-gnu
+        /usr/local/lib
+        /opt/local/lib
+        /usr/lib
+        /usr/lib64
+        /usr/local/lib64)
+
+# Support the REQUIRED and QUIET arguments, and set PUGIXML_FOUND if found.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(PUGIXML DEFAULT_MSG PUGIXML_LIBRARY
+        PUGIXML_INCLUDE_DIR)
+
+if(PUGIXML_FOUND)
+    set(PUGIXML_LIBRARIES ${PUGIXML_LIBRARY})
+    if(NOT PUGIXML_FIND_QUIETLY)
+        message(STATUS "PugiXML include = ${PUGIXML_INCLUDE_DIR}")
+        message(STATUS "PugiXML library = ${PUGIXML_LIBRARY}")
+    endif()
+else()
+    message(STATUS "PugiXML not found.")
+endif()
+
+mark_as_advanced(PUGIXML_LIBRARY PUGIXML_INCLUDE_DIR)

cmake/Modules/FindTELEORBIT.cmake

@@ -15,10 +15,10 @@
 # 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(FindPkgConfig)
+include(FindPkgConfig)
-PKG_CHECK_MODULES(PC_TELEORBIT teleorbit)
+pkg_check_modules(PC_TELEORBIT teleorbit)
 
-FIND_PATH(
+find_path(
     TELEORBIT_INCLUDE_DIRS
     NAMES teleorbit/api.h
     HINTS $ENV{TELEORBIT_DIR}/include
@@ -28,7 +28,7 @@ FIND_PATH(
           /usr/include
 )
 
-FIND_LIBRARY(
+find_library(
     TELEORBIT_LIBRARIES
     NAMES gnuradio-teleorbit
     HINTS $ENV{TELEORBIT_DIR}/lib
@@ -41,6 +41,6 @@ FIND_LIBRARY(
           /usr/lib64
 )
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(TELEORBIT DEFAULT_MSG TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)
+find_package_handle_standard_args(TELEORBIT DEFAULT_MSG TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)
-MARK_AS_ADVANCED(TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)
+mark_as_advanced(TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)

cmake/Modules/FindUHD.cmake

@@ -19,10 +19,10 @@
 # Find the library for the USRP Hardware Driver
 ########################################################################
 
-INCLUDE(FindPkgConfig)
+include(FindPkgConfig)
-PKG_CHECK_MODULES(PC_UHD uhd)
+pkg_check_modules(PC_UHD uhd)
 
-FIND_PATH(
+find_path(
     UHD_INCLUDE_DIRS
     NAMES uhd/config.hpp
     HINTS $ENV{UHD_DIR}/include
@@ -32,7 +32,7 @@ FIND_PATH(
           ${GNURADIO_INSTALL_PREFIX}/include
 )
 
-FIND_LIBRARY(
+find_library(
     UHD_LIBRARIES
     NAMES uhd
     HINTS $ENV{UHD_DIR}/lib
@@ -66,6 +66,6 @@ FIND_LIBRARY(
           ${GNURADIO_INSTALL_PREFIX}/lib
 )
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(UHD DEFAULT_MSG UHD_LIBRARIES UHD_INCLUDE_DIRS)
+find_package_handle_standard_args(UHD DEFAULT_MSG UHD_LIBRARIES UHD_INCLUDE_DIRS)
-MARK_AS_ADVANCED(UHD_LIBRARIES UHD_INCLUDE_DIRS)
+mark_as_advanced(UHD_LIBRARIES UHD_INCLUDE_DIRS)

cmake/Modules/FindVOLK.cmake

@@ -19,10 +19,10 @@
 # Find VOLK (Vector-Optimized Library of Kernels)
 ########################################################################
 
-INCLUDE(FindPkgConfig)
+include(FindPkgConfig)
-PKG_CHECK_MODULES(PC_VOLK volk)
+pkg_check_modules(PC_VOLK volk)
 
-FIND_PATH(
+find_path(
     VOLK_INCLUDE_DIRS
     NAMES volk/volk.h
     HINTS $ENV{VOLK_DIR}/include
@@ -32,7 +32,7 @@ FIND_PATH(
           ${CMAKE_INSTALL_PREFIX}/include
 )
 
-FIND_LIBRARY(
+find_library(
     VOLK_LIBRARIES
     NAMES volk
     HINTS $ENV{VOLK_DIR}/lib
@@ -67,7 +67,6 @@ FIND_LIBRARY(
           ${CMAKE_INSTALL_PREFIX}/lib
 )
 
-
+include(FindPackageHandleStandardArgs)
-INCLUDE(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(VOLK DEFAULT_MSG VOLK_LIBRARIES VOLK_INCLUDE_DIRS)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(VOLK DEFAULT_MSG VOLK_LIBRARIES VOLK_INCLUDE_DIRS)
+mark_as_advanced(VOLK_LIBRARIES VOLK_INCLUDE_DIRS VOLK_VERSION)
-MARK_AS_ADVANCED(VOLK_LIBRARIES VOLK_INCLUDE_DIRS VOLK_VERSION)

cmake/Modules/FindVOLKGNSSSDR.cmake

@@ -19,10 +19,10 @@
 # Find VOLK (Vector-Optimized Library of Kernels) GNSS-SDR library
 ########################################################################
 
-INCLUDE(FindPkgConfig)
+include(FindPkgConfig)
-PKG_CHECK_MODULES(PC_VOLK_GNSSSDR volk_gnsssdr)
+pkg_check_modules(PC_VOLK_GNSSSDR volk_gnsssdr)
 
-FIND_PATH(
+find_path(
     VOLK_GNSSSDR_INCLUDE_DIRS
     NAMES volk_gnsssdr/volk_gnsssdr.h
     HINTS $ENV{VOLK_GNSSSDR_DIR}/include
@@ -32,7 +32,7 @@ FIND_PATH(
           ${GNURADIO_INSTALL_PREFIX}/include
 )
 
-FIND_LIBRARY(
+find_library(
     VOLK_GNSSSDR_LIBRARIES
     NAMES volk_gnsssdr
     HINTS $ENV{VOLK_GNSSSDR_DIR}/lib
@@ -44,6 +44,6 @@ FIND_LIBRARY(
           ${GNURADIO_INSTALL_PREFIX}/lib
 )
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(VOLK_GNSSSDR DEFAULT_MSG VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
+find_package_handle_standard_args(VOLKGNSSSDR DEFAULT_MSG VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
-MARK_AS_ADVANCED(VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
+mark_as_advanced(VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)

cmake/Modules/GnsssdrBuildTypes.cmake

@@ -56,11 +56,11 @@ function(GNSSSDR_CHECK_BUILD_TYPE settype)
     string(TOUPPER ${btype} _btype)
     if(${_settype} STREQUAL ${_btype})
       return() # found it; exit cleanly
-    endif(${_settype} STREQUAL ${_btype})
+    endif()
-  endforeach(btype)
+  endforeach()
   # Build type not found; error out
   message(FATAL_ERROR "Build type '${settype}' not valid, must be one of: ${AVAIL_BUILDTYPES}")
-endfunction(GNSSSDR_CHECK_BUILD_TYPE)
+endfunction()
 
 
 ########################################################################
@@ -86,12 +86,12 @@ if(NOT WIN32)
     "-W" CACHE STRING
     "Flags used by the shared lib linker during Coverage builds." FORCE)
 
-  MARK_AS_ADVANCED(
+  mark_as_advanced(
     CMAKE_CXX_FLAGS_COVERAGE
     CMAKE_C_FLAGS_COVERAGE
     CMAKE_EXE_LINKER_FLAGS_COVERAGE
     CMAKE_SHARED_LINKER_FLAGS_COVERAGE)
-endif(NOT WIN32)
+endif()
 
 
 ########################################################################
@@ -117,12 +117,12 @@ if(NOT WIN32)
     "-W" CACHE STRING
     "Flags used by the shared lib linker during NoOptWithASM builds." FORCE)
 
-  MARK_AS_ADVANCED(
+  mark_as_advanced(
     CMAKE_CXX_FLAGS_NOOPTWITHASM
     CMAKE_C_FLAGS_NOOPTWITHASM
     CMAKE_EXE_LINKER_FLAGS_NOOPTWITHASM
     CMAKE_SHARED_LINKER_FLAGS_NOOPTWITHASM)
-endif(NOT WIN32)
+endif()
 
 
 
@@ -150,12 +150,12 @@ if(NOT WIN32)
     "-W" CACHE STRING
     "Flags used by the shared lib linker during O2WithASM builds." FORCE)
 
-  MARK_AS_ADVANCED(
+  mark_as_advanced(
     CMAKE_CXX_FLAGS_O2WITHASM
     CMAKE_C_FLAGS_O2WITHASM
     CMAKE_EXE_LINKER_FLAGS_O2WITHASM
     CMAKE_SHARED_LINKER_FLAGS_O2WITHASM)
-endif(NOT WIN32)
+endif()
 
 
 ########################################################################
@@ -182,12 +182,12 @@ if(NOT WIN32)
     "-W" CACHE STRING
     "Flags used by the shared lib linker during O3WithASM builds." FORCE)
 
-  MARK_AS_ADVANCED(
+  mark_as_advanced(
     CMAKE_CXX_FLAGS_O3WITHASM
     CMAKE_C_FLAGS_O3WITHASM
     CMAKE_EXE_LINKER_FLAGS_O3WITHASM
     CMAKE_SHARED_LINKER_FLAGS_O3WITHASM)
-endif(NOT WIN32)
+endif()
 
 
 ########################################################################
@@ -211,9 +211,9 @@ if(NOT WIN32)
     "-W" CACHE STRING
     "Flags used by the shared lib linker during Address Sanitized builds." FORCE)
 
-  MARK_AS_ADVANCED(
+  mark_as_advanced(
     CMAKE_CXX_FLAGS_ASAN
     CMAKE_C_FLAGS_ASAN
     CMAKE_EXE_LINKER_FLAGS_ASAN
     CMAKE_SHARED_LINKER_ASAN)
-endif(NOT WIN32)
+endif()

cmake/Modules/SetupPython.cmake

@@ -36,10 +36,10 @@ macro(GNSSSDR_PYTHON_CHECK_MODULE_RAW desc python_code have)
         message(STATUS "Python checking for ${desc} - not found")
         set(${have} FALSE)
     endif()
-endmacro(GNSSSDR_PYTHON_CHECK_MODULE_RAW)
+endmacro()
 
 macro(GNSSSDR_PYTHON_CHECK_MODULE desc mod cmd have)
-    GNSSSDR_PYTHON_CHECK_MODULE_RAW(
+    gnsssdr_python_check_module_raw(
         "${desc}" "
 #########################################
 try:
@@ -49,7 +49,7 @@ except (ImportError, AssertionError): exit(-1)
 except: pass
 #########################################"
     "${have}")
-endmacro(GNSSSDR_PYTHON_CHECK_MODULE)
+endmacro()
 
 
 ########################################################################
@@ -64,57 +64,55 @@ if(CMAKE_VERSION VERSION_LESS 3.12)
         string(FIND "${PYTHON_EXECUTABLE}" "python3" IS_PYTHON3)
         if(IS_PYTHON3 EQUAL -1)
             find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION} REQUIRED)
-        else(IS_PYTHON3 EQUAL -1)
+        else()
             find_package(PythonInterp ${GNSSSDR_PYTHON3_MIN_VERSION} REQUIRED)
-        endif(IS_PYTHON3 EQUAL -1)
+        endif()
-        GNSSSDR_PYTHON_CHECK_MODULE("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
+        gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
-        GNSSSDR_PYTHON_CHECK_MODULE("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
+        gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
-        GNSSSDR_PYTHON_CHECK_MODULE("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
+        gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
-    else(PYTHON_EXECUTABLE)
+    else()
         message(STATUS "PYTHON_EXECUTABLE not set - trying by default python2")
         message(STATUS "Use -DPYTHON_EXECUTABLE=/path/to/python3 to build for python3.")
         find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION})
         if(NOT PYTHONINTERP_FOUND)
             message(STATUS "python2 not found - trying with python3")
             find_package(PythonInterp ${GNSSSDR_PYTHON3_MIN_VERSION} REQUIRED)
-        endif(NOT PYTHONINTERP_FOUND)
+        endif()
-        GNSSSDR_PYTHON_CHECK_MODULE("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
+        gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
-        GNSSSDR_PYTHON_CHECK_MODULE("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
+        gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
-        GNSSSDR_PYTHON_CHECK_MODULE("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
+        gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
-    endif(PYTHON_EXECUTABLE)
+    endif()
     find_package(PythonLibs ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR} EXACT)
-else(CMAKE_VERSION VERSION_LESS 3.12)
+else()
     find_package(Python3 COMPONENTS Interpreter)
     if(Python3_FOUND)
         set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
         set(PYTHON_VERSION_MAJOR ${Python3_VERSION_MAJOR})
-        GNSSSDR_PYTHON_CHECK_MODULE("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
+        gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
-        GNSSSDR_PYTHON_CHECK_MODULE("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
+        gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
-        GNSSSDR_PYTHON_CHECK_MODULE("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
+        gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
-    endif(Python3_FOUND)
+    endif()
     if(NOT Python3_FOUND OR NOT MAKO_FOUND OR NOT SIX_FOUND)
         find_package(Python2 COMPONENTS Interpreter)
         if(Python2_FOUND)
             set(PYTHON_EXECUTABLE ${Python2_EXECUTABLE})
             set(PYTHON_VERSION_MAJOR ${Python2_VERSION_MAJOR})
-            GNSSSDR_PYTHON_CHECK_MODULE("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
+            gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
-            GNSSSDR_PYTHON_CHECK_MODULE("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
+            gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
-            GNSSSDR_PYTHON_CHECK_MODULE("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
+            gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
-        endif(Python2_FOUND)
+        endif()
-    endif(NOT Python3_FOUND OR NOT MAKO_FOUND OR NOT SIX_FOUND)
+    endif()
-endif(CMAKE_VERSION VERSION_LESS 3.12)
+endif()
 
 if(${PYTHON_VERSION_MAJOR} VERSION_EQUAL 3)
     set(PYTHON3 TRUE)
-endif(${PYTHON_VERSION_MAJOR} VERSION_EQUAL 3)
+endif()
-
 
 if(CMAKE_CROSSCOMPILING)
     set(QA_PYTHON_EXECUTABLE "/usr/bin/python")
-else(CMAKE_CROSSCOMPILING)
+else()
     set(QA_PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE})
-endif(CMAKE_CROSSCOMPILING)
+endif()
-
 
 # make the path to the executable appear in the cmake gui
 set(PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE} CACHE FILEPATH "python interpreter")

cmake/Modules/TestForARM.cmake

@@ -33,7 +33,7 @@ function(check_arm_version ppdef input_string version output_var)
   string(REGEX MATCH "${ppdef}"  _VERSION_MATCH "${input_string}")
   if(NOT _VERSION_MATCH STREQUAL "")
     set(${output_var} "${version}" PARENT_SCOPE)
-  endif(NOT _VERSION_MATCH STREQUAL "")
+  endif()
 endfunction()
 
 message(STATUS "Checking for ARM")
@@ -41,7 +41,7 @@ message(STATUS "Checking for ARM")
 set(IS_ARM NO)
 set(ARM_VERSION "")
 
-if (CMAKE_COMPILER_IS_GNUCXX)
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
   execute_process(COMMAND echo "int main(){}"
                   COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -dM -E -
                   OUTPUT_VARIABLE TEST_FOR_ARM_RESULTS)
@@ -49,7 +49,7 @@ if (CMAKE_COMPILER_IS_GNUCXX)
   string(REGEX MATCH "__arm" ARM_FOUND "${TEST_FOR_ARM_RESULTS}")
   if(ARM_FOUND STREQUAL "")
     string(REGEX MATCH "__aarch64" ARM_FOUND "${TEST_FOR_ARM_RESULTS}")
-  endif(ARM_FOUND STREQUAL "")
+  endif()
 
   if(NOT ARM_FOUND STREQUAL "")
     set(IS_ARM YES)
@@ -86,19 +86,18 @@ if (CMAKE_COMPILER_IS_GNUCXX)
     if(ARM_VERSION STREQUAL "")
       message(STATUS "Couldn't detect ARM version. Setting to 'arm'")
       set(ARM_VERSION "arm")
-    else (ARM_VERSION STREQUAL "")
+    else()
       message(STATUS "ARM version ${ARM_VERSION} detected")
-    endif (ARM_VERSION STREQUAL "")
+    endif()
-    
+  else()
-  else (NOT ARM_FOUND STREQUAL "")
     message(STATUS "System is not ARM")
-  endif(NOT ARM_FOUND STREQUAL "")
+  endif()
 
-else (CMAKE_COMPILE_IS_GNUCXX)
+else()
   # TODO: Other compilers
   message(STATUS "Not detecting ARM on non-GNUCXX compiler. Defaulting to false")
   message(STATUS "If you are compiling for ARM, set IS_ARM=ON manually")
-endif(CMAKE_COMPILER_IS_GNUCXX)
+endif()
 
 set(IS_ARM ${IS_ARM} CACHE BOOL "Compiling for ARM")
 set(ARM_VERSION ${ARM_VERSION} CACHE STRING "ARM version")

cmake/Modules/TestForSSE.cmake

@@ -22,7 +22,6 @@
 # - Anthony Arnold
 ###############################################################################
 
-
 function(test_for_sse h_file result_var name)
   if(NOT DEFINED ${result_var})
     execute_process(COMMAND echo "#include <${h_file}>"
@@ -33,10 +32,10 @@ function (test_for_sse h_file result_var name)
     if(COMPILE_RESULT EQUAL 0)
       message(STATUS "Detected ${name}")
       set(detected 1)
-    endif(COMPILE_RESULT EQUAL 0)
+    endif()
     set(${result_var} ${detected} CACHE INTERNAL "${name} Available")
-  endif (NOT DEFINED ${result_var})
+  endif()
-endfunction(test_for_sse)
+endfunction()
 
 message(STATUS "Testing for SIMD extensions")
 

docs/changelog

@@ -16,6 +16,7 @@ Next release will have several improvements in different dimensions, addition of
 - Redesign of the time counter for enhanced continuity.
 - Improved flow graph in multisystem configurations: the receiver does not get stalled anymore if no signal is found from the first system.
 - Improved acquisition and tracking sensitivity.
+- Added mechanisms for Assisted GNSS, thus shortening the Time-To-First-Fix. Provision of data via XML files or via SUPL v1.0. Documented at https://gnss-sdr.org/docs/sp-blocks/global-parameters/
 - Other minor bug fixes.
 
 
@@ -27,6 +28,7 @@ Next release will have several improvements in different dimensions, addition of
 - New volk_gnsssdr kernels: volk_gnsssdr_16i_xn_resampler_16i_xn.h, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h, volk_gnsssdr_32f_xn_resampler_32f_xn.h, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn.h
 - Some AVX2 implementations added to the volk_gnsssdr library.
 - Improvement in C++ usage: Use of const container calls when result is immediately converted to a const iterator. Using these members removes an implicit conversion from iterator to const_iterator.
+- Output printers can be shut down, with some savings in memory and storage requirements.
 - A number of code optimizations here and there.
 
 
@@ -34,7 +36,8 @@ Next release will have several improvements in different dimensions, addition of
 
 - A number of new parameters have been exposed to the configuration system.
 - Possibility to choose Pilot or Data component for tracking of GPS L5 and Galileo E5a signals.
-- Enabled extended coherent integration times.
+- Enabled extended coherent integration times for signal tracking.
+- Configurable coherent and/or non-coherent signal acquisition.
 - Some configuration parameters can now be overridden by commandline flags for easier use in scripts.
 
 
@@ -48,11 +51,15 @@ Next release will have several improvements in different dimensions, addition of
 - Added five more signal sources: "Fmcomms2_Signal_Source" (requires gr-iio), "Plutosdr_Signal Source" (requires gr-iio), "Spir_GSS6450_File_Signal_Source", "Labsat_Signal_Source" and "Custom_UDP_Signal_Source" (requires libpcap). Documented in https://gnss-sdr.org/docs/sp-blocks/signal-source/
 - Improved support for BladeRF, HackRF and RTL-SDR front-ends.
 - Added tools for the interaction with front-ends based on the AD9361 chipset.
-- Intermediate results are now saved in .mat binary format, readable from Matlab/Octave and from Python via h5py.
+- Intermediate results are now saved in MAT-file format (.mat), readable from Matlab/Octave and from Python via h5py.
 - Added the GPX output format.
-- Fixed a bug in the format of NMEA sentences when latitude or longitude minutes were >10.
+- Improvements in the generation of KML files.
+- Improvements in the NMEA output. The receiver can produce GPGGA, GPRMC, GPGSA, GPGSV, GAGSA and GAGSV sentences.
 - Improvements in the RTCM server stability.
 - Improvements in the correctness of generated RINEX files.
+- The receiver can read and make use of Galileo almanac XML files published by the European GNSS Service Centre at https://www.gsc-europa.eu/system-status/almanac-data
+- Own-defined XML schemas for navigation data published at https://github.com/gnss-sdr/gnss-sdr/tree/next/docs/xml-schemas
+- Added program rinex2assist to convert RINEX navigation files into XML files usable for Assisted GNSS. Only available building from source. See https://github.com/gnss-sdr/gnss-sdr/tree/next/src/utils/rinex2assist
 
 
 ### Improvements in Maintainability:
@@ -64,6 +71,8 @@ Next release will have several improvements in different dimensions, addition of
 - Improvement in C++ usage: The override special identifier is now used when overriding a virtual function. This helps the compiler to check for type changes in the base class, making the detection of errors easier.
 - Improvement in C++ usage: A number of unused includes have been removed. Order of includes set to: local (in-source) headers, then library headers, then system headers. This helps to detect missing includes.
 - Improvement in C++ usage: Enhanced const correctness. Misuses of those variables are detected by the compiler.
+- Applied some style rules to CMake scripts.
+- Minimal versions of dependencies identified and detected.
 
 
 ### Improvements in Portability:
@@ -76,15 +85,16 @@ Next release will have several improvements in different dimensions, addition of
 - The Ninja build system can be used in replacement of make.
 - The volk_gnsssdr library can be built using Python 2.7 or Python 3.6.
 - The volk_gnsssdr library is now ready for AArch64 NEON instructions.
-- Ready for GNU Radio 3.8 C++ API (as per current next branch of GNU Radio upstream repository).
+- Ready for GNU Radio 3.8 C++ API (as per current master branch of GNU Radio upstream repository).
 - Improved detection of required and optional dependencies in many GNU/Linux distributions and processor architectures.
-- Improvement in C++ usage: The <ctime> library has been replaced by the more modern and portable <chrono>.
+- Improvement in C++ usage: The <ctime> library has been replaced by the more modern and portable <chrono> (except for the interaction with RTKLIB).
 - Improvement in C++ usage: The <stdio.h> library has been replaced by the more modern and portable <fstream> for file handling.
 - Improvement in C++ usage: C++ libraries preferred over C libraries (e.g., <cctype> instead of <ctype.h>, <cmath> instead of <math.h>).
 - Fixes required by Debian packaging.
 - Fixes required by Macports packaging.
 - A downside in portability: BLAS and LAPACK libraries are now required even in ARM devices.
 - A downside in portability: the matio library >= 1.5.3 is a new required dependency. If not found, it is downloaded and built automatically at building time, but this requires libtool, automake and hdf5 already installed in the system.
+- A downside in portability: the PugiXML library is a new required dependency. If not found, it is downloaded and built automatically at building time.
 
 
 ### Improvements in Reliability:
@@ -93,6 +103,7 @@ Next release will have several improvements in different dimensions, addition of
 - Improved flow graph stabiliy.
 - Introduction of high-integrity C++ practices into the source code and included in the coding style guide. See https://gnss-sdr.org/coding-style/
 - Fixed a number of defects detected by Coverity Scan.
+- Improvement of QA code and addition of a number of new tests. Documented at https://gnss-sdr.org/docs/tutorials/testing-software-receiver-2/
 - Improvement in C++ usage: rand() function replaced by <random> library.
 - Improvement in C++ usage: strlen and strncpy have been replaced by safer C++ counterparts.
 - Improvement in C++ usage: Some destructors have been fixed, avoiding segmentation faults when exiting the program.
@@ -122,9 +133,10 @@ Next release will have several improvements in different dimensions, addition of
 
 - All Observables block implementations have been merged into a single implementation for all kinds of GNSS signals, making it easier to configure.
 - All PVT block implementations have been merged into a single implementation for all kinds of GNSS signals, making it easier to configure.
-- Misleading parameter name GNSS-SDR.internal_fs_hz has been replaced by GNSS-SDR.internal_fs_sps. The old parameter name is still read. If found, a warning is provided to the user.
+- Misleading parameter name GNSS-SDR.internal_fs_hz has been replaced by GNSS-SDR.internal_fs_sps. The old parameter name is still read. If found, a warning is provided to the user. The old name will be removed in future releases.
-- Updated and improved documentation of processing blocks at https://gnss-sdr.org/docs/sp-blocks/
+- Updated and improved online documentation of processing blocks at https://gnss-sdr.org/docs/sp-blocks/
 - Improved documentation of required dependency packages in several GNU/Linux distributions.
+- Dump and output files can now be stored anywhere.
 - Parameter names with the same role have been harmonized within different block implementations.
 - Added a changelog, a code of conduct, a contributing guide and a pull-request template in the source tree.
 - Added colors to the commandline user interface.

docs/xml-schemas/README.md

@@ -32,3 +32,4 @@ Galileo
 
 Please check https://gnss-sdr.org/docs/sp-blocks/global-parameters/ for more information about the usage of XML files in GNSS-SDR.
 
+You could find useful the utility program [rinex2assist](https://github.com/gnss-sdr/gnss-sdr/tree/next/src/utils/rinex2assist) for the generation of compatible XML files from recent, publicly available RINEX navigation data files.

docs/xml-schemas/gal_almanac_map.xsd

@@ -15,9 +15,9 @@
                       <xs:complexType mixed="true">
                         <xs:sequence>
                           <xs:element type="xs:byte" name="i_satellite_PRN"/>
-                          <xs:element type="xs:float" name="d_Toa"/>
+                          <xs:element type="xs:byte" name="i_Toa"/>
-                          <xs:element type="xs:float" name="d_WNa"/>
+                          <xs:element type="xs:byte" name="i_WNa"/>
-                          <xs:element type="xs:float" name="d_IODa"/>
+                          <xs:element type="xs:byte" name="i_IODa"/>
                           <xs:element type="xs:float" name="d_Delta_i"/>
                           <xs:element type="xs:float" name="d_M_0"/>
                           <xs:element type="xs:float" name="d_e_eccentricity"/>
@@ -27,9 +27,9 @@
                           <xs:element type="xs:float" name="d_OMEGA_DOT"/>
                           <xs:element type="xs:float" name="d_A_f0"/>
                           <xs:element type="xs:float" name="d_A_f1"/>
-                          <xs:element type="xs:float" name="E5b_HS"/>
+                          <xs:element type="xs:byte" name="E5b_HS"/>
-                          <xs:element type="xs:float" name="E1B_HS"/>
+                          <xs:element type="xs:byte" name="E1B_HS"/>
-                          <xs:element type="xs:float" name="E5a_HS"/>
+                          <xs:element type="xs:byte" name="E5a_HS"/>
                         </xs:sequence>
                         <xs:attribute type="xs:byte" name="class_id" use="optional"/>
                         <xs:attribute type="xs:byte" name="tracking_level" use="optional"/>

docs/xml-schemas/gal_ephemeris_map.xsd

@@ -1,4 +1,4 @@
-<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
+<<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
   <xs:element name="boost_serialization">
     <xs:complexType>
       <xs:sequence>
@@ -16,6 +16,7 @@
                         <xs:sequence>
                           <xs:element type="xs:byte" name="i_satellite_PRN"/>
                           <xs:element type="xs:float" name="M0_1"/>
+                          <xs:element type="xs:float" name="delta_n_3"/>
                           <xs:element type="xs:float" name="e_1"/>
                           <xs:element type="xs:float" name="A_1"/>
                           <xs:element type="xs:float" name="OMEGA_0_2"/>
@@ -34,6 +35,22 @@
                           <xs:element type="xs:float" name="af0_4"/>
                           <xs:element type="xs:float" name="af1_4"/>
                           <xs:element type="xs:float" name="af2_4"/>
+                          <xs:element type="xs:float" name="WN_5"/>
+                          <xs:element type="xs:float" name="TOW_5"/>
+                          <xs:element type="xs:float" name="Galileo_satClkDrift"/>
+                          <xs:element type="xs:float" name="Galileo_dtr"/>
+                          <xs:element type="xs:byte" name="flag_all_ephemeris"/>
+                          <xs:element type="xs:byte" name="IOD_ephemeris"/>
+                          <xs:element type="xs:byte" name="IOD_nav_1"/>
+                          <xs:element type="xs:float" name="SISA_3"/>
+                          <xs:element type="xs:byte" name="E5a_HS"/>
+                          <xs:element type="xs:float" name="E5b_HS_5"/>
+                          <xs:element type="xs:float" name="E1B_HS_5"/>
+                          <xs:element type="xs:byte" name="E5a_DVS"/>
+                          <xs:element type="xs:float" name="E5b_DVS_5"/>
+                          <xs:element type="xs:float" name="E1B_DVS_5"/>
+                          <xs:element type="xs:float" name="BGD_E1E5a_5"/>
+                          <xs:element type="xs:float" name="BGD_E1E5b_5"/>
                         </xs:sequence>
                         <xs:attribute type="xs:byte" name="class_id" use="optional"/>
                         <xs:attribute type="xs:byte" name="tracking_level" use="optional"/>

docs/xml-schemas/gps_almanac_map.xsd

@@ -16,7 +16,7 @@
                         <xs:sequence>
                           <xs:element type="xs:byte" name="i_satellite_PRN"/>
                           <xs:element type="xs:float" name="d_Delta_i"/>
-                          <xs:element type="xs:float" name="d_Toa"/>
+                          <xs:element type="xs:byte" name="i_Toa"/>
                           <xs:element type="xs:byte" name="i_WNa"/>
                           <xs:element type="xs:float" name="d_M_0"/>
                           <xs:element type="xs:float" name="d_e_eccentricity"/>

src/CMakeLists.txt

@@ -21,5 +21,5 @@ add_subdirectory(core)
 add_subdirectory(main)
 if(ENABLE_UNIT_TESTING OR ENABLE_SYSTEM_TESTING)
     add_subdirectory(tests)
-endif(ENABLE_UNIT_TESTING OR ENABLE_SYSTEM_TESTING)
+endif()
 add_subdirectory(utils)

src/algorithms/PVT/adapters/CMakeLists.txt

@@ -19,7 +19,7 @@
 
 if(Boost_VERSION LESS 105800)
     add_definitions(-DOLD_BOOST=1)
-endif(Boost_VERSION LESS 105800)
+endif()
 
 set(PVT_ADAPTER_SOURCES
     rtklib_pvt.cc
@@ -46,5 +46,11 @@ include_directories(
 )
 
 add_library(pvt_adapters ${PVT_ADAPTER_SOURCES} ${PVT_ADAPTER_HEADERS})
+
 source_group(Headers FILES ${PVT_ADAPTER_HEADERS})
-target_link_libraries(pvt_adapters pvt_gr_blocks ${ARMADILLO_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})
+
+target_link_libraries(pvt_adapters
+    pvt_gr_blocks
+    ${ARMADILLO_LIBRARIES}
+    ${GNURADIO_RUNTIME_LIBRARIES}
+)

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -48,6 +48,27 @@ namespace bc = boost::integer;
 
 using google::LogMessage;
 
+
+bool RtklibPvt::get_latest_PVT(double* longitude_deg,
+    double* latitude_deg,
+    double* height_m,
+    double* ground_speed_kmh,
+    double* course_over_ground_deg,
+    time_t* UTC_time)
+{
+    return pvt_->get_latest_PVT(longitude_deg,
+        latitude_deg,
+        height_m,
+        ground_speed_kmh,
+        course_over_ground_deg,
+        UTC_time);
+}
+
+void RtklibPvt::clear_ephemeris()
+{
+    pvt_->clear_ephemeris();
+}
+
 RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     std::string role,
     unsigned int in_streams,
@@ -516,6 +537,30 @@ RtklibPvt::~RtklibPvt()
 }
 
 
+std::map<int, Gps_Ephemeris> RtklibPvt::get_gps_ephemeris() const
+{
+    return pvt_->get_gps_ephemeris_map();
+}
+
+
+std::map<int, Galileo_Ephemeris> RtklibPvt::get_galileo_ephemeris() const
+{
+    return pvt_->get_galileo_ephemeris_map();
+}
+
+
+std::map<int, Gps_Almanac> RtklibPvt::get_gps_almanac() const
+{
+    return pvt_->get_gps_almanac_map();
+}
+
+
+std::map<int, Galileo_Almanac> RtklibPvt::get_galileo_almanac() const
+{
+    return pvt_->get_galileo_almanac_map();
+}
+
+
 void RtklibPvt::connect(gr::top_block_sptr top_block)
 {
     if (top_block)

src/algorithms/PVT/adapters/rtklib_pvt.h

@@ -57,12 +57,18 @@ public:
         return role_;
     }
 
-    //!  Returns "RTKLIB_Pvt"
+    //!  Returns "RTKLIB_PVT"
     inline std::string implementation() override
     {
         return "RTKLIB_PVT";
     }
 
+    void clear_ephemeris() override;
+    std::map<int, Gps_Ephemeris> get_gps_ephemeris() const override;
+    std::map<int, Galileo_Ephemeris> get_galileo_ephemeris() const override;
+    std::map<int, Gps_Almanac> get_gps_almanac() const override;
+    std::map<int, Galileo_Almanac> get_galileo_almanac() const override;
+
     void connect(gr::top_block_sptr top_block) override;
     void disconnect(gr::top_block_sptr top_block) override;
     gr::basic_block_sptr get_left_block() override;
@@ -79,11 +85,16 @@ public:
         return sizeof(gr_complex);
     }
 
+    bool get_latest_PVT(double* longitude_deg,
+        double* latitude_deg,
+        double* height_m,
+        double* ground_speed_kmh,
+        double* course_over_ground_deg,
+        time_t* UTC_time) override;
+
 private:
     rtklib_pvt_cc_sptr pvt_;
     rtk_t rtk;
-    bool dump_;
-    std::string dump_filename_;
     std::string role_;
     unsigned int in_streams_;
     unsigned int out_streams_;

src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt

@@ -19,7 +19,7 @@
 
 if(Boost_VERSION LESS 105800)
     add_definitions(-DOLD_BOOST=1)
-endif(Boost_VERSION LESS 105800)
+endif()
 
 set(PVT_GR_BLOCKS_SOURCES
     rtklib_pvt_cc.cc

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h

@@ -31,7 +31,7 @@
 #ifndef GNSS_SDR_RTKLIB_PVT_CC_H
 #define GNSS_SDR_RTKLIB_PVT_CC_H
 
-
+#include "gps_ephemeris.h"
 #include "nmea_printer.h"
 #include "kml_printer.h"
 #include "gpx_printer.h"
@@ -40,6 +40,8 @@
 #include "rtcm_printer.h"
 #include "pvt_conf.h"
 #include "rtklib_solver.h"
+#include <boost/date_time/posix_time/posix_time.hpp>
+#include <boost/date_time/gregorian/gregorian.hpp>
 #include <gnuradio/sync_block.h>
 #include <sys/types.h>
 #include <sys/ipc.h>
@@ -60,7 +62,7 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t n_channels,
     rtk_t& rtk);
 
 /*!
- * \brief This class implements a block that computes the PVT solution with Galileo E1 signals
+ * \brief This class implements a block that computes the PVT solution using the RTKLIB integrated library
  */
 class rtklib_pvt_cc : public gr::sync_block
 {
@@ -109,8 +111,9 @@ private:
     bool d_geojson_output_enabled;
     bool d_gpx_output_enabled;
     bool d_kml_output_enabled;
+    bool d_nmea_output_file_enabled;
 
-    std::shared_ptr<rtklib_solver> d_ls_pvt;
+    std::shared_ptr<rtklib_solver> d_pvt_solver;
 
     std::map<int, Gnss_Synchro> gnss_observables_map;
     bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
@@ -135,6 +138,11 @@ private:
     bool d_xml_storage;
     std::string xml_base_path;
 
+    inline std::time_t to_time_t(boost::posix_time::ptime pt)
+    {
+        return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds();
+    }
+
 
 public:
     rtklib_pvt_cc(uint32_t nchannels,
@@ -142,11 +150,32 @@ public:
         rtk_t& rtk);
 
     /*!
-     * \brief Get latest set of GPS L1 ephemeris from PVT block
+     * \brief Get latest set of ephemeris from PVT block
      *
-     * It is used to save the assistance data at the receiver shutdown
      */
-    std::map<int, Gps_Ephemeris> get_GPS_L1_ephemeris_map();
+    std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
+
+    std::map<int, Gps_Almanac> get_gps_almanac_map() const;
+
+    std::map<int, Galileo_Ephemeris> get_galileo_ephemeris_map() const;
+
+    std::map<int, Galileo_Almanac> get_galileo_almanac_map() const;
+
+    /*!
+     * \brief Clear all ephemeris information and the almanacs for GPS and Galileo
+     *
+     */
+    void clear_ephemeris();
+
+    /*!
+     * \brief Get the latest Position WGS84 [deg], Ground Velocity, Course over Ground, and UTC Time, if available
+     */
+    bool get_latest_PVT(double* longitude_deg,
+        double* latitude_deg,
+        double* height_m,
+        double* ground_speed_kmh,
+        double* course_over_ground_deg,
+        time_t* UTC_time);
 
     ~rtklib_pvt_cc();  //!< Default destructor
 

src/algorithms/PVT/libs/CMakeLists.txt

@@ -46,7 +46,6 @@ set(PVT_LIB_HEADERS
     pvt_conf.h
 )
 
-
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -69,15 +68,23 @@ add_library(pvt_lib ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
 source_group(Headers FILES ${PVT_LIB_HEADERS})
 
 if(MATIO_FOUND)
-    add_dependencies(pvt_lib glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
+    add_dependencies(pvt_lib
-else(MATIO_FOUND)
+        glog-${glog_RELEASE}
-    add_dependencies(pvt_lib glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
+        armadillo-${armadillo_RELEASE}
-endif(MATIO_FOUND)
+    )
+else()
+    add_dependencies(pvt_lib
+        glog-${glog_RELEASE}
+        armadillo-${armadillo_RELEASE}
+        matio-${GNSSSDR_MATIO_LOCAL_VERSION}
+    )
+endif()
 
 target_link_libraries(
     pvt_lib
     rtklib_lib
     gnss_sdr_flags
+    gnss_sp_libs
     ${Boost_LIBRARIES}
     ${GLOG_LIBRARIES}
     ${ARMADILLO_LIBRARIES}

src/algorithms/PVT/libs/gpx_printer.cc

@@ -138,13 +138,15 @@ bool Gpx_Printer::set_headers(std::string filename, bool time_tag_name)
             gpx_file << std::setprecision(14);
             gpx_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
                      << "<gpx version=\"1.1\" creator=\"GNSS-SDR\"" << std::endl
-                     << "xsi:schemaLocation=\"http://www.topografix.com/GPX/1/1 http://www.topografix.com/GPX/1/1/gpx.xsd\"" << std::endl
+                     << indent << "xsi:schemaLocation=\"http://www.topografix.com/GPX/1/1 http://www.topografix.com/GPX/1/1/gpx.xsd http://www.garmin.com/xmlschemas/GpxExtensions/v3 http://www.garmin.com/xmlschemas/GpxExtensionsv3.xsd http://www.garmin.com/xmlschemas/TrackPointExtension/v2 http://www.garmin.com/xmlschemas/TrackPointExtensionv2.xsd\"" << std::endl
-                     << "xmlns=\"http://www.topografix.com/GPX/1/1\"" << std::endl
+                     << indent << "xmlns=\"http://www.topografix.com/GPX/1/1\"" << std::endl
-                     << "xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\">" << std::endl
+                     << indent << "xmlns:gpxx=\"http://www.garmin.com/xmlschemas/GpxExtensions/v3\"" << std::endl
-                     << "<trk>" << std::endl
+                     << indent << "xmlns:gpxtpx=\"http://www.garmin.com/xmlschemas/TrackPointExtension/v2\"" << std::endl
-                     << indent << "<name>Position fixes computed by GNSS-SDR v" << GNSS_SDR_VERSION << "</name>" << std::endl
+                     << indent << "xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\">" << std::endl
-                     << indent << "<desc>GNSS-SDR position log generated at " << pt << " (local time)</desc>" << std::endl
+                     << indent << "<trk>" << std::endl
-                     << indent << "<trkseg>" << std::endl;
+                     << indent << indent << "<name>Position fixes computed by GNSS-SDR v" << GNSS_SDR_VERSION << "</name>" << std::endl
+                     << indent << indent << "<desc>GNSS-SDR position log generated at " << pt << " (local time)</desc>" << std::endl
+                     << indent << indent << "<trkseg>" << std::endl;
             return true;
         }
     else
@@ -164,6 +166,9 @@ bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
     positions_printed = true;
     std::shared_ptr<rtklib_solver> position_ = position;
 
+    double speed_over_ground = position_->get_speed_over_ground();    // expressed in m/s
+    double course_over_ground = position_->get_course_over_ground();  // expressed in deg
+
     double hdop = position_->get_hdop();
     double vdop = position_->get_vdop();
     double pdop = position_->get_pdop();
@@ -187,9 +192,13 @@ bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
 
     if (gpx_file.is_open())
         {
-            gpx_file << indent << indent << "<trkpt lon=\"" << longitude << "\" lat=\"" << latitude << "\"><ele>" << height << "</ele>"
+            gpx_file << indent << indent << indent << "<trkpt lon=\"" << longitude << "\" lat=\"" << latitude << "\"><ele>" << height << "</ele>"
                      << "<time>" << utc_time << "</time>"
-                     << "<hdop>" << hdop << "</hdop><vdop>" << vdop << "</vdop><pdop>" << pdop << "</pdop></trkpt>" << std::endl;
+                     << "<hdop>" << hdop << "</hdop><vdop>" << vdop << "</vdop><pdop>" << pdop << "</pdop>"
+                     << "<extensions><gpxtpx:TrackPointExtension>"
+                     << "<gpxtpx:speed>" << speed_over_ground << "</gpxtpx:speed>"
+                     << "<gpxtpx:course>" << course_over_ground << "</gpxtpx:course>"
+                     << "</gpxtpx:TrackPointExtension></extensions></trkpt>" << std::endl;
             return true;
         }
     else
@@ -203,8 +212,8 @@ bool Gpx_Printer::close_file()
 {
     if (gpx_file.is_open())
         {
-            gpx_file << indent << "</trkseg>" << std::endl
+            gpx_file << indent << indent << "</trkseg>" << std::endl
-                     << "</trk>" << std::endl
+                     << indent << "</trk>" << std::endl
                      << "</gpx>";
             gpx_file.close();
             return true;

src/algorithms/PVT/libs/hybrid_ls_pvt.cc

@@ -150,8 +150,6 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
                                 // 4- fill the observations vector with the corrected observables
                                 obs.resize(valid_obs + 1, 1);
                                 obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s - this->get_time_offset_s() * GALILEO_C_m_s;
-                                this->set_visible_satellites_ID(valid_obs, galileo_ephemeris_iter->second.i_satellite_PRN);
-                                this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
 
                                 Galileo_week_number = galileo_ephemeris_iter->second.WN_5;  //for GST
                                 GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
@@ -213,8 +211,6 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
                                         double Code_bias_m = P1_P2 / (1.0 - Gamma);
                                         obs.resize(valid_obs + 1, 1);
                                         obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s - Code_bias_m - this->get_time_offset_s() * GPS_C_m_s;
-                                        this->set_visible_satellites_ID(valid_obs, gps_ephemeris_iter->second.i_satellite_PRN);
-                                        this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
 
                                         // SV ECEF DEBUG OUTPUT
                                         LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
@@ -265,8 +261,6 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
                                         // 4- fill the observations vector with the corrected observables
                                         obs.resize(valid_obs + 1, 1);
                                         obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s + SV_clock_bias_s * GPS_C_m_s;
-                                        this->set_visible_satellites_ID(valid_obs, gps_cnav_ephemeris_iter->second.i_satellite_PRN);
-                                        this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
 
                                         GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week;
                                         GPS_week = GPS_week % 1024;  //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV)

src/algorithms/PVT/libs/kml_printer.cc

@@ -2,6 +2,7 @@
  * \file kml_printer.cc
  * \brief Implementation of a class that prints PVT information to a kml file
  * \author Javier Arribas, 2011. jarribas(at)cttc.es
+ *         Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
  *
  *
  * -------------------------------------------------------------------------
@@ -43,6 +44,7 @@ using google::LogMessage;
 Kml_Printer::Kml_Printer(const std::string& base_path)
 {
     positions_printed = false;
+    indent = "  ";
     kml_base_path = base_path;
     boost::filesystem::path full_path(boost::filesystem::current_path());
     const boost::filesystem::path p(kml_base_path);
@@ -74,6 +76,14 @@ Kml_Printer::Kml_Printer(const std::string& base_path)
         }
 
     kml_base_path = kml_base_path + boost::filesystem::path::preferred_separator;
+
+    boost::filesystem::path tmp_base_path = boost::filesystem::temp_directory_path();
+    boost::filesystem::path tmp_filename = boost::filesystem::unique_path();
+    boost::filesystem::path tmp_file = tmp_base_path / tmp_filename;
+
+    tmp_file_str = tmp_file.string();
+
+    point_id = 0;
 }
 
 
@@ -127,36 +137,73 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
     kml_filename = kml_base_path + kml_filename;
     kml_file.open(kml_filename.c_str());
 
-    if (kml_file.is_open())
+    tmp_file.open(tmp_file_str.c_str());
+
+    if (kml_file.is_open() && tmp_file.is_open())
         {
             DLOG(INFO) << "KML printer writing on " << filename.c_str();
             // Set iostream numeric format and precision
             kml_file.setf(kml_file.fixed, kml_file.floatfield);
             kml_file << std::setprecision(14);
+
+            tmp_file.setf(tmp_file.fixed, tmp_file.floatfield);
+            tmp_file << std::setprecision(14);
+
             kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
-                     << "<kml xmlns=\"http://www.opengis.net/kml/2.2\">" << std::endl
+                     << "<kml xmlns=\"http://www.opengis.net/kml/2.2\" xmlns:gx=\"http://www.google.com/kml/ext/2.2\">" << std::endl
-                     << "    <Document>" << std::endl
+                     << indent << "<Document>" << std::endl
-                     << "    <name>GNSS Track</name>" << std::endl
+                     << indent << indent << "<name>GNSS Track</name>" << std::endl
-                     << "    <description>GNSS-SDR Receiver position log file created at " << pt
+                     << indent << indent << "<description><![CDATA[" << std::endl
-                     << "    </description>" << std::endl
+                     << indent << indent << indent << "<table>" << std::endl
-                     << "<Style id=\"yellowLineGreenPoly\">" << std::endl
+                     << indent << indent << indent << indent << "<tr><td>GNSS-SDR Receiver position log file created at " << pt << "</td></tr>" << std::endl
-                     << " <LineStyle>" << std::endl
+                     << indent << indent << indent << indent << "<tr><td>https://gnss-sdr.org/</td></tr>" << std::endl
-                     << "     <color>7f00ffff</color>" << std::endl
+                     << indent << indent << indent << "</table>" << std::endl
-                     << "        <width>1</width>" << std::endl
+                     << indent << indent << "]]></description>" << std::endl
-                     << "    </LineStyle>" << std::endl
+                     << indent << indent << "<!-- Normal track style -->" << std::endl
-                     << "<PolyStyle>" << std::endl
+                     << indent << indent << "<Style id=\"track_n\">" << std::endl
-                     << "    <color>7f00ff00</color>" << std::endl
+                     << indent << indent << indent << "<IconStyle>" << std::endl
-                     << "</PolyStyle>" << std::endl
+                     << indent << indent << indent << indent << "<color>ff00ffff</color>" << std::endl
-                     << "</Style>" << std::endl
+                     << indent << indent << indent << indent << "<scale>0.3</scale>" << std::endl
-                     << "<Placemark>" << std::endl
+                     << indent << indent << indent << indent << "<Icon>" << std::endl
-                     << "<name>GNSS-SDR PVT</name>" << std::endl
+                     << indent << indent << indent << indent << indent << "<href>http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png</href>" << std::endl
-                     << "<description>GNSS-SDR position log</description>" << std::endl
+                     << indent << indent << indent << indent << "</Icon>" << std::endl
-                     << "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
+                     << indent << indent << indent << "</IconStyle>" << std::endl
-                     << "<LineString>" << std::endl
+                     << indent << indent << indent << "<LabelStyle>" << std::endl
-                     << "<extrude>0</extrude>" << std::endl
+                     << indent << indent << indent << indent << "<scale>0</scale>" << std::endl
-                     << "<tessellate>1</tessellate>" << std::endl
+                     << indent << indent << indent << "</LabelStyle>" << std::endl
-                     << "<altitudeMode>absolute</altitudeMode>" << std::endl
+                     << indent << indent << "</Style>" << std::endl
-                     << "<coordinates>" << std::endl;
+                     << indent << indent << "<!-- Highlighted track style -->" << std::endl
+                     << indent << indent << "<Style id=\"track_h\">" << std::endl
+                     << indent << indent << indent << "<IconStyle>" << std::endl
+                     << indent << indent << indent << indent << "<color>ff00ffff</color>" << std::endl
+                     << indent << indent << indent << indent << "<scale>1</scale>" << std::endl
+                     << indent << indent << indent << indent << "<Icon>" << std::endl
+                     << indent << indent << indent << indent << indent << "<href>http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png</href>" << std::endl
+                     << indent << indent << indent << indent << "</Icon>" << std::endl
+                     << indent << indent << indent << "</IconStyle>" << std::endl
+                     << indent << indent << "</Style>" << std::endl
+                     << indent << indent << "<StyleMap id=\"track\">" << std::endl
+                     << indent << indent << indent << "<Pair>" << std::endl
+                     << indent << indent << indent << indent << "<key>normal</key>" << std::endl
+                     << indent << indent << indent << indent << "<styleUrl>#track_n</styleUrl>" << std::endl
+                     << indent << indent << indent << "</Pair>" << std::endl
+                     << indent << indent << indent << "<Pair>" << std::endl
+                     << indent << indent << indent << indent << "<key>highlight</key>" << std::endl
+                     << indent << indent << indent << indent << "<styleUrl>#track_h</styleUrl>" << std::endl
+                     << indent << indent << indent << "</Pair>" << std::endl
+                     << indent << indent << "</StyleMap>" << std::endl
+                     << indent << indent << "<Style id=\"yellowLineGreenPoly\">" << std::endl
+                     << indent << indent << indent << "<LineStyle>" << std::endl
+                     << indent << indent << indent << indent << "<color>7f00ffff</color>" << std::endl
+                     << indent << indent << indent << indent << "<width>1</width>" << std::endl
+                     << indent << indent << indent << "</LineStyle>" << std::endl
+                     << indent << indent << indent << "<PolyStyle>" << std::endl
+                     << indent << indent << indent << indent << "<color>7f00ff00</color>" << std::endl
+                     << indent << indent << indent << "</PolyStyle>" << std::endl
+                     << indent << indent << "</Style>" << std::endl
+                     << indent << indent << "<Folder>" << std::endl
+                     << indent << indent << indent << "<name>Points</name>" << std::endl;
+
             return true;
         }
     else
@@ -167,7 +214,7 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
 }
 
 
-bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values)
+bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values)
 {
     double latitude;
     double longitude;
@@ -175,7 +222,18 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
 
     positions_printed = true;
 
-    std::shared_ptr<Pvt_Solution> position_ = position;
+    std::shared_ptr<rtklib_solver> position_ = position;
+
+    double speed_over_ground = position_->get_speed_over_ground();    // expressed in m/s
+    double course_over_ground = position_->get_course_over_ground();  // expressed in deg
+
+    double hdop = position_->get_hdop();
+    double vdop = position_->get_vdop();
+    double pdop = position_->get_pdop();
+    std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time());
+    if (utc_time.length() < 23) utc_time += ".";
+    utc_time.resize(23, '0');  // time up to ms
+    utc_time.append("Z");      // UTC time zone
 
     if (print_average_values == false)
         {
@@ -190,9 +248,38 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
             height = position_->get_avg_height();
         }
 
-    if (kml_file.is_open())
+    if (kml_file.is_open() && tmp_file.is_open())
         {
-            kml_file << longitude << "," << latitude << "," << height << std::endl;
+            point_id++;
+            kml_file << indent << indent << indent << "<Placemark>" << std::endl
+                     << indent << indent << indent << indent << "<name>" << point_id << "</name>" << std::endl
+                     << indent << indent << indent << indent << "<snippet/>" << std::endl
+                     << indent << indent << indent << indent << "<description><![CDATA[" << std::endl
+                     << indent << indent << indent << indent << indent << "<table>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Time:</td><td>" << utc_time << "</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Longitude:</td><td>" << longitude << "</td><td>deg</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Latitude:</td><td>" << latitude << "</td><td>deg</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Altitude:</td><td>" << height << "</td><td>m</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Speed:</td><td>" << speed_over_ground << "</td><td>m/s</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>Course:</td><td>" << course_over_ground << "</td><td>deg</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>HDOP:</td><td>" << hdop << "</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>VDOP:</td><td>" << vdop << "</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << indent << "<tr><td>PDOP:</td><td>" << pdop << "</td></tr>" << std::endl
+                     << indent << indent << indent << indent << indent << "</table>" << std::endl
+                     << indent << indent << indent << indent << "]]></description>" << std::endl
+                     << indent << indent << indent << indent << "<TimeStamp>" << std::endl
+                     << indent << indent << indent << indent << indent << "<when>" << utc_time << "</when>" << std::endl
+                     << indent << indent << indent << indent << "</TimeStamp>" << std::endl
+                     << indent << indent << indent << indent << "<styleUrl>#track</styleUrl>" << std::endl
+                     << indent << indent << indent << indent << "<Point>" << std::endl
+                     << indent << indent << indent << indent << indent << "<altitudeMode>absolute</altitudeMode>" << std::endl
+                     << indent << indent << indent << indent << indent << "<coordinates>" << longitude << "," << latitude << "," << height << "</coordinates>" << std::endl
+                     << indent << indent << indent << indent << "</Point>" << std::endl
+                     << indent << indent << indent << "</Placemark>" << std::endl;
+
+            tmp_file << indent << indent << indent << indent << indent
+                     << longitude << "," << latitude << "," << height << std::endl;
+
             return true;
         }
     else
@@ -204,14 +291,32 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
 
 bool Kml_Printer::close_file()
 {
-    if (kml_file.is_open())
+    if (kml_file.is_open() && tmp_file.is_open())
         {
-            kml_file << "</coordinates>" << std::endl
+            tmp_file.close();
-                     << "</LineString>" << std::endl
+
-                     << "</Placemark>" << std::endl
+            kml_file << indent << indent << "</Folder>"
-                     << "</Document>" << std::endl
+                     << indent << indent << "<Placemark>" << std::endl
+                     << indent << indent << indent << "<name>Path</name>" << std::endl
+                     << indent << indent << indent << "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
+                     << indent << indent << indent << "<LineString>" << std::endl
+                     << indent << indent << indent << indent << "<extrude>0</extrude>" << std::endl
+                     << indent << indent << indent << indent << "<tessellate>1</tessellate>" << std::endl
+                     << indent << indent << indent << indent << "<altitudeMode>absolute</altitudeMode>" << std::endl
+                     << indent << indent << indent << indent << "<coordinates>" << std::endl;
+
+            // Copy the contents of tmp_file into kml_file
+            std::ifstream src(tmp_file_str, std::ios::binary);
+            kml_file << src.rdbuf();
+
+            kml_file << indent << indent << indent << indent << "</coordinates>" << std::endl
+                     << indent << indent << indent << "</LineString>" << std::endl
+                     << indent << indent << "</Placemark>" << std::endl
+                     << indent << "</Document>" << std::endl
                      << "</kml>";
+
             kml_file.close();
+
             return true;
         }
     else

src/algorithms/PVT/libs/kml_printer.h

@@ -2,7 +2,7 @@
  * \file kml_printer.h
  * \brief Interface of a class that prints PVT information to a kml file
  * \author Javier Arribas, 2011. jarribas(at)cttc.es
- *
+ *         Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
  *
  * -------------------------------------------------------------------------
  *
@@ -34,6 +34,7 @@
 #define GNSS_SDR_KML_PRINTER_H_
 
 #include "pvt_solution.h"
+#include "rtklib_solver.h"
 #include <fstream>
 #include <memory>
 #include <string>
@@ -48,15 +49,19 @@ class Kml_Printer
 {
 private:
     std::ofstream kml_file;
+    std::ofstream tmp_file;
     bool positions_printed;
     std::string kml_filename;
     std::string kml_base_path;
+    std::string tmp_file_str;
+    unsigned int point_id;
+    std::string indent;
 
 public:
     Kml_Printer(const std::string& base_path = std::string("."));
     ~Kml_Printer();
     bool set_headers(std::string filename, bool time_tag_name = true);
-    bool print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values);
+    bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);
     bool close_file();
 };
 

src/algorithms/PVT/libs/ls_pvt.cc

@@ -31,6 +31,7 @@
 
 #include "ls_pvt.h"
 #include "GPS_L1_CA.h"
+#include "geofunctions.h"
 #include <glog/logging.h>
 #include <exception>
 #include <stdexcept>
@@ -235,15 +236,12 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
                             double* azim = 0;
                             double* elev = 0;
                             double* dist = 0;
-                            Ls_Pvt::topocent(azim, elev, dist, pos.subvec(0, 2), Rot_X - pos.subvec(0, 2));
+                            topocent(azim, elev, dist, pos.subvec(0, 2), Rot_X - pos.subvec(0, 2));
-                            this->set_visible_satellites_Az(i, *azim);
-                            this->set_visible_satellites_El(i, *elev);
-                            this->set_visible_satellites_Distance(i, *dist);
 
                             if (traveltime < 0.1 && nmbOfSatellites > 3)
                                 {
                                     //--- Find receiver's height
-                                    Ls_Pvt::togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
+                                    togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
                                     // Add troposphere correction if the receiver is below the troposphere
                                     if (h > 15000)
                                         {
@@ -253,7 +251,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
                                     else
                                         {
                                             //--- Find delay due to troposphere (in meters)
-                                            Ls_Pvt::tropo(&trop, sin(this->get_visible_satellites_El(i) * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
+                                            Ls_Pvt::tropo(&trop, sin(*elev * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
                                             if (trop > 5.0) trop = 0.0;  //check for erratic values
                                         }
                                 }
@@ -280,9 +278,6 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
                 }
         }
 
-    //-- compute the Dilution Of Precision values
-    //this->set_Q(arma::inv(arma::htrans(A) * A));
-
     // check the consistency of the PVT solution
     if (((fabs(pos(3)) * 1000.0) / GPS_C_m_s) > GPS_STARTOFFSET_ms * 2)
         {

src/algorithms/PVT/libs/nmea_printer.cc

@@ -34,6 +34,7 @@
  */
 
 #include "nmea_printer.h"
+#include "rtklib_solution.h"
 #include <boost/date_time/posix_time/posix_time.hpp>
 #include <boost/filesystem/operations.hpp>   // for create_directories, exists
 #include <boost/filesystem/path.hpp>         // for path, operator<<
@@ -376,99 +377,10 @@ std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_
 std::string Nmea_Printer::get_GPRMC()
 {
     // Sample -> $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,*10
-    bool valid_fix = d_PVT_data->is_valid_position();
-
-    // ToDo: Compute speed and course over ground
-    double speed_over_ground_knots = 0;
-    double course_over_ground_deg = 0;
-
-    // boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time();
-
     std::stringstream sentence_str;
-
+    unsigned char buff[1024] = {0};
-    // GPRMC (RMC-Recommended,Minimum Specific GNSS Data)
+    outnmea_rmc(buff, &d_PVT_data->pvt_sol);
-    std::string sentence_header;
+    sentence_str << buff;
-    sentence_header = "$GPRMC,";
-    sentence_str << sentence_header;
-
-    // UTC Time: hhmmss.sss
-    sentence_str << get_UTC_NMEA_time(d_PVT_data->get_position_UTC_time());
-
-    // Status: A: data valid, V: data NOT valid
-    if (valid_fix == true)
-        {
-            sentence_str << ",A";
-        }
-    else
-        {
-            sentence_str << ",V";
-        };
-
-    if (print_avg_pos == true)
-        {
-            // Latitude ddmm.mmmm,(N or S)
-            sentence_str << "," << latitude_to_hm(d_PVT_data->get_avg_latitude());
-            // longitude dddmm.mmmm,(E or W)
-            sentence_str << "," << longitude_to_hm(d_PVT_data->get_avg_longitude());
-        }
-    else
-        {
-            // Latitude ddmm.mmmm,(N or S)
-            sentence_str << "," << latitude_to_hm(d_PVT_data->get_latitude());
-            // longitude dddmm.mmmm,(E or W)
-            sentence_str << "," << longitude_to_hm(d_PVT_data->get_longitude());
-        }
-
-    // Speed over ground (knots)
-    sentence_str << ",";
-    sentence_str.setf(std::ios::fixed, std::ios::floatfield);
-    sentence_str.precision(2);
-    sentence_str << speed_over_ground_knots;
-
-    // course over ground (degrees)
-    sentence_str << ",";
-    sentence_str.setf(std::ios::fixed, std::ios::floatfield);
-    sentence_str.precision(2);
-    sentence_str << course_over_ground_deg;
-
-    // Date ddmmyy
-    boost::gregorian::date sentence_date = d_PVT_data->get_position_UTC_time().date();
-    unsigned int year = sentence_date.year();
-    unsigned int day = sentence_date.day();
-    unsigned int month = sentence_date.month();
-
-    sentence_str << ",";
-    sentence_str.width(2);
-    sentence_str.fill('0');
-    sentence_str << day;
-    sentence_str.width(2);
-    sentence_str.fill('0');
-    sentence_str << month;
-
-    std::stringstream year_strs;
-    year_strs << std::dec << year;
-    sentence_str << std::dec << year_strs.str().substr(2);
-
-    // Magnetic Variation (degrees)
-    // ToDo: Implement magnetic compass
-    sentence_str << ",";
-
-    // Magnetic Variation (E or W)
-    // ToDo: Implement magnetic compass
-    sentence_str << ",";
-
-    // Checksum
-    char checksum;
-    std::string tmpstr;
-    tmpstr = sentence_str.str();
-    checksum = checkSum(tmpstr.substr(1));
-    sentence_str << "*";
-    sentence_str.width(2);
-    sentence_str.fill('0');
-    sentence_str << std::hex << static_cast<int>(checksum);
-
-    // end NMEA sentence
-    sentence_str << "\r\n";
     return sentence_str.str();
 }
 
@@ -477,82 +389,10 @@ std::string Nmea_Printer::get_GPGSA()
 {
     // $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
     // GSA-GNSS DOP and Active Satellites
-    bool valid_fix = d_PVT_data->is_valid_position();
-    int n_sats_used = d_PVT_data->get_num_valid_observations();
-    double pdop = d_PVT_data->get_pdop();
-    double hdop = d_PVT_data->get_hdop();
-    double vdop = d_PVT_data->get_vdop();
-
     std::stringstream sentence_str;
-    std::string sentence_header;
+    unsigned char buff[1024] = {0};
-    sentence_header = "$GPGSA,";
+    outnmea_gsa(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat);
-    sentence_str << sentence_header;
+    sentence_str << buff;
-
-    // mode1:
-    // (M) Manual-forced to operate in 2D or 3D mode
-    // (A) Automatic-allowed to automatically switch 2D/3D
-    std::string mode1 = "M";
-    sentence_str << mode1;
-
-    // mode2:
-    // 1 fix not available
-    // 2 fix 2D
-    // 3 fix 3D
-    if (valid_fix == true)
-        {
-            sentence_str << ",3";
-        }
-    else
-        {
-            sentence_str << ",1";
-        };
-
-    // Used satellites
-    for (int i = 0; i < 12; i++)
-        {
-            sentence_str << ",";
-            if (i < n_sats_used)
-                {
-                    sentence_str.width(2);
-                    sentence_str.fill('0');
-                    sentence_str << d_PVT_data->get_visible_satellites_ID(i);
-                }
-        }
-
-    // PDOP
-    sentence_str << ",";
-    sentence_str.setf(std::ios::fixed, std::ios::floatfield);
-    sentence_str.width(2);
-    sentence_str.precision(1);
-    sentence_str.fill('0');
-    sentence_str << pdop;
-    // HDOP
-    sentence_str << ",";
-    sentence_str.setf(std::ios::fixed, std::ios::floatfield);
-    sentence_str.width(2);
-    sentence_str.precision(1);
-    sentence_str.fill('0');
-    sentence_str << hdop;
-    // VDOP
-    sentence_str << ",";
-    sentence_str.setf(std::ios::fixed, std::ios::floatfield);
-    sentence_str.width(2);
-    sentence_str.precision(1);
-    sentence_str.fill('0');
-    sentence_str << vdop;
-
-    // Checksum
-    char checksum;
-    std::string tmpstr;
-    tmpstr = sentence_str.str();
-    checksum = checkSum(tmpstr.substr(1));
-    sentence_str << "*";
-    sentence_str.width(2);
-    sentence_str.fill('0');
-    sentence_str << std::hex << static_cast<int>(checksum);
-
-    // end NMEA sentence
-    sentence_str << "\r\n";
     return sentence_str.str();
 }
 
@@ -560,199 +400,22 @@ std::string Nmea_Printer::get_GPGSA()
 std::string Nmea_Printer::get_GPGSV()
 {
     // GSV-GNSS Satellites in View
-    // Notice that NMEA 2.1 only supports 12 channels
-    int n_sats_used = d_PVT_data->get_num_valid_observations();
-    std::stringstream sentence_str;
-    std::stringstream frame_str;
-    std::string sentence_header;
-    sentence_header = "$GPGSV,";
-    char checksum;
-    std::string tmpstr;
-
-    // 1st step: How many GPGSV frames we need? (up to 3)
-    // Each frame contains up to 4 satellites
-    int n_frames;
-    n_frames = std::ceil((static_cast<double>(n_sats_used)) / 4.0);
-
-    // generate the frames
-    int current_satellite = 0;
-    for (int i = 1; i < (n_frames + 1); i++)
-        {
-            frame_str.str("");
-            frame_str << sentence_header;
-
-            // number of messages
-            frame_str << n_frames;
-
-            // message number
-            frame_str << ",";
-            frame_str << i;
-
-            // total number of satellites in view
-            frame_str << ",";
-            frame_str.width(2);
-            frame_str.fill('0');
-            frame_str << std::dec << n_sats_used;
-
-            // satellites info
-            for (int j = 0; j < 4; j++)
-                {
-                    // write satellite info
-                    frame_str << ",";
-                    frame_str.width(2);
-                    frame_str.fill('0');
-                    frame_str << std::dec << d_PVT_data->get_visible_satellites_ID(current_satellite);
-
-                    frame_str << ",";
-                    frame_str.width(2);
-                    frame_str.fill('0');
-                    frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_El(current_satellite));
-
-                    frame_str << ",";
-                    frame_str.width(3);
-                    frame_str.fill('0');
-                    frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_Az(current_satellite));
-
-                    frame_str << ",";
-                    frame_str.width(2);
-                    frame_str.fill('0');
-                    frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_CN0_dB(current_satellite));
-
-                    current_satellite++;
-
-                    if (current_satellite == n_sats_used)
-                        {
-                            break;
-                        }
-                }
-
-            // frame checksum
-            tmpstr = frame_str.str();
-            checksum = checkSum(tmpstr.substr(1));
-            frame_str << "*";
-            frame_str.width(2);
-            frame_str.fill('0');
-            frame_str << std::hex << static_cast<int>(checksum);
-
-            // end NMEA sentence
-            frame_str << "\r\n";
-
-            //add frame to sentence
-            sentence_str << frame_str.str();
-        }
-    return sentence_str.str();
     // $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71
+    // Notice that NMEA 2.1 only supports 12 channels
+    std::stringstream sentence_str;
+    unsigned char buff[1024] = {0};
+    outnmea_gsv(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat);
+    sentence_str << buff;
+    return sentence_str.str();
 }
 
 
 std::string Nmea_Printer::get_GPGGA()
 {
-    // boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time();
-    bool valid_fix = d_PVT_data->is_valid_position();
-    int n_channels = d_PVT_data->get_num_valid_observations();  //d_nchannels
-    double hdop = d_PVT_data->get_hdop();
-    double MSL_altitude;
-
-    if (d_PVT_data->is_averaging() == true)
-        {
-            MSL_altitude = d_PVT_data->get_avg_height();
-        }
-    else
-        {
-            MSL_altitude = d_PVT_data->get_height();
-        }
-
     std::stringstream sentence_str;
-
+    unsigned char buff[1024] = {0};
-    // GPGGA (Global Positioning System Fixed Data)
+    outnmea_gga(buff, &d_PVT_data->pvt_sol);
-    std::string sentence_header;
+    sentence_str << buff;
-    sentence_header = "$GPGGA,";
-    sentence_str << sentence_header;
-
-    // UTC Time: hhmmss.sss
-    sentence_str << get_UTC_NMEA_time(d_PVT_data->get_position_UTC_time());
-
-    if (d_PVT_data->is_averaging() == true)
-        {
-            // Latitude ddmm.mmmm,(N or S)
-            sentence_str << "," << latitude_to_hm(d_PVT_data->get_avg_latitude());
-            // longitude dddmm.mmmm,(E or W)
-            sentence_str << "," << longitude_to_hm(d_PVT_data->get_avg_longitude());
-        }
-    else
-        {
-            // Latitude ddmm.mmmm,(N or S)
-            sentence_str << "," << latitude_to_hm(d_PVT_data->get_latitude());
-            // longitude dddmm.mmmm,(E or W)
-            sentence_str << "," << longitude_to_hm(d_PVT_data->get_longitude());
-        }
-
-    // Position fix indicator
-    // 0 - Fix not available or invalid
-    // 1 - GPS SPS Mode, fix valid
-    // 2 - Differential GPS, SPS Mode, fix valid
-    // 3-5 - Not supported
-    // 6 - Dead Reckoning Mode, fix valid
-    // ToDo: Update PVT module to identify the fix mode
-
-    if (valid_fix == true)
-        {
-            sentence_str << ",1";
-        }
-    else
-        {
-            sentence_str << ",0";
-        }
-
-    // Number of satellites used in PVT
-    sentence_str << ",";
-    if (n_channels < 10)
-        {
-            sentence_str << '0' << n_channels;
-        }
-    else
-        {
-            sentence_str << n_channels;
-        }
-
-    // HDOP
-    sentence_str << ",";
-    sentence_str.setf(std::ios::fixed, std::ios::floatfield);
-    sentence_str.width(2);
-    sentence_str.precision(1);
-    sentence_str.fill('0');
-    sentence_str << hdop;
-
-    // MSL Altitude
-    sentence_str << ",";
-    sentence_str.precision(1);
-    sentence_str << MSL_altitude;
-    sentence_str << ",M";
-
-    // Geoid-to-ellipsoid separation. Ellipsoid altitude = MSL Altitude + Geoid Separation.
-    // ToDo: Compute this value
-    sentence_str << ",";
-    sentence_str << "0.0";
-    sentence_str << ",M";
-
-    // Age of Diff. Corr.  (Seconds) Null fields when DGPS is not used
-    // Diff. Ref. Station ID (0000)
-    // ToDo: Implement this fields for Differential GPS
-    sentence_str << ",";
-    sentence_str << "0.0,0000";
-
-    // Checksum
-    char checksum;
-    std::string tmpstr;
-    tmpstr = sentence_str.str();
-    checksum = checkSum(tmpstr.substr(1));
-    sentence_str << "*";
-    sentence_str.width(2);
-    sentence_str.fill('0');
-    sentence_str << std::hex << static_cast<int>(checksum);
-
-    // end NMEA sentence
-    sentence_str << "\r\n";
     return sentence_str.str();
     // $GPGGA,104427.591,5920.7009,N,01803.2938,E,1,05,3.3,78.2,M,23.2,M,0.0,0000*4A
 }

src/algorithms/PVT/libs/pvt_solution.cc

@@ -31,6 +31,7 @@
 
 #include "pvt_solution.h"
 #include "GPS_L1_CA.h"
+#include "geofunctions.h"
 #include <glog/logging.h>
 #include <exception>
 
@@ -43,6 +44,8 @@ Pvt_Solution::Pvt_Solution()
     d_latitude_d = 0.0;
     d_longitude_d = 0.0;
     d_height_m = 0.0;
+    d_speed_over_ground_m_s = 0.0;
+    d_course_over_ground_d = 0.0;
     d_avg_latitude_d = 0.0;
     d_avg_longitude_d = 0.0;
     d_avg_height_m = 0.0;
@@ -126,125 +129,7 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
     d_latitude_d = phi * 180.0 / GPS_PI;
     d_longitude_d = lambda * 180.0 / GPS_PI;
     d_height_m = h;
-    return 0;
+    //todo: refactor this class. Mix of duplicated functions, use either RTKLIB geodetic functions or geofunctions.h
-}
-
-
-int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z)
-{
-    /* Subroutine to calculate geodetic coordinates latitude, longitude,
-       height given Cartesian coordinates X,Y,Z, and reference ellipsoid
-       values semi-major axis (a) and the inverse of flattening (finv).
-
-       The output units of angular quantities will be in decimal degrees
-       (15.5 degrees not 15 deg 30 min). The output units of h will be the
-       same as the units of X,Y,Z,a.
-
-       Inputs:
-               a           - semi-major axis of the reference ellipsoid
-               finv        - inverse of flattening of the reference ellipsoid
-               X,Y,Z       - Cartesian coordinates
-
-       Outputs:
-               dphi        - latitude
-               dlambda     - longitude
-               h           - height above reference ellipsoid
-
-       Based in a Matlab function by Kai Borre
-     */
-
-    *h = 0;
-    double tolsq = 1.e-10;  // tolerance to accept convergence
-    int maxit = 10;         // max number of iterations
-    double rtd = 180.0 / GPS_PI;
-
-    // compute square of eccentricity
-    double esq;
-    if (finv < 1.0E-20)
-        {
-            esq = 0.0;
-        }
-    else
-        {
-            esq = (2.0 - 1.0 / finv) / finv;
-        }
-
-    // first guess
-    double P = sqrt(X * X + Y * Y);  // P is distance from spin axis
-
-    //direct calculation of longitude
-    if (P > 1.0E-20)
-        {
-            *dlambda = atan2(Y, X) * rtd;
-        }
-    else
-        {
-            *dlambda = 0.0;
-        }
-
-    // correct longitude bound
-    if (*dlambda < 0)
-        {
-            *dlambda = *dlambda + 360.0;
-        }
-
-    double r = sqrt(P * P + Z * Z);  // r is distance from origin (0,0,0)
-
-    double sinphi;
-    if (r > 1.0E-20)
-        {
-            sinphi = Z / r;
-        }
-    else
-        {
-            sinphi = 0.0;
-        }
-    *dphi = asin(sinphi);
-
-    // initial value of height  =  distance from origin minus
-    // approximate distance from origin to surface of ellipsoid
-    if (r < 1.0E-20)
-        {
-            *h = 0;
-            return 1;
-        }
-
-    *h = r - a * (1 - sinphi * sinphi / finv);
-
-    // iterate
-    double cosphi;
-    double N_phi;
-    double dP;
-    double dZ;
-    double oneesq = 1.0 - esq;
-
-    for (int i = 0; i < maxit; i++)
-        {
-            sinphi = sin(*dphi);
-            cosphi = cos(*dphi);
-
-            // compute radius of curvature in prime vertical direction
-            N_phi = a / sqrt(1 - esq * sinphi * sinphi);
-
-            //    compute residuals in P and Z
-            dP = P - (N_phi + (*h)) * cosphi;
-            dZ = Z - (N_phi * oneesq + (*h)) * sinphi;
-
-            //    update height and latitude
-            *h = *h + (sinphi * dZ + cosphi * dP);
-            *dphi = *dphi + (cosphi * dZ - sinphi * dP) / (N_phi + (*h));
-
-            //     test for convergence
-            if ((dP * dP + dZ * dZ) < tolsq)
-                {
-                    break;
-                }
-            if (i == (maxit - 1))
-                {
-                    LOG(WARNING) << "The computation of geodetic coordinates did not converge";
-                }
-        }
-    *dphi = (*dphi) * rtd;
     return 0;
 }
 
@@ -356,73 +241,6 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
 }
 
 
-int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx)
-{
-    /*  Transformation of vector dx into topocentric coordinate
-      system with origin at x
-         Inputs:
-            x           - vector origin coordinates (in ECEF system [X; Y; Z;])
-            dx          - vector ([dX; dY; dZ;]).
-
-         Outputs:
-            D           - vector length. Units like the input
-            Az          - azimuth from north positive clockwise, degrees
-            El          - elevation angle, degrees
-
-            Based on a Matlab function by Kai Borre
-     */
-
-    double lambda;
-    double phi;
-    double h;
-    double dtr = GPS_PI / 180.0;
-    double a = 6378137.0;         // semi-major axis of the reference ellipsoid WGS-84
-    double finv = 298.257223563;  // inverse of flattening of the reference ellipsoid WGS-84
-
-    // Transform x into geodetic coordinates
-    Pvt_Solution::togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2));
-
-    double cl = cos(lambda * dtr);
-    double sl = sin(lambda * dtr);
-    double cb = cos(phi * dtr);
-    double sb = sin(phi * dtr);
-
-    arma::mat F = {{-sl, -sb * cl, cb * cl},
-        {cl, -sb * sl, cb * sl},
-        {0, 0, cb, sb}};
-
-    arma::vec local_vector;
-
-    local_vector = arma::htrans(F) * dx;
-
-    double E = local_vector(0);
-    double N = local_vector(1);
-    double U = local_vector(2);
-
-    double hor_dis;
-    hor_dis = sqrt(E * E + N * N);
-
-    if (hor_dis < 1.0E-20)
-        {
-            *Az = 0;
-            *El = 90;
-        }
-    else
-        {
-            *Az = atan2(E, N) / dtr;
-            *El = atan2(U, hor_dis) / dtr;
-        }
-
-    if (*Az < 0)
-        {
-            *Az = *Az + 360.0;
-        }
-
-    *D = sqrt(dx(0) * dx(0) + dx(1) * dx(1) + dx(2) * dx(2));
-    return 0;
-}
-
-
 void Pvt_Solution::set_averaging_depth(int depth)
 {
     d_averaging_depth = depth;
@@ -517,6 +335,30 @@ double Pvt_Solution::get_height() const
 }
 
 
+double Pvt_Solution::get_speed_over_ground() const
+{
+    return d_speed_over_ground_m_s;
+}
+
+
+void Pvt_Solution::set_speed_over_ground(double speed_m_s)
+{
+    d_speed_over_ground_m_s = speed_m_s;
+}
+
+
+void Pvt_Solution::set_course_over_ground(double cog_deg)
+{
+    d_course_over_ground_d = cog_deg;
+}
+
+
+double Pvt_Solution::get_course_over_ground() const
+{
+    return d_course_over_ground_d;
+}
+
+
 double Pvt_Solution::get_avg_latitude() const
 {
     return d_avg_latitude_d;
@@ -540,6 +382,7 @@ bool Pvt_Solution::is_averaging() const
     return d_flag_averaging;
 }
 
+
 bool Pvt_Solution::is_valid_position() const
 {
     return b_valid_position;
@@ -589,172 +432,3 @@ void Pvt_Solution::set_num_valid_observations(int num)
 {
     d_valid_observations = num;
 }
-
-
-bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
-{
-    if (index >= PVT_MAX_CHANNELS)
-        {
-            LOG(WARNING) << "Setting sat ID to channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
-            return false;
-        }
-    else
-        {
-            if (prn >= PVT_MAX_PRN)
-                {
-                    LOG(WARNING) << "Setting to channel " << index << " a PRN of " << prn << " (the maximum is " << PVT_MAX_PRN << ")";
-                    return false;
-                }
-            else
-                {
-                    d_visible_satellites_IDs[index] = prn;
-                    return true;
-                }
-        }
-}
-
-
-unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const
-{
-    if (index >= PVT_MAX_CHANNELS)
-        {
-            LOG(WARNING) << "Getting sat ID for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
-            return 0;
-        }
-    else
-        {
-            return d_visible_satellites_IDs[index];
-        }
-}
-
-
-bool Pvt_Solution::set_visible_satellites_El(size_t index, double el)
-{
-    if (index >= PVT_MAX_CHANNELS)
-        {
-            LOG(WARNING) << "Setting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
-            return false;
-        }
-    else
-        {
-            if (el > 90.0)
-                {
-                    LOG(WARNING) << "Setting a sat elevation > 90 [degrees]. Saturating to 90";
-                    d_visible_satellites_El[index] = 90.0;
-                }
-            else
-                {
-                    if (el < -90.0)
-                        {
-                            LOG(WARNING) << "Setting a sat elevation < -90 [degrees]. Saturating to -90";
-                            d_visible_satellites_El[index] = -90.0;
-                        }
-                    else
-                        {
-                            d_visible_satellites_El[index] = el;
-                        }
-                }
-            return true;
-        }
-}
-
-
-double Pvt_Solution::get_visible_satellites_El(size_t index) const
-{
-    if (index >= PVT_MAX_CHANNELS)
-        {
-            LOG(WARNING) << "Getting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
-            return 0.0;
-        }
-    else
-        {
-            return d_visible_satellites_El[index];
-        }
-}
-
-
-bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
-{
-    if (index >= PVT_MAX_CHANNELS)
-        {
-            LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
-            return false;
-        }
-    else
-        {
-            d_visible_satellites_Az[index] = az;
-            return true;
-        }
-}
-
-
-double Pvt_Solution::get_visible_satellites_Az(size_t index) const
-{
-    if (index >= PVT_MAX_CHANNELS)
-        {
-            LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
-            return 0.0;
-        }
-    else
-        {
-            return d_visible_satellites_Az[index];
-        }
-}
-
-
-bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
-{
-    if (index >= PVT_MAX_CHANNELS)
-        {
-            LOG(WARNING) << "Setting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
-            return false;
-        }
-    else
-        {
-            d_visible_satellites_Distance[index] = dist;
-            return true;
-        }
-}
-
-
-double Pvt_Solution::get_visible_satellites_Distance(size_t index) const
-{
-    if (index >= PVT_MAX_CHANNELS)
-        {
-            LOG(WARNING) << "Getting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
-            return 0.0;
-        }
-    else
-        {
-            return d_visible_satellites_Distance[index];
-        }
-}
-
-
-bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
-{
-    if (index >= PVT_MAX_CHANNELS)
-        {
-            LOG(WARNING) << "Setting sat Cn0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
-            return false;
-        }
-    else
-        {
-            d_visible_satellites_CN0_dB[index] = cn0;
-            return true;
-        }
-}
-
-
-double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const
-{
-    if (index >= PVT_MAX_CHANNELS)
-        {
-            LOG(WARNING) << "Getting received CN0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
-            return 0.0;
-        }
-    else
-        {
-            return d_visible_satellites_CN0_dB[index];
-        }
-}

src/algorithms/PVT/libs/pvt_solution.h

@@ -52,6 +52,8 @@ private:
     double d_latitude_d;             // RX position Latitude WGS84 [deg]
     double d_longitude_d;            // RX position Longitude WGS84 [deg]
     double d_height_m;               // RX position height WGS84 [m]
+    double d_speed_over_ground_m_s;  // RX speed over ground [m/s]
+    double d_course_over_ground_d;   // RX course over ground [deg]
 
     double d_avg_latitude_d;   // Averaged latitude in degrees
     double d_avg_longitude_d;  // Averaged longitude in degrees
@@ -70,12 +72,6 @@ private:
     boost::posix_time::ptime d_position_UTC_time;
     int d_valid_observations;
 
-    int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {};          // Array with the IDs of the valid satellites
-    double d_visible_satellites_El[PVT_MAX_CHANNELS] = {};        // Array with the LOS Elevation of the valid satellites
-    double d_visible_satellites_Az[PVT_MAX_CHANNELS] = {};        // Array with the LOS Azimuth of the valid satellites
-    double d_visible_satellites_Distance[PVT_MAX_CHANNELS] = {};  // Array with the LOS Distance of the valid satellites
-    double d_visible_satellites_CN0_dB[PVT_MAX_CHANNELS] = {};    // Array with the IDs of the valid satellites
-
 public:
     Pvt_Solution();
 
@@ -86,6 +82,12 @@ public:
     double get_longitude() const;  //!< Get RX position Longitude WGS84 [deg]
     double get_height() const;     //!< Get RX position height WGS84 [m]
 
+    double get_speed_over_ground() const;          //!< Get RX speed over ground [m/s]
+    void set_speed_over_ground(double speed_m_s);  //!< Set RX speed over ground [m/s]
+
+    double get_course_over_ground() const;        //!< Get RX course over ground [deg]
+    void set_course_over_ground(double cog_deg);  //!< Set RX course over ground [deg]
+
     double get_avg_latitude() const;   //!< Get RX position averaged Latitude WGS84 [deg]
     double get_avg_longitude() const;  //!< Get RX position averaged Longitude WGS84 [deg]
     double get_avg_height() const;     //!< Get RX position averaged height WGS84 [m]
@@ -102,21 +104,6 @@ public:
     int get_num_valid_observations() const;    //!< Get the number of valid pseudorange observations (valid satellites)
     void set_num_valid_observations(int num);  //!< Set the number of valid pseudorange observations (valid satellites)
 
-    bool set_visible_satellites_ID(size_t index, unsigned int prn);  //!< Set the ID of the visible satellite index channel
-    unsigned int get_visible_satellites_ID(size_t index) const;      //!< Get the ID of the visible satellite index channel
-
-    bool set_visible_satellites_El(size_t index, double el);  //!< Set the LOS Elevation, in degrees, of the visible satellite index channel
-    double get_visible_satellites_El(size_t index) const;     //!< Get the LOS Elevation, in degrees, of the visible satellite index channel
-
-    bool set_visible_satellites_Az(size_t index, double az);  //!< Set the LOS Azimuth, in degrees, of the visible satellite index channel
-    double get_visible_satellites_Az(size_t index) const;     //!< Get the LOS Azimuth, in degrees, of the visible satellite index channel
-
-    bool set_visible_satellites_Distance(size_t index, double dist);  //!< Set the LOS Distance of the visible satellite index channel
-    double get_visible_satellites_Distance(size_t index) const;       //!< Get the LOS Distance of the visible satellite index channel
-
-    bool set_visible_satellites_CN0_dB(size_t index, double cn0);  //!< Set the CN0 in dB of the visible satellite index channel
-    double get_visible_satellites_CN0_dB(size_t index) const;      //!< Get the CN0 in dB of the visible satellite index channel
-
     //averaging
     void perform_pos_averaging();
     void set_averaging_depth(int depth);  //!< Set length of averaging window
@@ -142,41 +129,6 @@ public:
       */
     int cart2geo(double X, double Y, double Z, int elipsoid_selection);
 
-    /*!
-      * \brief Transformation of vector dx into topocentric coordinate system with origin at x
-      *
-      * \param[in] x    Vector origin coordinates (in ECEF system [X; Y; Z;])
-      * \param[in] dx   Vector ([dX; dY; dZ;]).
-      *
-      * \param[out] D   Vector length. Units like the input
-      * \param[out] Az  Azimuth from north positive clockwise, degrees
-      * \param[out] El  Elevation angle, degrees
-      *
-      * Based on a Matlab function by Kai Borre
-      */
-    int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx);
-
-    /*!
-      * \brief Subroutine to calculate geodetic coordinates latitude, longitude,
-      * height given Cartesian coordinates X,Y,Z, and reference ellipsoid
-      * values semi-major axis (a) and the inverse of flattening (finv).
-      *
-      *  The output units of angular quantities will be in decimal degrees
-      *  (15.5 degrees not 15 deg 30 min). The output units of h will be the
-      *  same as the units of X,Y,Z,a.
-      *
-      *  \param[in] a           - semi-major axis of the reference ellipsoid
-      *  \param[in] finv        - inverse of flattening of the reference ellipsoid
-      *  \param[in] X,Y,Z       - Cartesian coordinates
-      *
-      *  \param[out] dphi        - latitude
-      *  \param[out] dlambda     - longitude
-      *  \param[out] h           - height above reference ellipsoid
-      *
-      * Based in a Matlab function by Kai Borre
-      */
-    int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
-
     /*!
       * \brief Tropospheric correction
       *

src/algorithms/PVT/libs/rinex_printer.cc

@@ -3296,8 +3296,8 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Glo
     std::string line;
     std::map<int32_t, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
 
-    for (glonass_gnav_ephemeris_iter = eph_map.begin();
+    for (glonass_gnav_ephemeris_iter = eph_map.cbegin();
-         glonass_gnav_ephemeris_iter != eph_map.end();
+         glonass_gnav_ephemeris_iter != eph_map.cend();
          glonass_gnav_ephemeris_iter++)
         {
             // -------- SV / EPOCH / SV CLK
@@ -7114,15 +7114,15 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
             //Number of satellites observed in current epoch
             int32_t numSatellitesObserved = 0;
             std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
-            for (observables_iter = observables.begin();
+            for (observables_iter = observables.cbegin();
-                 observables_iter != observables.end();
+                 observables_iter != observables.cend();
                  observables_iter++)
                 {
                     numSatellitesObserved++;
                 }
             line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
-            for (observables_iter = observables.begin();
+            for (observables_iter = observables.cbegin();
-                 observables_iter != observables.end();
+                 observables_iter != observables.cend();
                  observables_iter++)
                 {
                     line += satelliteSystem["GLONASS"];
@@ -7135,8 +7135,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-            for (observables_iter = observables.begin();
+            for (observables_iter = observables.cbegin();
-                 observables_iter != observables.end();
+                 observables_iter != observables.cend();
                  observables_iter++)
                 {
                     std::string lineObs;
@@ -7218,8 +7218,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
             //Number of satellites observed in current epoch
             int32_t numSatellitesObserved = 0;
             std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
-            for (observables_iter = observables.begin();
+            for (observables_iter = observables.cbegin();
-                 observables_iter != observables.end();
+                 observables_iter != observables.cend();
                  observables_iter++)
                 {
                     numSatellitesObserved++;
@@ -7233,8 +7233,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
             Rinex_Printer::lengthCheck(line);
             out << line << std::endl;
 
-            for (observables_iter = observables.begin();
+            for (observables_iter = observables.cbegin();
-                 observables_iter != observables.end();
+                 observables_iter != observables.cend();
                  observables_iter++)
                 {
                     std::string lineObs;
@@ -7390,8 +7390,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
     std::map<int32_t, Gnss_Synchro> observablesR2C;
     std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
 
-    for (observables_iter = observables.begin();
+    for (observables_iter = observables.cbegin();
-         observables_iter != observables.end();
+         observables_iter != observables.cend();
          observables_iter++)
         {
             std::string system_(&observables_iter->second.System, 1);
@@ -7413,8 +7413,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
     std::multimap<uint32_t, Gnss_Synchro> total_glo_map;
     std::set<uint32_t> available_glo_prns;
     std::set<uint32_t>::iterator it;
-    for (observables_iter = observablesR1C.begin();
+    for (observables_iter = observablesR1C.cbegin();
-         observables_iter != observablesR1C.end();
+         observables_iter != observablesR1C.cend();
          observables_iter++)
         {
             uint32_t prn_ = observables_iter->second.PRN;
@@ -7426,8 +7426,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                 }
         }
 
-    for (observables_iter = observablesR2C.begin();
+    for (observables_iter = observablesR2C.cbegin();
-         observables_iter != observablesR2C.end();
+         observables_iter != observablesR2C.cend();
          observables_iter++)
         {
             uint32_t prn_ = observables_iter->second.PRN;
@@ -7446,8 +7446,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
     if (version == 2)
         {
             // Add list of GPS satellites
-            for (observables_iter = observablesG1C.begin();
+            for (observables_iter = observablesG1C.cbegin();
-                 observables_iter != observablesG1C.end();
+                 observables_iter != observablesG1C.cend();
                  observables_iter++)
                 {
                     line += satelliteSystem["GPS"];
@@ -7455,8 +7455,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                     line += boost::lexical_cast<std::string>(static_cast<int32_t>(observables_iter->second.PRN));
                 }
             // Add list of GLONASS L1 satellites
-            for (observables_iter = observablesR1C.begin();
+            for (observables_iter = observablesR1C.cbegin();
-                 observables_iter != observablesR1C.end();
+                 observables_iter != observablesR1C.cend();
                  observables_iter++)
                 {
                     line += satelliteSystem["GLONASS"];
@@ -7464,8 +7464,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
                     line += boost::lexical_cast<std::string>(static_cast<int32_t>(observables_iter->second.PRN));
                 }
             // Add list of GLONASS L2 satellites
-            for (observables_iter = observablesR2C.begin();
+            for (observables_iter = observablesR2C.cbegin();
-                 observables_iter != observablesR2C.end();
+                 observables_iter != observablesR2C.cend();
                  observables_iter++)
                 {
                     line += satelliteSystem["GLONASS"];
@@ -7480,8 +7480,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
     // -------- OBSERVATION record
     std::string s;
     std::string lineObs;
-    for (observables_iter = observablesG1C.begin();
+    for (observables_iter = observablesG1C.cbegin();
-         observables_iter != observablesG1C.end();
+         observables_iter != observablesG1C.cend();
          observables_iter++)
         {
             lineObs.clear();
@@ -7664,8 +7664,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
     std::map<int32_t, Gnss_Synchro> observablesR2C;
     std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
 
-    for (observables_iter = observables.begin();
+    for (observables_iter = observables.cbegin();
-         observables_iter != observables.end();
+         observables_iter != observables.cend();
          observables_iter++)
         {
             std::string system_(&observables_iter->second.System, 1);
@@ -7687,8 +7687,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
     std::multimap<uint32_t, Gnss_Synchro> total_glo_map;
     std::set<uint32_t> available_glo_prns;
     std::set<uint32_t>::iterator it;
-    for (observables_iter = observablesR1C.begin();
+    for (observables_iter = observablesR1C.cbegin();
-         observables_iter != observablesR1C.end();
+         observables_iter != observablesR1C.cend();
          observables_iter++)
         {
             uint32_t prn_ = observables_iter->second.PRN;
@@ -7700,8 +7700,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
                 }
         }
 
-    for (observables_iter = observablesR2C.begin();
+    for (observables_iter = observablesR2C.cbegin();
-         observables_iter != observablesR2C.end();
+         observables_iter != observablesR2C.cend();
          observables_iter++)
         {
             uint32_t prn_ = observables_iter->second.PRN;
@@ -7725,8 +7725,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
     // -------- OBSERVATION record
     std::string s;
     std::string lineObs;
-    for (observables_iter = observablesG2S.begin();
+    for (observables_iter = observablesG2S.cbegin();
-         observables_iter != observablesG2S.end();
+         observables_iter != observablesG2S.cend();
          observables_iter++)
         {
             lineObs.clear();
@@ -7904,8 +7904,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
     std::map<int32_t, Gnss_Synchro> observablesR2C;
     std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
 
-    for (observables_iter = observables.begin();
+    for (observables_iter = observables.cbegin();
-         observables_iter != observables.end();
+         observables_iter != observables.cend();
          observables_iter++)
         {
             std::string system_(&observables_iter->second.System, 1);
@@ -7927,8 +7927,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
     std::multimap<uint32_t, Gnss_Synchro> total_glo_map;
     std::set<uint32_t> available_glo_prns;
     std::set<uint32_t>::iterator it;
-    for (observables_iter = observablesR1C.begin();
+    for (observables_iter = observablesR1C.cbegin();
-         observables_iter != observablesR1C.end();
+         observables_iter != observablesR1C.cend();
          observables_iter++)
         {
             uint32_t prn_ = observables_iter->second.PRN;
@@ -7939,8 +7939,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
                     available_glo_prns.insert(prn_);
                 }
         }
-    for (observables_iter = observablesR2C.begin();
+    for (observables_iter = observablesR2C.cbegin();
-         observables_iter != observablesR2C.end();
+         observables_iter != observablesR2C.cend();
          observables_iter++)
         {
             uint32_t prn_ = observables_iter->second.PRN;
@@ -7966,8 +7966,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ga
 
     std::string s;
     std::string lineObs;
-    for (observables_iter = observablesE1B.begin();
+    for (observables_iter = observablesE1B.cbegin();
-         observables_iter != observablesE1B.end();
+         observables_iter != observablesE1B.cend();
          observables_iter++)
         {
             lineObs.clear();
@@ -8747,8 +8747,8 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
     std::set<uint32_t>::iterator it;
     if (found_1B != std::string::npos)
         {
-            for (observables_iter = observablesE1B.begin();
+            for (observables_iter = observablesE1B.cbegin();
-                 observables_iter != observablesE1B.end();
+                 observables_iter != observablesE1B.cend();
                  observables_iter++)
                 {
                     uint32_t prn_ = observables_iter->second.PRN;

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -53,6 +53,7 @@
 
 #include "rtklib_solver.h"
 #include "rtklib_conversions.h"
+#include "rtklib_solution.h"
 #include "GPS_L1_CA.h"
 #include "Galileo_E1.h"
 #include "GLONASS_L1_L2_CA.h"
@@ -74,7 +75,11 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
     rtk_ = rtk;
     for (unsigned int i = 0; i < 4; i++) dop_[i] = 0.0;
     pvt_sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
-
+    ssat_t ssat0 = {0, 0, {0.0}, {0.0}, {0.0}, {'0'}, {'0'}, {'0'}, {'0'}, {'0'}, {}, {}, {}, {}, 0.0, 0.0, 0.0, 0.0, {{{0, 0}}, {{0, 0}}}, {{}, {}}};
+    for (unsigned int i = 0; i < MAXSAT; i++)
+        {
+            pvt_ssat[i] = ssat0;
+        }
     // ############# ENABLE DATA FILE LOG #################
     if (d_flag_dump_enabled == true)
         {
@@ -772,9 +777,9 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
 
             for (int i = 0; i < MAXSAT; i++)
                 {
-                    nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
+                    nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1;  // L1/E1
-                    nav_data.lam[i][1] = SPEED_OF_LIGHT / FREQ2; /* L2 */
+                    nav_data.lam[i][1] = SPEED_OF_LIGHT / FREQ2;  // L2
-                    nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; /* L5/E5 */
+                    nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5;  // L5/E5
                 }
 
             result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
@@ -794,7 +799,11 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     unsigned int used_sats = 0;
                     for (unsigned int i = 0; i < MAXSAT; i++)
                         {
-                            if (rtk_.ssat[i].vs == 1) used_sats++;
+                            pvt_ssat[i] = rtk_.ssat[i];
+                            if (rtk_.ssat[i].vs == 1)
+                                {
+                                    used_sats++;
+                                }
                         }
 
                     std::vector<double> azel;
@@ -809,8 +818,8 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                     index_aux++;
                                 }
                         }
-                    if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_);
 
+                    if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_);
                     this->set_valid_position(true);
                     arma::vec rx_position_and_time(4);
                     rx_position_and_time(0) = pvt_sol.rr[0];  // [m]
@@ -827,6 +836,22 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                             rx_position_and_time(3) = pvt_sol.dtr[0] / GPS_C_m_s;  // the receiver clock offset is expressed in [meters], so we convert it into [s]
                         }
                     this->set_rx_pos(rx_position_and_time.rows(0, 2));  // save ECEF position for the next iteration
+
+                    //compute Ground speed and COG
+                    double ground_speed_ms = 0.0;
+                    double pos[3];
+                    double enuv[3];
+                    ecef2pos(pvt_sol.rr, pos);
+                    ecef2enu(pos, &pvt_sol.rr[3], enuv);
+                    this->set_speed_over_ground(norm_rtk(enuv, 2));
+                    double new_cog;
+                    if (ground_speed_ms >= 1.0)
+                        {
+                            new_cog = atan2(enuv[0], enuv[1]) * R2D;
+                            if (new_cog < 0.0) new_cog += 360.0;
+                            this->set_course_over_ground(new_cog);
+                        }
+
                     //observable fix:
                     //double offset_s = this->get_time_offset_s();
                     //this->set_time_offset_s(offset_s + (rx_position_and_time(3) / GPS_C_m_s));  // accumulate the rx time error for the next iteration [meters]->[seconds]

src/algorithms/PVT/libs/rtklib_solver.h

@@ -86,6 +86,7 @@ private:
 
 public:
     sol_t pvt_sol;
+    ssat_t pvt_ssat[MAXSAT];
     rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, rtk_t& rtk);
     ~rtklib_solver();
 

src/algorithms/acquisition/CMakeLists.txt

@@ -19,4 +19,3 @@
 add_subdirectory(adapters)
 add_subdirectory(gnuradio_blocks)
 add_subdirectory(libs)
-

src/algorithms/acquisition/adapters/CMakeLists.txt

@@ -55,25 +55,32 @@ set(ACQ_ADAPTER_HEADERS
     glonass_l2_ca_pcps_acquisition.h
 )
 
-
 if(ENABLE_FPGA)
-    set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_acquisition_fpga.cc 
+    set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES}
+        gps_l1_ca_pcps_acquisition_fpga.cc
         gps_l2_m_pcps_acquisition_fpga.cc
         galileo_e1_pcps_ambiguous_acquisition_fpga.cc
         galileo_e5a_pcps_acquisition_fpga.cc
-                                                   gps_l5i_pcps_acquisition_fpga.cc)
+        gps_l5i_pcps_acquisition_fpga.cc
-
+    )
-    set(ACQ_ADAPTER_HEADERS ${ACQ_ADAPTER_HEADERS} gps_l1_ca_pcps_acquisition_fpga.h 
+    set(ACQ_ADAPTER_HEADERS ${ACQ_ADAPTER_HEADERS}
+        gps_l1_ca_pcps_acquisition_fpga.h
         gps_l2_m_pcps_acquisition_fpga.h
         galileo_e1_pcps_ambiguous_acquisition_fpga.h
         galileo_e5a_pcps_acquisition_fpga.h
-                                                   gps_l5i_pcps_acquisition_fpga.h)                                                   
+        gps_l5i_pcps_acquisition_fpga.h
-endif(ENABLE_FPGA)
+    )
+endif()
 
 if(OPENCL_FOUND)
-    set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_opencl_acquisition.cc)
+    set(ACQ_ADAPTER_SOURCES
-    set(ACQ_ADAPTER_HEADERS ${ACQ_ADAPTER_HEADERS} gps_l1_ca_pcps_opencl_acquisition.h)
+        ${ACQ_ADAPTER_SOURCES}
-endif(OPENCL_FOUND)
+        gps_l1_ca_pcps_opencl_acquisition.cc
+    )
+    set(ACQ_ADAPTER_HEADERS ${ACQ_ADAPTER_HEADERS}
+        gps_l1_ca_pcps_opencl_acquisition.h
+    )
+endif()
 
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
@@ -96,4 +103,12 @@ list(SORT ACQ_ADAPTER_HEADERS)
 list(SORT ACQ_ADAPTER_SOURCES)
 add_library(acq_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS})
 source_group(Headers FILES ${ACQ_ADAPTER_HEADERS})
-target_link_libraries(acq_adapters acquisition_lib gnss_sp_libs gnss_sdr_flags acq_gr_blocks ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})
+target_link_libraries(acq_adapters
+    acquisition_lib
+    gnss_sp_libs
+    gnss_sdr_flags
+    acq_gr_blocks
+    ${Boost_LIBRARIES}
+    ${GNURADIO_RUNTIME_LIBRARIES}
+    ${GNURADIO_BLOCKS_LIBRARIES}
+)

src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt

@@ -42,12 +42,12 @@ set(ACQ_GR_BLOCKS_HEADERS
 if(ENABLE_FPGA)
     set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_acquisition_fpga.cc)
     set(ACQ_GR_BLOCKS_HEADERS ${ACQ_GR_BLOCKS_HEADERS} pcps_acquisition_fpga.h)
-endif(ENABLE_FPGA)
+endif()
 
 if(OPENCL_FOUND)
     set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_opencl_acquisition_cc.cc)
     set(ACQ_GR_BLOCKS_HEADERS ${ACQ_GR_BLOCKS_HEADERS} pcps_opencl_acquisition_cc.h)
-endif(OPENCL_FOUND)
+endif()
 
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
@@ -65,15 +65,14 @@ include_directories(
     ${MATIO_INCLUDE_DIRS}
 )
 
-
 if(OPENCL_FOUND)
     include_directories(${OPENCL_INCLUDE_DIRS})
     if(OS_IS_MACOSX)
         set(OPT_LIBRARIES ${OPT_LIBRARIES} "-framework OpenCL")
-    else(OS_IS_MACOSX)
+    else()
         set(OPT_LIBRARIES ${OPT_LIBRARIES} ${OPENCL_LIBRARIES})
-    endif(OS_IS_MACOSX)
+    endif()
-endif(OPENCL_FOUND)
+endif()
 
 list(SORT ACQ_GR_BLOCKS_HEADERS)
 list(SORT ACQ_GR_BLOCKS_SOURCES)
@@ -81,11 +80,31 @@ add_library(acq_gr_blocks ${ACQ_GR_BLOCKS_SOURCES} ${ACQ_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${ACQ_GR_BLOCKS_HEADERS})
 
 if(ENABLE_FPGA)
-	target_link_libraries(acq_gr_blocks acquisition_lib gnss_sp_libs gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_FFT_LIBRARIES} ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${OPT_LIBRARIES} ${OPT_ACQUISITION_LIBRARIES})
+    target_link_libraries(acq_gr_blocks
-else(ENABLE_FPGA)
+        acquisition_lib
-	target_link_libraries(acq_gr_blocks gnss_sp_libs gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_FFT_LIBRARIES} ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${OPT_LIBRARIES} ${OPT_ACQUISITION_LIBRARIES} ${MATIO_LIBRARIES})
+        gnss_sp_libs
-endif(ENABLE_FPGA)
+        gnss_system_parameters
+        ${GNURADIO_RUNTIME_LIBRARIES}
+        ${GNURADIO_FFT_LIBRARIES}
+        ${VOLK_LIBRARIES}
+        ${VOLK_GNSSSDR_LIBRARIES}
+        ${OPT_LIBRARIES}
+        ${OPT_ACQUISITION_LIBRARIES}
+    )
+else()
+    target_link_libraries(acq_gr_blocks
+        gnss_sp_libs
+        gnss_system_parameters
+        ${GNURADIO_RUNTIME_LIBRARIES}
+        ${GNURADIO_FFT_LIBRARIES}
+        ${VOLK_LIBRARIES}
+        ${VOLK_GNSSSDR_LIBRARIES}
+        ${OPT_LIBRARIES}
+        ${MATIO_LIBRARIES}
+        ${OPT_ACQUISITION_LIBRARIES}
+    )
+endif()
 
-if(NOT VOLK_GNSSSDR_FOUND)
+if(NOT VOLKGNSSSDR_FOUND)
     add_dependencies(acq_gr_blocks volk_gnsssdr_module)
-endif(NOT VOLK_GNSSSDR_FOUND)
+endif()

src/algorithms/acquisition/libs/CMakeLists.txt

@@ -30,7 +30,7 @@ if(ENABLE_FPGA)
         ${GFlags_INCLUDE_DIRS}
         ${VOLK_GNSSSDR_INCLUDE_DIRS}
     )
-endif(ENABLE_FPGA)
+endif()
 
 set(ACQUISITION_LIB_HEADERS ${ACQUISITION_LIB_HEADERS} acq_conf.h)
 set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} acq_conf.cc)
@@ -38,11 +38,21 @@ set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} acq_conf.cc)
 list(SORT ACQUISITION_LIB_HEADERS)
 list(SORT ACQUISITION_LIB_SOURCES)
 
-add_library(acquisition_lib ${ACQUISITION_LIB_SOURCES} ${ACQUISITION_LIB_HEADERS})
+add_library(acquisition_lib
+    ${ACQUISITION_LIB_SOURCES}
+    ${ACQUISITION_LIB_HEADERS}
+)
+
 source_group(Headers FILES ${ACQUISITION_LIB_HEADERS})
-target_link_libraries(acquisition_lib ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})
+
-if(VOLK_GNSSSDR_FOUND)
+target_link_libraries(acquisition_lib
+    ${VOLK_LIBRARIES}
+    ${VOLK_GNSSSDR_LIBRARIES}
+    ${GNURADIO_RUNTIME_LIBRARIES}
+)
+
+if(VOLKGNSSSDR_FOUND)
     add_dependencies(acquisition_lib glog-${glog_RELEASE})
-else(VOLK_GNSSSDR_FOUND)
+else()
     add_dependencies(acquisition_lib glog-${glog_RELEASE} volk_gnsssdr_module)
 endif()

src/algorithms/channel/adapters/CMakeLists.txt

@@ -32,6 +32,16 @@ include_directories(
     ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-add_library(channel_adapters ${CHANNEL_ADAPTER_SOURCES} ${CHANNEL_ADAPTER_HEADERS})
+add_library(channel_adapters
+    ${CHANNEL_ADAPTER_SOURCES}
+    ${CHANNEL_ADAPTER_HEADERS}
+)
+
 source_group(Headers FILES ${CHANNEL_ADAPTER_HEADERS})
-target_link_libraries(channel_adapters channel_fsm ${GNURADIO_RUNTIME_LIBRARIES} ${Boost_LIBRARIES} gnss_sdr_flags)
+
+target_link_libraries(channel_adapters
+    channel_fsm
+    ${GNURADIO_RUNTIME_LIBRARIES}
+    ${Boost_LIBRARIES}
+    gnss_sdr_flags
+)

src/algorithms/channel/libs/CMakeLists.txt

@@ -46,4 +46,3 @@ source_group(Headers FILES ${CHANNEL_FSM_HEADERS})
 add_dependencies(channel_fsm glog-${glog_RELEASE})
 
 target_link_libraries(channel_fsm gnss_rx)
-

src/algorithms/channel/libs/channel_fsm.cc

@@ -59,7 +59,6 @@ bool ChannelFsm::Event_stop_channel()
     switch (d_state)
         {
         case 0:  //already in stanby
-            return true;
             break;
         case 1:  //acquisition
             d_state = 0;
@@ -70,8 +69,9 @@ bool ChannelFsm::Event_stop_channel()
             stop_tracking();
             break;
         default:
-            return true;
+            break;
         }
+    return true;
 }
 
 bool ChannelFsm::Event_start_acquisition()

src/algorithms/conditioner/CMakeLists.txt

@@ -17,4 +17,3 @@
 #
 
 add_subdirectory(adapters)
-#add_subdirectory(gnuradio_blocks)

src/algorithms/data_type_adapter/CMakeLists.txt

@@ -19,4 +19,3 @@
 
 add_subdirectory(adapters)
 add_subdirectory(gnuradio_blocks)
-

src/algorithms/data_type_adapter/adapters/CMakeLists.txt

@@ -50,7 +50,15 @@ include_directories(
 list(SORT DATATYPE_ADAPTER_HEADERS)
 list(SORT DATATYPE_ADAPTER_SOURCES)
 
-add_library(datatype_adapters ${DATATYPE_ADAPTER_SOURCES} ${DATATYPE_ADAPTER_HEADERS})
+add_library(datatype_adapters
+    ${DATATYPE_ADAPTER_SOURCES}
+    ${DATATYPE_ADAPTER_HEADERS}
+)
+
 source_group(Headers FILES ${DATATYPE_ADAPTER_HEADERS})
 add_dependencies(datatype_adapters glog-${glog_RELEASE})
-target_link_libraries(datatype_adapters data_type_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})
+target_link_libraries(datatype_adapters
+    data_type_gr_blocks
+    ${GNURADIO_RUNTIME_LIBRARIES}
+    ${GNURADIO_BLOCKS_LIBRARIES}
+)

src/algorithms/data_type_adapter/gnuradio_blocks/CMakeLists.txt

@@ -38,6 +38,14 @@ include_directories(
 list(SORT DATA_TYPE_GR_BLOCKS_HEADERS)
 list(SORT DATA_TYPE_GR_BLOCKS_SOURCES)
 
-add_library(data_type_gr_blocks ${DATA_TYPE_GR_BLOCKS_SOURCES} ${DATA_TYPE_GR_BLOCKS_HEADERS})
+add_library(data_type_gr_blocks
+    ${DATA_TYPE_GR_BLOCKS_SOURCES}
+    ${DATA_TYPE_GR_BLOCKS_HEADERS}
+)
+
 source_group(Headers FILES ${DATA_TYPE_GR_BLOCKS_HEADERS})
-target_link_libraries(data_type_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${VOLK_LIBRARIES})
+
+target_link_libraries(data_type_gr_blocks
+    ${GNURADIO_RUNTIME_LIBRARIES}
+    ${VOLK_LIBRARIES}
+)

src/algorithms/input_filter/adapters/CMakeLists.txt

@@ -48,12 +48,22 @@ include_directories(
 
 if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4")
     add_definitions(-DGR_GREATER_38=1)
-endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
+endif()
 
 list(SORT INPUT_FILTER_ADAPTER_HEADERS)
 list(SORT INPUT_FILTER_ADAPTER_SOURCES)
 
-add_library(input_filter_adapters ${INPUT_FILTER_ADAPTER_SOURCES} ${INPUT_FILTER_ADAPTER_HEADERS})
+add_library(input_filter_adapters
+    ${INPUT_FILTER_ADAPTER_SOURCES}
+    ${INPUT_FILTER_ADAPTER_HEADERS}
+)
+
 source_group(Headers FILES ${INPUT_FILTER_ADAPTER_HEADERS})
 add_dependencies(input_filter_adapters glog-${glog_RELEASE} gnss_sp_libs)
-target_link_libraries(input_filter_adapters input_filter_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES} ${GNURADIO_FILTER_LIBRARIES} gnss_sp_libs)
+target_link_libraries(input_filter_adapters
+    input_filter_gr_blocks
+    ${GNURADIO_RUNTIME_LIBRARIES}
+    ${GNURADIO_BLOCKS_LIBRARIES}
+    ${GNURADIO_FILTER_LIBRARIES}
+    gnss_sp_libs
+)

src/algorithms/input_filter/gnuradio_blocks/CMakeLists.txt

@@ -43,13 +43,19 @@ include_directories(
 list(SORT INPUT_FILTER_GR_BLOCKS_HEADERS)
 list(SORT INPUT_FILTER_GR_BLOCKS_SOURCES)
 
-add_library(input_filter_gr_blocks ${INPUT_FILTER_GR_BLOCKS_SOURCES} ${INPUT_FILTER_GR_BLOCKS_HEADERS})
+add_library(input_filter_gr_blocks
+    ${INPUT_FILTER_GR_BLOCKS_SOURCES}
+    ${INPUT_FILTER_GR_BLOCKS_HEADERS})
+
 source_group(Headers FILES ${INPUT_FILTER_GR_BLOCKS_HEADERS})
 
-target_link_libraries(input_filter_gr_blocks ${GNURADIO_FILTER_LIBRARIES}  ${VOLK_GNSSSDR_LIBRARIES} ${LOG4CPP_LIBRARIES})
+target_link_libraries(input_filter_gr_blocks
+    ${GNURADIO_FILTER_LIBRARIES}
+    ${VOLK_GNSSSDR_LIBRARIES}
+    ${LOG4CPP_LIBRARIES})
 
-if(NOT VOLK_GNSSSDR_FOUND)
+if(NOT VOLKGNSSSDR_FOUND)
     add_dependencies(input_filter_gr_blocks volk_gnsssdr_module glog-${glog_RELEASE})
-else(NOT VOLK_GNSSSDR_FOUND)
+else()
     add_dependencies(input_filter_gr_blocks glog-${glog_RELEASE})
-endif(NOT VOLK_GNSSSDR_FOUND)
+endif()

src/algorithms/libs/CMakeLists.txt

@@ -39,6 +39,7 @@ set(GNSS_SPLIBS_SOURCES
     conjugate_sc.cc
     conjugate_ic.cc
     gnss_sdr_create_directory.cc
+    geofunctions.cc
 )
 
 set(GNSS_SPLIBS_HEADERS
@@ -63,21 +64,21 @@ set(GNSS_SPLIBS_HEADERS
     conjugate_ic.h
     gnss_sdr_create_directory.h
     gnss_circular_deque.h
+    geofunctions.h
 )
 
-
 if(ENABLE_FPGA)
-    set(GNSS_SPLIBS_SOURCES ${GNSS_SPLIBS_SOURCES}
+    set(GNSS_SPLIBS_SOURCES
+        ${GNSS_SPLIBS_SOURCES}
         gnss_sdr_time_counter.cc
         gnss_sdr_fpga_sample_counter.cc
     )
-
+    set(GNSS_SPLIBS_HEADERS
-    set(GNSS_SPLIBS_HEADERS ${GNSS_SPLIBS_HEADERS}
+        ${GNSS_SPLIBS_HEADERS}
         gnss_sdr_time_counter.h
         gnss_sdr_fpga_sample_counter.h
     )
-
+endif()
-endif(ENABLE_FPGA)
 
 if(OPENCL_FOUND)
     set(GNSS_SPLIBS_SOURCES ${GNSS_SPLIBS_SOURCES}
@@ -85,13 +86,12 @@ if(OPENCL_FOUND)
         opencl/fft_setup.cc # Needs OpenCL
         opencl/fft_kernelstring.cc # Needs OpenCL
     )
-
     set(GNSS_SPLIBS_HEADERS ${GNSS_SPLIBS_HEADERS}
         opencl/fft_execute.h # Needs OpenCL
         opencl/fft_setup.h # Needs OpenCL
         opencl/fft_kernelstring.h # Needs OpenCL
     )
-endif(OPENCL_FOUND)
+endif()
 
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
@@ -101,6 +101,7 @@ include_directories(
     ${Boost_INCLUDE_DIRS}
     ${GLOG_INCLUDE_DIRS}
     ${GFlags_INCLUDE_DIRS}
+    ${ARMADILLO_INCLUDE_DIRS}
     ${GNURADIO_RUNTIME_INCLUDE_DIRS}
     ${GNURADIO_BLOCKS_INCLUDE_DIRS}
     ${VOLK_INCLUDE_DIRS}
@@ -111,10 +112,10 @@ if(OPENCL_FOUND)
     include_directories(${OPENCL_INCLUDE_DIRS})
     if(OS_IS_MACOSX)
         set(OPT_LIBRARIES ${OPT_LIBRARIES} "-framework OpenCL")
-    else(OS_IS_MACOSX)
+    else()
         set(OPT_LIBRARIES ${OPT_LIBRARIES} ${OPENCL_LIBRARIES})
-    endif(OS_IS_MACOSX)
+    endif()
-endif(OPENCL_FOUND)
+endif()
 
 add_definitions(-DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}")
 
@@ -124,10 +125,12 @@ list(SORT GNSS_SPLIBS_SOURCES)
 add_library(gnss_sp_libs ${GNSS_SPLIBS_SOURCES} ${GNSS_SPLIBS_HEADERS})
 source_group(Headers FILES ${GNSS_SPLIBS_HEADERS})
 
-target_link_libraries(gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES}
+target_link_libraries(gnss_sp_libs
+    ${GNURADIO_RUNTIME_LIBRARIES}
     ${VOLK_LIBRARIES} ${ORC_LIBRARIES}
     ${VOLK_GNSSSDR_LIBRARIES}  ${ORC_LIBRARIES}
     ${GFlags_LIBS}
+    ${ARMADILLO_LIBRARIES}
     ${GNURADIO_BLOCKS_LIBRARIES}
     ${GNURADIO_FFT_LIBRARIES}
     ${GNURADIO_FILTER_LIBRARIES}
@@ -135,13 +138,16 @@ target_link_libraries(gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES}
     gnss_rx
 )
 
-if(NOT VOLK_GNSSSDR_FOUND)
+if(NOT VOLKGNSSSDR_FOUND)
-    add_dependencies(gnss_sp_libs volk_gnsssdr_module)
+    add_dependencies(gnss_sp_libs volk_gnsssdr_module
-endif(NOT VOLK_GNSSSDR_FOUND)
+        armadillo-${armadillo_RELEASE})
+else()
+    add_dependencies(gnss_sp_libs armadillo-${armadillo_RELEASE})
+endif()
 
 if(${GFLAGS_GREATER_20})
     add_definitions(-DGFLAGS_GREATER_2_0=1)
-endif(${GFLAGS_GREATER_20})
+endif()
 
 add_library(gnss_sdr_flags gnss_sdr_flags.cc gnss_sdr_flags.h)
 source_group(Headers FILES gnss_sdr_flags.h)

src/algorithms/libs/galileo_e1_signal_processing.cc

@@ -126,8 +126,8 @@ void galileo_e1_gen_float(float* _dest, int* _prn, char _Signal[3])
     const float alpha = sqrt(10.0 / 11.0);
     const float beta = sqrt(1.0 / 11.0);
 
-    int32_t sinboc_11[12 * 4092];  //  _codeLength not accepted by Clang
+    int32_t sinboc_11[12 * 4092] = {0};  //  _codeLength not accepted by Clang
-    int32_t sinboc_61[12 * 4092];
+    int32_t sinboc_61[12 * 4092] = {0};
 
     galileo_e1_sinboc_11_gen_int(sinboc_11, _prn, _codeLength);  //generate sinboc(1,1) 12 samples per chip
     galileo_e1_sinboc_61_gen_int(sinboc_61, _prn, _codeLength);  //generate sinboc(6,1) 12 samples per chip

src/algorithms/libs/galileo_e5_signal_processing.cc

@@ -131,12 +131,6 @@ void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Sig
         {
             _dest[(i + delay) % _samplesPerCode] = _code[i];
         }
-    if (_fs != _codeFreqBasis)
+
-        {
-            free(_code);
-        }
-    else
-        {
     delete[] _code;
 }
-}

src/algorithms/libs/geofunctions.cc

@@ -301,7 +301,7 @@ double mstokph(double MetersPerSeconds)
 arma::vec CTM_to_Euler(const arma::mat &C)
 {
     // Calculate Euler angles using (2.23)
-    arma::mat CTM = C;
+    arma::mat CTM(C);
     arma::vec eul = arma::zeros(3, 1);
     eul(0) = atan2(CTM(1, 2), CTM(2, 2));  // roll
     if (CTM(0, 2) < -1.0) CTM(0, 2) = -1.0;

src/algorithms/libs/gnss_sdr_valve.cc

@@ -2,6 +2,7 @@
  * \file gnss_sdr_valve.cc
  * \brief Implementation of a GNU Radio block that sends a STOP message to the
  * control queue right after a specific number of samples have passed through it.
+ * \author Javier Arribas, 2018. jarribas(at)cttc.es
  * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
  *
  *
@@ -39,26 +40,44 @@
 
 gnss_sdr_valve::gnss_sdr_valve(size_t sizeof_stream_item,
     unsigned long long nitems,
-    gr::msg_queue::sptr queue) : gr::sync_block("valve",
+    gr::msg_queue::sptr queue,
+    bool stop_flowgraph) : gr::sync_block("valve",
                                gr::io_signature::make(1, 1, sizeof_stream_item),
                                gr::io_signature::make(1, 1, sizeof_stream_item)),
                            d_nitems(nitems),
                            d_ncopied_items(0),
-                                 d_queue(queue)
+                           d_queue(queue),
+                           d_stop_flowgraph(stop_flowgraph)
 {
+    d_open_valve = false;
+}
+
+
+boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item, unsigned long long nitems, gr::msg_queue::sptr queue, bool stop_flowgraph)
+{
+    boost::shared_ptr<gnss_sdr_valve> valve_(new gnss_sdr_valve(sizeof_stream_item, nitems, queue, stop_flowgraph));
+    return valve_;
 }
 
 
 boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item, unsigned long long nitems, gr::msg_queue::sptr queue)
 {
-    boost::shared_ptr<gnss_sdr_valve> valve_(new gnss_sdr_valve(sizeof_stream_item, nitems, queue));
+    boost::shared_ptr<gnss_sdr_valve> valve_(new gnss_sdr_valve(sizeof_stream_item, nitems, queue, true));
     return valve_;
 }
 
 
+void gnss_sdr_valve::open_valve()
+{
+    d_open_valve = true;
+}
+
+
 int gnss_sdr_valve::work(int noutput_items,
     gr_vector_const_void_star &input_items,
     gr_vector_void_star &output_items)
+{
+    if (d_open_valve == false)
         {
             if (d_ncopied_items >= d_nitems)
                 {
@@ -66,15 +85,25 @@ int gnss_sdr_valve::work(int noutput_items,
                     d_queue->handle(cmf->GetQueueMessage(200, 0));
                     LOG(INFO) << "Stopping receiver, " << d_ncopied_items << " samples processed";
                     delete cmf;
+                    if (d_stop_flowgraph)
+                        {
                             return -1;  // Done!
                         }
+                    else
+                        {
+                            usleep(1000000);
+                            return 0;  // do not produce or consume
+                        }
+                }
             unsigned long long n = std::min(d_nitems - d_ncopied_items, static_cast<long long unsigned int>(noutput_items));
             if (n == 0) return 0;
             memcpy(output_items[0], input_items[0], n * input_signature()->sizeof_stream_item(0));
-    //for(long long i = 0; i++; i<n)
-    //    {
-    //        output_items[i] = input_items[i];
-    //    }
             d_ncopied_items += n;
             return n;
         }
+    else
+        {
+            memcpy(output_items[0], input_items[0], noutput_items * input_signature()->sizeof_stream_item(0));
+            return noutput_items;
+        }
+}

src/algorithms/libs/gnss_sdr_valve.h

@@ -2,6 +2,7 @@
  * \file gnss_sdr_valve.h
  * \brief  Interface of a GNU Radio block that sends a STOP message to the
  * control queue right after a specific number of samples have passed through it.
+ * \author Javier Arribas, 2018. jarribas(at)cttc.es
  * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
  *
  * -------------------------------------------------------------------------
@@ -37,10 +38,15 @@
 #include <gnuradio/msg_queue.h>
 #include <boost/shared_ptr.hpp>
 
-
 boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item,
     unsigned long long nitems,
     gr::msg_queue::sptr queue);
+
+boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item,
+    unsigned long long nitems,
+    gr::msg_queue::sptr queue,
+    bool stop_flowgraph);
+
 /*!
  * \brief Implementation of a GNU Radio block that sends a STOP message to the
  * control queue right after a specific number of samples have passed through it.
@@ -50,14 +56,23 @@ class gnss_sdr_valve : public gr::sync_block
     friend boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item,
         unsigned long long nitems,
         gr::msg_queue::sptr queue);
-    gnss_sdr_valve(size_t sizeof_stream_item,
+    friend boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item,
         unsigned long long nitems,
-        gr::msg_queue::sptr queue);
+        gr::msg_queue::sptr queue,
+        bool stop_flowgraph);
+
     unsigned long long d_nitems;
     unsigned long long d_ncopied_items;
     gr::msg_queue::sptr d_queue;
+    bool d_stop_flowgraph;
+    bool d_open_valve;
 
 public:
+    gnss_sdr_valve(size_t sizeof_stream_item,
+        unsigned long long nitems,
+        gr::msg_queue::sptr queue, bool stop_flowgraph);
+    void open_valve();
+
     int work(int noutput_items,
         gr_vector_const_void_star &input_items,
         gr_vector_void_star &output_items);

src/algorithms/libs/gps_sdr_signal_processing.cc

@@ -131,7 +131,7 @@ void gps_l1_ca_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift)
 void gps_l1_ca_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32_t _chip_shift)
 {
     const uint32_t _code_length = 1023;
-    int32_t ca_code_int[_code_length];
+    int32_t ca_code_int[_code_length] = {0};
 
     gps_l1_ca_code_gen_int(ca_code_int, _prn, _chip_shift);
 

src/algorithms/libs/rtklib/CMakeLists.txt

@@ -69,7 +69,6 @@ include_directories(
     ${GLOG_INCLUDE_DIRS}
 )
 
-
 list(SORT RTKLIB_LIB_HEADERS)
 list(SORT RTKLIB_LIB_SOURCES)
 
@@ -79,7 +78,7 @@ add_dependencies(rtklib_lib glog-${glog_RELEASE})
 
 if(OS_IS_MACOSX)
     set(MAC_LIBRARIES "-framework Accelerate")
-endif(OS_IS_MACOSX)
+endif()
 
 target_link_libraries(
     rtklib_lib

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -291,3 +291,59 @@ eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph)
 
     return rtklib_sat;
 }
+
+alm_t alm_to_rtklib(const Gps_Almanac& gps_alm)
+{
+    alm_t rtklib_alm;
+
+    rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+
+    rtklib_alm.sat = gps_alm.i_satellite_PRN;
+    rtklib_alm.svh = gps_alm.i_SV_health;
+    rtklib_alm.svconf = gps_alm.i_AS_status;
+    rtklib_alm.week = gps_alm.i_WNa;
+    gtime_t toa;
+    toa.time = gps_alm.i_Toa;
+    rtklib_alm.toa = toa;
+    rtklib_alm.A = gps_alm.d_sqrt_A * gps_alm.d_sqrt_A;
+    rtklib_alm.e = gps_alm.d_e_eccentricity;
+    rtklib_alm.i0 = (gps_alm.d_Delta_i + 0.3) * PI;
+    rtklib_alm.OMG0 = gps_alm.d_OMEGA0 * PI;
+    rtklib_alm.OMGd = gps_alm.d_OMEGA_DOT * PI;
+    rtklib_alm.omg = gps_alm.d_OMEGA * PI;
+    rtklib_alm.M0 = gps_alm.d_M_0 * PI;
+    rtklib_alm.f0 = gps_alm.d_A_f0;
+    rtklib_alm.f1 = gps_alm.d_A_f1;
+    rtklib_alm.toas = gps_alm.i_Toa;
+
+    return rtklib_alm;
+}
+
+
+alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm)
+{
+    alm_t rtklib_alm;
+
+    rtklib_alm = {0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+
+    rtklib_alm.sat = gal_alm.i_satellite_PRN + NSATGPS + NSATGLO;
+    rtklib_alm.svh = gal_alm.E1B_HS;
+    rtklib_alm.svconf = gal_alm.E1B_HS;
+    rtklib_alm.week = gal_alm.i_WNa;
+    gtime_t toa;
+    toa.time = gal_alm.i_Toa;
+    rtklib_alm.toa = toa;
+    rtklib_alm.A = 5440.588203494 + gal_alm.d_Delta_sqrt_A;
+    rtklib_alm.A = rtklib_alm.A * rtklib_alm.A;
+    rtklib_alm.e = gal_alm.d_e_eccentricity;
+    rtklib_alm.i0 = (gal_alm.d_Delta_i + 56.0 / 180.0) * PI;
+    rtklib_alm.OMG0 = gal_alm.d_OMEGA0 * PI;
+    rtklib_alm.OMGd = gal_alm.d_OMEGA_DOT * PI;
+    rtklib_alm.omg = gal_alm.d_OMEGA * PI;
+    rtklib_alm.M0 = gal_alm.d_M_0 * PI;
+    rtklib_alm.f0 = gal_alm.d_A_f0;
+    rtklib_alm.f1 = gal_alm.d_A_f1;
+    rtklib_alm.toas = gal_alm.i_Toa;
+
+    return rtklib_alm;
+}

src/algorithms/libs/rtklib/rtklib_conversions.h

@@ -38,10 +38,16 @@
 #include "gps_cnav_ephemeris.h"
 #include "glonass_gnav_ephemeris.h"
 #include "glonass_gnav_utc_model.h"
+#include "gps_almanac.h"
+#include "galileo_almanac.h"
 
 eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph);
 eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph);
 eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph);
+
+alm_t alm_to_rtklib(const Gps_Almanac& gps_alm);
+alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm);
+
 /*!
  * \brief Transforms a Glonass_Gnav_Ephemeris to its RTKLIB counterpart
  * \param glonass_gnav_eph GLONASS GNAV Ephemeris structure

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt

@@ -44,37 +44,37 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
             # retrieve the compiler's version from it
             string(REGEX MATCH "clang version [0-9.]+" CLANG_OTHER_VERSION ${_err})
             string(REGEX MATCH "[0-9.]+" CLANG_VERSION ${CLANG_OTHER_VERSION})
-        else("${IS_APPLE}" STREQUAL "")
+        else()
             set(MIN_VERSION ${GNSSSDR_APPLECLANG_MIN_VERSION})
             set(APPLE_STR "Apple ")
             # retrieve the compiler's version from it
             string(REGEX MATCH "(clang-[0-9.]+)" CLANG_APPLE_VERSION ${_err})
             string(REGEX MATCH "[0-9.]+" CLANG_VERSION ${CLANG_APPLE_VERSION})
-        endif("${IS_APPLE}" STREQUAL "")
+        endif()
         if(${CLANG_VERSION} VERSION_LESS "${MIN_VERSION}")
             message(WARNING "\nThe compiler selected to build VOLK-GNSSSDR (${APPLE_STR}Clang version ${CLANG_VERSION} : ${CMAKE_CXX_COMPILER}) is older than that officially supported (${MIN_VERSION} minimum). This build may or not work. We highly recommend using Apple Clang version ${APPLECLANG_MIN_VERSION} or more recent, or Clang version ${CLANG_MIN_VERSION} or more recent.")
-        endif(${CLANG_VERSION} VERSION_LESS "${MIN_VERSION}")
+        endif()
-    else(${_res} STREQUAL "0")
+    else()
         message(WARNING "\nCannot determine the version of the compiler selected to build VOLK-GNSSSDR (${APPLE_STR}Clang : ${CMAKE_CXX_COMPILER}). This build may or not work. We highly recommend using Apple Clang version ${APPLECLANG_MIN_VERSION} or more recent, or Clang version ${CLANG_MIN_VERSION} or more recent.")
-    endif(${_res} STREQUAL "0")
+    endif()
-endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+endif()
 
 # Enable C++17 support in GCC >= 8.0.0
 # Enable C++14 support in 8.0.0 > GCC >= 6.1.1
 # Fallback to C++11 when using GCC < 6.1.1
 
-if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
+if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
     if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
         set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
-    else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
+    else()
         if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
             set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
-        else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
+        else()
             set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
-        endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
+        endif()
-    endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
+    endif()
     set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra")  #Add warning flags: For "-Wall" see http://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
-endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
+endif()
 
 # Enable C++17 support in Clang >= 6.0.0
 # Enable C++14 support in 6.0.0 > Clang >= 3.5.0 or AppleClang >= 600
@@ -84,28 +84,28 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
         # See https://trac.macports.org/wiki/XcodeVersionInfo for Apple Clang version equivalences
         if(CLANG_VERSION VERSION_LESS "600")
             set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
-        else(CLANG_VERSION VERSION_LESS "600")
+        else()
             set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
-        endif(CLANG_VERSION VERSION_LESS "600")
+        endif()
-    else(CMAKE_SYSTEM_NAME MATCHES "Darwin")
+    else()
         if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
             set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
-        else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
+        else()
             if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
                 set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
-            else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
+            else()
                 set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
-            endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
+            endif()
-        endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
+        endif()
-    endif(CMAKE_SYSTEM_NAME MATCHES "Darwin")
+    endif()
-endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+endif()
 
-if(NOT (CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) AND NOT (CMAKE_CXX_COMPILER_ID MATCHES "Clang"))
+if(NOT ((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32) AND NOT (CMAKE_CXX_COMPILER_ID MATCHES "Clang"))
     if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
         set(CMAKE_C_STANDARD 11)
         set(CMAKE_CXX_STANDARD 11)
-    endif(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
+    endif()
-endif(NOT (CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) AND NOT (CMAKE_CXX_COMPILER_ID MATCHES "Clang"))
+endif()
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MY_CXX_FLAGS} -Wall")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
@@ -114,8 +114,8 @@ if(CMAKE_VERSION VERSION_GREATER "3.0")
     cmake_policy(SET CMP0042 NEW)
     if(CMAKE_VERSION VERSION_GREATER "3.9")
         cmake_policy(SET CMP0068 NEW)
-    endif(CMAKE_VERSION VERSION_GREATER "3.9")
+    endif()
-endif(CMAKE_VERSION VERSION_GREATER "3.0")
+endif()
 
 option(ENABLE_STRIP "Create a stripped volk_gnsssdr_profile binary (without shared libraries)" OFF)
 
@@ -129,7 +129,7 @@ if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE "Release")
     message(STATUS "Build type not specified: defaulting to release.")
 endif()
-VOLK_CHECK_BUILD_TYPE(${CMAKE_BUILD_TYPE})
+volk_check_build_type(${CMAKE_BUILD_TYPE})
 set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "")
 message(STATUS "Build type set to ${CMAKE_BUILD_TYPE}.")
 
@@ -144,14 +144,14 @@ include(VolkVersion) #setup version info
 ########################################################################
 # Environment setup
 ########################################################################
-IF(NOT DEFINED BOOST_ROOT AND NOT DEFINED ENV{BOOST_ROOT})
+if(NOT DEFINED BOOST_ROOT AND NOT DEFINED ENV{BOOST_ROOT})
-    SET(BOOST_ROOT ${CMAKE_INSTALL_PREFIX})
+    set(BOOST_ROOT ${CMAKE_INSTALL_PREFIX})
-ENDIF()
+endif()
 
-IF(NOT DEFINED CROSSCOMPILE_MULTILIB)
+if(NOT DEFINED CROSSCOMPILE_MULTILIB)
-    SET(CROSSCOMPILE_MULTILIB "")
+    set(CROSSCOMPILE_MULTILIB "")
-ENDIF()
+endif()
-SET(CROSSCOMPILE_MULTILIB ${CROSSCOMPILE_MULTILIB} CACHE STRING "Define \"true\" if you have and want to use multiple C development libs installed for cross compile")
+set(CROSSCOMPILE_MULTILIB ${CROSSCOMPILE_MULTILIB} CACHE STRING "Define \"true\" if you have and want to use multiple C development libs installed for cross compile")
 
 if(MSVC)
     add_definitions(-D_USE_MATH_DEFINES) #enables math constants on all supported versions of MSVC
@@ -160,7 +160,7 @@ if(MSVC)
     add_compile_options(/wd4752)
     add_compile_options(/wo4273)
     add_compile_options(/wo4838)
-endif(MSVC)
+endif()
 
 # allow 'large' files in 32 bit builds
 if(UNIX)
@@ -169,7 +169,7 @@ if(UNIX)
         -D_LARGE_FILES
         -D_FORTIFY_SOURCE=2
     )
-endif(UNIX)
+endif()
 
 
 ########################################################################
@@ -178,9 +178,9 @@ endif(UNIX)
 
 # Python
 include(VolkPython) #sets PYTHON_EXECUTABLE and PYTHON_DASH_B
-VOLK_PYTHON_CHECK_MODULE("python >= 2.7" sys "sys.version.split()[0] >= '2.7'" PYTHON_MIN_VER_FOUND)
+volk_python_check_module("python >= 2.7" sys "sys.version.split()[0] >= '2.7'" PYTHON_MIN_VER_FOUND)
-VOLK_PYTHON_CHECK_MODULE("mako >= 0.4.2" mako "mako.__version__ >= '0.4.2'" MAKO_FOUND)
+volk_python_check_module("mako >= 0.4.2" mako "mako.__version__ >= '0.4.2'" MAKO_FOUND)
-VOLK_PYTHON_CHECK_MODULE("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
+volk_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
 
 
 if(NOT PYTHON_MIN_VER_FOUND)
@@ -205,10 +205,10 @@ if(MSVC)
     set(BOOST_ALL_DYN_LINK "${BOOST_ALL_DYN_LINK}" CACHE BOOL "boost enable dynamic linking")
     if(BOOST_ALL_DYN_LINK)
         add_definitions(-DBOOST_ALL_DYN_LINK) #setup boost auto-linking in msvc
-    else(BOOST_ALL_DYN_LINK)
+    else()
         unset(BOOST_REQUIRED_COMPONENTS) #empty components list for static link
-    endif(BOOST_ALL_DYN_LINK)
+    endif()
-endif(MSVC)
+endif()
 
 include(VolkBoost)
 
@@ -220,9 +220,9 @@ endif()
 option(ENABLE_ORC "Enable Orc" True)
 if(ENABLE_ORC)
   find_package(ORC)
-else(ENABLE_ORC)
+else()
   message(STATUS "Disabling use of ORC")
-endif(ENABLE_ORC)
+endif()
 
 
 ########################################################################
@@ -240,7 +240,7 @@ if(DOXYGEN_FOUND)
         WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
         COMMENT "Generating documentation with Doxygen" VERBATIM
     )
-endif(DOXYGEN_FOUND)
+endif()
 
 
 ########################################################################
@@ -255,7 +255,8 @@ set(includedir "\${prefix}/include")
 configure_file(
     ${CMAKE_CURRENT_SOURCE_DIR}/volk_gnsssdr.pc.in
     ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr.pc
-@ONLY)
+    @ONLY
+)
 
 install(
     FILES ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr.pc
@@ -304,17 +305,17 @@ if(APPLE)
         set(CMAKE_INSTALL_NAME_DIR
             ${CMAKE_INSTALL_PREFIX}/${VOLK_LIBRARY_DIR} CACHE
             PATH "Library Install Name Destination Directory" FORCE)
-    endif(NOT CMAKE_INSTALL_NAME_DIR)
+    endif()
     if(NOT CMAKE_INSTALL_RPATH)
         set(CMAKE_INSTALL_RPATH
             ${CMAKE_INSTALL_PREFIX}/${VOLK_LIBRARY_DIR} CACHE
             PATH "Library Install RPath" FORCE)
-    endif(NOT CMAKE_INSTALL_RPATH)
+    endif()
     if(NOT CMAKE_BUILD_WITH_INSTALL_RPATH)
         set(CMAKE_BUILD_WITH_INSTALL_RPATH ON CACHE
             BOOL "Do Build Using Library Install RPath" FORCE)
-    endif(NOT CMAKE_BUILD_WITH_INSTALL_RPATH)
+    endif()
-endif(APPLE)
+endif()
 
 
 ########################################################################
@@ -358,7 +359,7 @@ configure_file(
 
 if(NOT CMAKE_MODULES_DIR)
     set(CMAKE_MODULES_DIR lib${LIB_SUFFIX}/cmake)
-endif(NOT CMAKE_MODULES_DIR)
+endif()
 
 install(
     FILES
@@ -371,7 +372,7 @@ install(
 ########################################################################
 # Option to enable QA testing, on by default
 ########################################################################
-OPTION(ENABLE_TESTING "Enable QA testing" ON)
+option(ENABLE_TESTING "Enable QA testing" ON)
 if(ENABLE_TESTING)
   message(STATUS "QA Testing is enabled.")
 else()
@@ -383,7 +384,7 @@ message(STATUS "  Modify using: -DENABLE_TESTING=ON/OFF")
 ########################################################################
 # Option to enable post-build profiling using volk_profile, off by default
 ########################################################################
-OPTION(ENABLE_PROFILING "Launch system profiler after build" OFF)
+option(ENABLE_PROFILING "Launch system profiler after build" OFF)
 if(ENABLE_PROFILING)
   set(ENABLE_STATIC_LIBS ON)
   if(DEFINED VOLK_CONFIGPATH)

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/CMakeLists.txt

@@ -22,7 +22,7 @@
 ########################################################################
 if(MSVC)
     include_directories(${PROJECT_SOURCE_DIR}/cmake/msvc)
-endif(MSVC)
+endif()
 
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
@@ -39,15 +39,15 @@ set(Clang_required_link "")
 if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
     if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
         set(Clang_required_link "c++")
-   endif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+    endif()
-endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+endif()
 
 
 if(ORC_FOUND)
     set(orc_lib ${ORC_LIBRARIES})
-elseif(ORC_FOUND)
+else()
     set(orc_lib "")
-endif(ORC_FOUND)
+endif()
 
 
 # allow 'large' files in 32 bit builds
@@ -56,7 +56,7 @@ if(UNIX)
         -D_FILE_OFFSET_BITS=64
         -D_LARGE_FILES
     )
-endif(UNIX)
+endif()
 
 
 # MAKE volk_gnsssdr_profile
@@ -68,18 +68,18 @@ add_executable(volk_gnsssdr_profile
 
 if(ENABLE_STATIC_LIBS)
     target_link_libraries(volk_gnsssdr_profile volk_gnsssdr_static ${Boost_LIBRARIES} ${Clang_required_link} ${orc_lib})
-else(ENABLE_STATIC_LIBS)
+else()
     target_link_libraries(volk_gnsssdr_profile volk_gnsssdr ${Boost_LIBRARIES} ${Clang_required_link} ${orc_lib})
     add_dependencies(volk_gnsssdr_profile volk_gnsssdr)
-endif(ENABLE_STATIC_LIBS)
+endif()
 
 
 if(ENABLE_STRIP)
-    if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
+    if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
         set_target_properties(volk_gnsssdr_profile
             PROPERTIES LINK_FLAGS "-s")
-    endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
+    endif()
-endif(ENABLE_STRIP)
+endif()
 
 
 install(
@@ -93,17 +93,17 @@ install(
 add_executable(volk_gnsssdr-config-info volk_gnsssdr-config-info.cc ${CMAKE_CURRENT_SOURCE_DIR}/volk_gnsssdr_option_helpers.cc)
 if(ENABLE_STATIC_LIBS)
     target_link_libraries(volk_gnsssdr-config-info volk_gnsssdr_static ${Clang_required_link} ${orc_lib})
-else(ENABLE_STATIC_LIBS)
+else()
     target_link_libraries(volk_gnsssdr-config-info volk_gnsssdr ${Clang_required_link} ${orc_lib})
     add_dependencies(volk_gnsssdr-config-info volk_gnsssdr)
-endif(ENABLE_STATIC_LIBS)
+endif()
 
 if(ENABLE_STRIP)
-    if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
+    if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
         set_target_properties(volk_gnsssdr-config-info
             PROPERTIES LINK_FLAGS "-s")
-    endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
+    endif()
-endif(ENABLE_STRIP)
+endif()
 
 install(
     TARGETS volk_gnsssdr-config-info
@@ -125,6 +125,3 @@ if(ENABLE_PROFILING)
     )
     add_custom_target(volk-gnsssdr-profile-run ALL DEPENDS ${VOLK_CONFIG})
 endif()
-
-
-

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindORC.cmake

@@ -16,19 +16,22 @@
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 
 
-FIND_PACKAGE(PkgConfig)
+find_package(PkgConfig)
-PKG_CHECK_MODULES(PC_ORC "orc-0.4 > 0.4.22")
+pkg_check_modules(PC_ORC "orc-0.4 > 0.4.22")
 
-FIND_PROGRAM(ORCC_EXECUTABLE orcc
+find_program(ORCC_EXECUTABLE orcc
     HINTS ${PC_ORC_TOOLSDIR}
-	     PATHS ${ORC_ROOT}/bin ${CMAKE_INSTALL_PREFIX}/bin)
+    PATHS ${ORC_ROOT}/bin ${CMAKE_INSTALL_PREFIX}/bin
+)
 
-FIND_PATH(ORC_INCLUDE_DIR NAMES orc/orc.h
+find_path(ORC_INCLUDE_DIR NAMES orc/orc.h
     HINTS ${PC_ORC_INCLUDEDIR}
-	  PATHS ${ORC_ROOT}/include/orc-0.4 ${CMAKE_INSTALL_PREFIX}/include/orc-0.4)
+    PATHS ${ORC_ROOT}/include/orc-0.4 ${CMAKE_INSTALL_PREFIX}/include/orc-0.4
+)
 
 
-FIND_PATH(ORC_LIBRARY_DIR NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHARED_LIBRARY_SUFFIX}
+find_path(ORC_LIBRARY_DIR
+    NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHARED_LIBRARY_SUFFIX}
     HINTS ${PC_ORC_LIBDIR}
         /usr/local/lib
         /usr/lib/x86_64-linux-gnu
@@ -46,22 +49,23 @@ FIND_PATH(ORC_LIBRARY_DIR NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHA
         /usr/lib/s390x-linux-gnu
         /usr/lib64
         /usr/lib
-	  PATHS ${ORC_ROOT}/lib${LIB_SUFFIX} ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX})
+    PATHS ${ORC_ROOT}/lib${LIB_SUFFIX} ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+)
 
-FIND_LIBRARY(ORC_LIB orc-0.4
+find_library(ORC_LIB orc-0.4
     HINTS ${PC_ORC_LIBRARY_DIRS}
     PATHS ${ORC_ROOT}/lib${LIB_SUFFIX} ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX})
 
-LIST(APPEND ORC_LIBRARY
+list(APPEND ORC_LIBRARY
     ${ORC_LIB}
 )
 
 
-SET(ORC_INCLUDE_DIRS ${ORC_INCLUDE_DIR})
+set(ORC_INCLUDE_DIRS ${ORC_INCLUDE_DIR})
-SET(ORC_LIBRARIES ${ORC_LIBRARY})
+set(ORC_LIBRARIES ${ORC_LIBRARY})
-SET(ORC_LIBRARY_DIRS ${ORC_LIBRARY_DIR})
+set(ORC_LIBRARY_DIRS ${ORC_LIBRARY_DIR})
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(ORC "orc files" ORC_LIBRARY ORC_INCLUDE_DIR ORCC_EXECUTABLE)
+find_package_handle_standard_args(ORC "orc files" ORC_LIBRARY ORC_INCLUDE_DIR ORCC_EXECUTABLE)
 
 mark_as_advanced(ORC_INCLUDE_DIR ORC_LIBRARY ORCC_EXECUTABLE)

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkAddTest.cmake

@@ -30,7 +30,7 @@ set(__INCLUDED_VOLK_ADD_TEST TRUE)
 
 function(VOLK_GEN_TEST executable_name)
     include(CMakeParseArgumentsCopy)
-    CMAKE_PARSE_ARGUMENTS(VOLK_TEST "" "" "SOURCES;TARGET_DEPS;EXTRA_LIB_DIRS;ENVIRONS;ARGS" ${ARGN})
+    cmake_parse_arguments(VOLK_TEST "" "" "SOURCES;TARGET_DEPS;EXTRA_LIB_DIRS;ENVIRONS;ARGS" ${ARGN})
     add_executable(${executable_name} ${VOLK_TEST_SOURCES})
     target_link_libraries(${executable_name} ${VOLK_TEST_TARGET_DEPS})
 endfunction()
@@ -53,7 +53,7 @@ function(VOLK_ADD_TEST test_name executable_name)
 
   #parse the arguments for component names
   include(CMakeParseArgumentsCopy)
-  CMAKE_PARSE_ARGUMENTS(VOLK_TEST "" "" "TARGET_DEPS;EXTRA_LIB_DIRS;ENVIRONS;ARGS" ${ARGN})
+  cmake_parse_arguments(VOLK_TEST "" "" "TARGET_DEPS;EXTRA_LIB_DIRS;ENVIRONS;ARGS" ${ARGN})
 
   #set the initial environs to use
   set(environs ${VOLK_TEST_ENVIRONS})
@@ -146,7 +146,7 @@ function(VOLK_ADD_TEST test_name executable_name)
     #each line sets an environment variable
     foreach(environ ${environs})
       file(APPEND ${sh_file} "export ${environ}\n")
-    endforeach(environ)
+    endforeach()
 
     set(VOLK_TEST_ARGS "${test_name}")
 
@@ -166,7 +166,7 @@ function(VOLK_ADD_TEST test_name executable_name)
       COMMAND ${SHELL} ${sh_file} ${TARGET_DIR_LIST}
     )
 
-  endif(UNIX)
+  endif()
 
   if(WIN32)
     #In the land of windows, all libraries must be in the PATH.  Since
@@ -199,7 +199,7 @@ function(VOLK_ADD_TEST test_name executable_name)
     #each line sets an environment variable
     foreach(environ ${environs})
       file(APPEND ${bat_file} "SET ${environ}\n")
-    endforeach(environ)
+    endforeach()
 
     set(VOLK_TEST_ARGS "${test_name}")
 
@@ -213,7 +213,7 @@ function(VOLK_ADD_TEST test_name executable_name)
     add_test(NAME qa_${test_name}
         COMMAND ${bat_file} ${TARGET_DIR_LIST}
     )
-  endif(WIN32)
+  endif()
 
-endfunction(VOLK_ADD_TEST)
+endfunction()
 

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBoost.cmake

@@ -31,7 +31,7 @@ set(BOOST_REQUIRED_COMPONENTS
 
 if(UNIX AND NOT BOOST_ROOT AND EXISTS "/usr/lib64")
     list(APPEND BOOST_LIBRARYDIR "/usr/lib64") #fedora 64-bit fix
-endif(UNIX AND NOT BOOST_ROOT AND EXISTS "/usr/lib64")
+endif()
 
 if(MSVC)
     set(BOOST_REQUIRED_COMPONENTS ${BOOST_REQUIRED_COMPONENTS} chrono)
@@ -42,10 +42,10 @@ if(MSVC)
     set(BOOST_ALL_DYN_LINK "${BOOST_ALL_DYN_LINK}" CACHE BOOL "boost enable dynamic linking")
     if(BOOST_ALL_DYN_LINK)
         add_definitions(-DBOOST_ALL_DYN_LINK) #setup boost auto-linking in msvc
-    else(BOOST_ALL_DYN_LINK)
+    else()
         unset(BOOST_REQUIRED_COMPONENTS) #empty components list for static link
-    endif(BOOST_ALL_DYN_LINK)
+    endif()
-endif(MSVC)
+endif()
 
 find_package(Boost "1.35" COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
 
@@ -68,10 +68,10 @@ set(Boost_ADDITIONAL_VERSIONS
 # Boost 1.52 disabled, see https://svn.boost.org/trac/boost/ticket/7669
 # Similar problems with Boost 1.46 and 1.47.
 
-OPTION(ENABLE_BAD_BOOST "Enable known bad versions of Boost" OFF)
+option(ENABLE_BAD_BOOST "Enable known bad versions of Boost" OFF)
 if(ENABLE_BAD_BOOST)
-  MESSAGE(STATUS "Enabling use of known bad versions of Boost.")
+    message(STATUS "Enabling use of known bad versions of Boost.")
-endif(ENABLE_BAD_BOOST)
+endif()
 
 # For any unsuitable Boost version, add the version number below in
 # the following format: XXYYZZ
@@ -86,11 +86,11 @@ set(Boost_NOGO_VERSIONS
 foreach(ver ${Boost_NOGO_VERSIONS})
     if("${Boost_VERSION}" STREQUAL "${ver}")
         if(NOT ENABLE_BAD_BOOST)
-      MESSAGE(STATUS "WARNING: Found a known bad version of Boost (v${Boost_VERSION}). Disabling.")
+            message(STATUS "WARNING: Found a known bad version of Boost (v${Boost_VERSION}). Disabling.")
             set(Boost_FOUND FALSE)
-    else(NOT ENABLE_BAD_BOOST)
+        else()
-      MESSAGE(STATUS "WARNING: Found a known bad version of Boost (v${Boost_VERSION}). Continuing anyway.")
+            message(STATUS "WARNING: Found a known bad version of Boost (v${Boost_VERSION}). Continuing anyway.")
             set(Boost_FOUND TRUE)
-    endif(NOT ENABLE_BAD_BOOST)
+        endif()
-  endif("${Boost_VERSION}" STREQUAL "${ver}")
+  endif()
-endforeach(ver)
+endforeach()

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBuildTypes.cmake

@@ -53,16 +53,16 @@ list(APPEND AVAIL_BUILDTYPES
 # the avialable build types.
 ########################################################################
 function(VOLK_CHECK_BUILD_TYPE settype)
-  STRING(TOUPPER ${settype} _settype)
+  string(TOUPPER ${settype} _settype)
   foreach(btype ${AVAIL_BUILDTYPES})
-    STRING(TOUPPER ${btype} _btype)
+    string(TOUPPER ${btype} _btype)
     if(${_settype} STREQUAL ${_btype})
       return() # found it; exit cleanly
-    endif(${_settype} STREQUAL ${_btype})
+    endif()
-  endforeach(btype)
+  endforeach()
   # Build type not found; error out
   message(FATAL_ERROR "Build type '${settype}' not valid, must be one of: ${AVAIL_BUILDTYPES}")
-endfunction(VOLK_CHECK_BUILD_TYPE)
+endfunction()
 
 ########################################################################
 # For GCC and Clang, we can set a build type:
@@ -74,23 +74,23 @@ endfunction(VOLK_CHECK_BUILD_TYPE)
 # NOTE: This is not defined on Windows systems.
 ########################################################################
 if(NOT WIN32)
-  SET(CMAKE_CXX_FLAGS_DEBUGPARANOID "-Wall -Wextra -g -O0" CACHE STRING
+  set(CMAKE_CXX_FLAGS_DEBUGPARANOID "-Wall -Wextra -g -O0" CACHE STRING
     "Flags used by the C++ compiler during DebugParanoid builds." FORCE)
-  SET(CMAKE_C_FLAGS_DEBUGPARANOID "-Wall -Wextra -g -O0" CACHE STRING
+  set(CMAKE_C_FLAGS_DEBUGPARANOID "-Wall -Wextra -g -O0" CACHE STRING
     "Flags used by the C compiler during DebugParanoid builds." FORCE)
-  SET(CMAKE_EXE_LINKER_FLAGS_DEBUGPARANOID
+  set(CMAKE_EXE_LINKER_FLAGS_DEBUGPARANOID
     "-Wl,--warn-unresolved-symbols,--warn-once" CACHE STRING
     "Flags used for linking binaries during NoOptWithASM builds." FORCE)
-  SET(CMAKE_SHARED_LINKER_FLAGS_DEBUGPARANOID
+  set(CMAKE_SHARED_LINKER_FLAGS_DEBUGPARANOID
     "-Wl,--warn-unresolved-symbols,--warn-once" CACHE STRING
     "Flags used by the shared lib linker during NoOptWithASM builds." FORCE)
 
-  MARK_AS_ADVANCED(
+  mark_as_advanced(
     CMAKE_CXX_FLAGS_DEBUGPARANOID
     CMAKE_C_FLAGS_DEBUGPARANOID
     CMAKE_EXE_LINKER_FLAGS_DEBUGPARANOID
     CMAKE_SHARED_LINKER_DEBUGPARANOID)
-endif(NOT WIN32)
+endif()
 
 
 ########################################################################
@@ -105,23 +105,23 @@ endif(NOT WIN32)
 # NOTE: This is not defined on Windows systems.
 ########################################################################
 if(NOT WIN32)
-  SET(CMAKE_CXX_FLAGS_NOOPTWITHASM "-save-temps -g -O0" CACHE STRING
+  set(CMAKE_CXX_FLAGS_NOOPTWITHASM "-save-temps -g -O0" CACHE STRING
     "Flags used by the C++ compiler during NoOptWithASM builds." FORCE)
-  SET(CMAKE_C_FLAGS_NOOPTWITHASM "-save-temps -g -O0" CACHE STRING
+  set(CMAKE_C_FLAGS_NOOPTWITHASM "-save-temps -g -O0" CACHE STRING
     "Flags used by the C compiler during NoOptWithASM builds." FORCE)
-  SET(CMAKE_EXE_LINKER_FLAGS_NOOPTWITHASM
+  set(CMAKE_EXE_LINKER_FLAGS_NOOPTWITHASM
     "-Wl,--warn-unresolved-symbols,--warn-once" CACHE STRING
     "Flags used for linking binaries during NoOptWithASM builds." FORCE)
-  SET(CMAKE_SHARED_LINKER_FLAGS_NOOPTWITHASM
+  set(CMAKE_SHARED_LINKER_FLAGS_NOOPTWITHASM
     "-Wl,--warn-unresolved-symbols,--warn-once" CACHE STRING
     "Flags used by the shared lib linker during NoOptWithASM builds." FORCE)
 
-  MARK_AS_ADVANCED(
+  mark_as_advanced(
     CMAKE_CXX_FLAGS_NOOPTWITHASM
     CMAKE_C_FLAGS_NOOPTWITHASM
     CMAKE_EXE_LINKER_FLAGS_NOOPTWITHASM
     CMAKE_SHARED_LINKER_FLAGS_NOOPTWITHASM)
-endif(NOT WIN32)
+endif()
 
 
 ########################################################################
@@ -137,23 +137,23 @@ endif(NOT WIN32)
 ########################################################################
 
 if(NOT WIN32)
-  SET(CMAKE_CXX_FLAGS_O2WITHASM "-save-temps -g -O2" CACHE STRING
+  set(CMAKE_CXX_FLAGS_O2WITHASM "-save-temps -g -O2" CACHE STRING
     "Flags used by the C++ compiler during O2WithASM builds." FORCE)
-  SET(CMAKE_C_FLAGS_O2WITHASM "-save-temps -g -O2" CACHE STRING
+  set(CMAKE_C_FLAGS_O2WITHASM "-save-temps -g -O2" CACHE STRING
     "Flags used by the C compiler during O2WithASM builds." FORCE)
-  SET(CMAKE_EXE_LINKER_FLAGS_O2WITHASM
+  set(CMAKE_EXE_LINKER_FLAGS_O2WITHASM
     "-Wl,--warn-unresolved-symbols,--warn-once" CACHE STRING
     "Flags used for linking binaries during O2WithASM builds." FORCE)
-  SET(CMAKE_SHARED_LINKER_FLAGS_O2WITHASM
+  set(CMAKE_SHARED_LINKER_FLAGS_O2WITHASM
     "-Wl,--warn-unresolved-symbols,--warn-once" CACHE STRING
     "Flags used by the shared lib linker during O2WithASM builds." FORCE)
 
-  MARK_AS_ADVANCED(
+  mark_as_advanced(
     CMAKE_CXX_FLAGS_O2WITHASM
     CMAKE_C_FLAGS_O2WITHASM
     CMAKE_EXE_LINKER_FLAGS_O2WITHASM
     CMAKE_SHARED_LINKER_FLAGS_O2WITHASM)
-endif(NOT WIN32)
+endif()
 
 
 ########################################################################
@@ -169,23 +169,23 @@ endif(NOT WIN32)
 ########################################################################
 
 if(NOT WIN32)
-  SET(CMAKE_CXX_FLAGS_O3WITHASM "-save-temps -g -O3" CACHE STRING
+  set(CMAKE_CXX_FLAGS_O3WITHASM "-save-temps -g -O3" CACHE STRING
     "Flags used by the C++ compiler during O3WithASM builds." FORCE)
-  SET(CMAKE_C_FLAGS_O3WITHASM "-save-temps -g -O3" CACHE STRING
+  set(CMAKE_C_FLAGS_O3WITHASM "-save-temps -g -O3" CACHE STRING
     "Flags used by the C compiler during O3WithASM builds." FORCE)
-  SET(CMAKE_EXE_LINKER_FLAGS_O3WITHASM
+  set(CMAKE_EXE_LINKER_FLAGS_O3WITHASM
     "-Wl,--warn-unresolved-symbols,--warn-once" CACHE STRING
     "Flags used for linking binaries during O3WithASM builds." FORCE)
-  SET(CMAKE_SHARED_LINKER_FLAGS_O3WITHASM
+  set(CMAKE_SHARED_LINKER_FLAGS_O3WITHASM
     "-Wl,--warn-unresolved-symbols,--warn-once" CACHE STRING
     "Flags used by the shared lib linker during O3WithASM builds." FORCE)
 
-  MARK_AS_ADVANCED(
+  mark_as_advanced(
     CMAKE_CXX_FLAGS_O3WITHASM
     CMAKE_C_FLAGS_O3WITHASM
     CMAKE_EXE_LINKER_FLAGS_O3WITHASM
     CMAKE_SHARED_LINKER_FLAGS_O3WITHASM)
-endif(NOT WIN32)
+endif()
 
 ########################################################################
 # For GCC and Clang, we can set a build type:
@@ -197,14 +197,14 @@ endif(NOT WIN32)
 # NOTE: This is not defined on Windows systems.
 ########################################################################
 if(NOT WIN32)
-  SET(CMAKE_CXX_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
+  set(CMAKE_CXX_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
     "Flags used by the C++ compiler during Address Sanitized builds." FORCE)
-  SET(CMAKE_C_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
+  set(CMAKE_C_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
     "Flags used by the C compiler during Address Sanitized builds." FORCE)
-  MARK_AS_ADVANCED(
+  mark_as_advanced(
     CMAKE_CXX_FLAGS_ASAN
     CMAKE_C_FLAGS_ASAN
     CMAKE_EXE_LINKER_FLAGS_DEBUGPARANOID
     CMAKE_SHARED_LINKER_DEBUGPARANOID)
-endif(NOT WIN32)
+endif()
 

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfig.cmake.in

@@ -15,10 +15,10 @@
 # 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(FindPkgConfig)
+include(FindPkgConfig)
-PKG_CHECK_MODULES(PC_VOLK_GNSSSDR volk_gnsssdr)
+pkg_check_modules(PC_VOLK_GNSSSDR volk_gnsssdr)
 
-FIND_PATH(
+find_path(
     VOLK_GNSSSDR_INCLUDE_DIRS
     NAMES volk_gnsssdr/volk_gnsssdr.h
     HINTS $ENV{VOLK_DIR}/include
@@ -29,7 +29,7 @@ FIND_PATH(
         "@CMAKE_INSTALL_PREFIX@/include"
 )
 
-FIND_LIBRARY(
+find_library(
     VOLK_GNSSSDR_LIBRARIES
     NAMES volk_gnsssdr
     HINTS $ENV{VOLK_DIR}/lib
@@ -42,6 +42,6 @@ FIND_LIBRARY(
         "@CMAKE_INSTALL_PREFIX@/lib"
 )
 
-INCLUDE(FindPackageHandleStandardArgs)
+include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(VOLK_GNSSSDR DEFAULT_MSG VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
+find_package_handle_standard_args(VOLKGNSSSDR DEFAULT_MSG VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
-MARK_AS_ADVANCED(VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
+mark_as_advanced(VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfigVersion.cmake.in

@@ -27,6 +27,6 @@ if(${PACKAGE_FIND_VERSION_MAJOR} EQUAL ${MAJOR_VERSION})
     if(NOT ${PACKAGE_FIND_VERSION_PATCH} GREATER ${MAINT_VERSION})
       set(PACKAGE_VERSION_EXACT 1)    # exact match for API version
       set(PACKAGE_VERSION_COMPATIBLE 1)  # compat for minor/patch version
-    endif(NOT ${PACKAGE_FIND_VERSION_PATCH} GREATER ${MAINT_VERSION})
+    endif()
-  endif(${PACKAGE_FIND_VERSION_MINOR} EQUAL ${MINOR_VERSION})
+  endif()
-endif(${PACKAGE_FIND_VERSION_MAJOR} EQUAL ${MAJOR_VERSION})
+endif()

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake

@@ -32,26 +32,26 @@ if(CMAKE_VERSION VERSION_LESS 3.12)
     if(PYTHON_EXECUTABLE)
         message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
         find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
-    else(PYTHON_EXECUTABLE)
+    else()
         message(STATUS "PYTHON_EXECUTABLE not set - using default python2")
         message(STATUS "Use -DPYTHON_EXECUTABLE=/path/to/python3 to build for python3.")
         find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
         if(NOT PYTHONINTERP_FOUND)
             message(STATUS "python2 not found - using python3")
             find_package(PythonInterp ${VOLK_PYTHON3_MIN_VERSION} REQUIRED)
-         endif(NOT PYTHONINTERP_FOUND)
+        endif()
-    endif(PYTHON_EXECUTABLE)
+    endif()
     find_package(PythonLibs ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR} EXACT)
-else(CMAKE_VERSION VERSION_LESS 3.12)
+else()
     if(PYTHON_EXECUTABLE)
         message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
         find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
-    else(PYTHON_EXECUTABLE)
+    else()
         find_package(Python COMPONENTS Interpreter)
         set(PYTHON_VERSION_MAJOR ${Python_VERSION_MAJOR})
         set(PYTHON_EXECUTABLE ${Python_EXECUTABLE})
-    endif(PYTHON_EXECUTABLE)
+    endif()
-endif(CMAKE_VERSION VERSION_LESS 3.12)
+endif()
 
 if(${PYTHON_VERSION_MAJOR} VERSION_EQUAL 3)
     set(PYTHON3 TRUE)
@@ -79,7 +79,7 @@ macro(VOLK_PYTHON_CHECK_MODULE_RAW desc python_code have)
         message(STATUS "Python checking for ${desc} - not found")
         set(${have} FALSE)
     endif()
-endmacro(VOLK_PYTHON_CHECK_MODULE_RAW)
+endmacro()
 
 macro(VOLK_PYTHON_CHECK_MODULE desc mod cmd have)
     VOLK_PYTHON_CHECK_MODULE_RAW(
@@ -92,7 +92,7 @@ except (ImportError, AssertionError): exit(-1)
 except: pass
 #########################################"
     "${have}")
-endmacro(VOLK_PYTHON_CHECK_MODULE)
+endmacro()
 
 ########################################################################
 # Sets the python installation directory VOLK_PYTHON_DIR
@@ -121,14 +121,14 @@ unique = hashlib.md5(b'${reldir}${ARGN}').hexdigest()[:5]
 print(re.sub('\\W', '_', '${desc} ${reldir} ' + unique))"
     OUTPUT_VARIABLE _target OUTPUT_STRIP_TRAILING_WHITESPACE)
     add_custom_target(${_target} ALL DEPENDS ${ARGN})
-endfunction(VOLK_UNIQUE_TARGET)
+endfunction()
 
 ########################################################################
 # Install python sources (also builds and installs byte-compiled python)
 ########################################################################
 function(VOLK_PYTHON_INSTALL)
     include(CMakeParseArgumentsCopy)
-    CMAKE_PARSE_ARGUMENTS(VOLK_PYTHON_INSTALL "" "DESTINATION;COMPONENT" "FILES;PROGRAMS" ${ARGN})
+    cmake_parse_arguments(VOLK_PYTHON_INSTALL "" "DESTINATION;COMPONENT" "FILES;PROGRAMS" ${ARGN})
 
     ####################################################################
     if(VOLK_PYTHON_INSTALL_FILES)
@@ -162,7 +162,7 @@ function(VOLK_PYTHON_INSTALL)
             get_filename_component(pygen_path ${pygenfile} PATH)
             file(MAKE_DIRECTORY ${pygen_path})
 
-        endforeach(pyfile)
+        endforeach()
 
         #the command to generate the pyc files
         add_custom_command(
@@ -220,13 +220,13 @@ function(VOLK_PYTHON_INSTALL)
                 DESTINATION ${VOLK_PYTHON_INSTALL_DESTINATION}
                 COMPONENT ${VOLK_PYTHON_INSTALL_COMPONENT}
             )
-        endforeach(pyfile)
+        endforeach()
 
     endif()
 
-    VOLK_UNIQUE_TARGET("pygen" ${python_install_gen_targets})
+    volk_unique_target("pygen" ${python_install_gen_targets})
 
-endfunction(VOLK_PYTHON_INSTALL)
+endfunction()
 
 ########################################################################
 # Write the python helper script that generates byte code files

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt

@@ -22,22 +22,22 @@
 # header file detection
 ########################################################################
 include(CheckIncludeFile)
-CHECK_INCLUDE_FILE(cpuid.h HAVE_CPUID_H)
+check_include_file(cpuid.h HAVE_CPUID_H)
 if(HAVE_CPUID_H)
     add_definitions(-DHAVE_CPUID_H)
 endif()
 
-CHECK_INCLUDE_FILE(intrin.h HAVE_INTRIN_H)
+check_include_file(intrin.h HAVE_INTRIN_H)
 if(HAVE_INTRIN_H)
     add_definitions(-DHAVE_INTRIN_H)
 endif()
 
-CHECK_INCLUDE_FILE(fenv.h HAVE_FENV_H)
+check_include_file(fenv.h HAVE_FENV_H)
 if(HAVE_FENV_H)
     add_definitions(-DHAVE_FENV_H)
 endif()
 
-CHECK_INCLUDE_FILE(dlfcn.h HAVE_DLFCN_H)
+check_include_file(dlfcn.h HAVE_DLFCN_H)
 if(HAVE_DLFCN_H)
     add_definitions(-DHAVE_DLFCN_H)
     list(APPEND volk_gnsssdr_libraries ${CMAKE_DL_LIBS})
@@ -62,7 +62,7 @@ endif()
 ########################################################################
 if(COMPILER_NAME MATCHES "GNU")
     include(CheckCXXCompilerFlag)
-    CHECK_CXX_COMPILER_FLAG("-Werror=unused-command-line-argument" HAVE_WERROR_UNUSED_CMD_LINE_ARG)
+    check_cxx_compiler_flag("-Werror=unused-command-line-argument" HAVE_WERROR_UNUSED_CMD_LINE_ARG)
     if(HAVE_WERROR_UNUSED_CMD_LINE_ARG)
         set(VOLK_FLAG_CHECK_FLAGS "-Werror=unused-command-line-argument")
     endif()
@@ -74,15 +74,15 @@ endif()
 ########################################################################
 
 include(CheckSymbolExists)
-CHECK_SYMBOL_EXISTS(posix_memalign stdlib.h HAVE_POSIX_MEMALIGN)
+check_symbol_exists(posix_memalign stdlib.h HAVE_POSIX_MEMALIGN)
 
 if(HAVE_POSIX_MEMALIGN)
       add_definitions(-DHAVE_POSIX_MEMALIGN)
-endif(HAVE_POSIX_MEMALIGN)
+endif()
 
 if(NOT DEFINED _XOPEN_SOURCE)
       add_definitions(-D_XOPEN_SOURCE=700)
-endif(NOT DEFINED _XOPEN_SOURCE)
+endif()
 
 ########################################################################
 # detect x86 flavor of CPU
@@ -119,7 +119,7 @@ macro(check_arch arch_name)
             if(VOLK_FLAG_CHECK_FLAGS)
                 set(CMAKE_REQUIRED_FLAGS ${VOLK_FLAG_CHECK_FLAGS})
             endif()
-            CHECK_CXX_COMPILER_FLAG(${flag} ${have_flag})
+            check_cxx_compiler_flag(${flag} ${have_flag})
             unset(CMAKE_REQUIRED_FLAGS)
             if(NOT ${have_flag})
                 set(have_${arch_name} FALSE)
@@ -129,17 +129,17 @@ macro(check_arch arch_name)
     if(have_${arch_name})
         list(APPEND available_archs ${arch_name})
     endif()
-endmacro(check_arch)
+endmacro()
 
 foreach(line ${arch_flag_lines})
     string(REGEX REPLACE "," ";" arch_flags ${line})
     check_arch(${arch_flags})
-endforeach(line)
+endforeach()
 
 macro(OVERRULE_ARCH arch reason)
     message(STATUS "${reason}, Overruled arch ${arch}")
     list(REMOVE_ITEM available_archs ${arch})
-endmacro(OVERRULE_ARCH)
+endmacro()
 
 ########################################################################
 # eliminate AVX on if not on x86, or if the compiler does not accept
@@ -152,23 +152,23 @@ if(CPU_IS_x86)
     # check to see if the compiler/linker works with xgetb instruction
     if(NOT MSVC)
         file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv.c "unsigned long long _xgetbv(unsigned int index) { unsigned int eax, edx; __asm__ __volatile__(\"xgetbv\" : \"=a\"(eax), \"=d\"(edx) : \"c\"(index)); return ((unsigned long long)edx << 32) | eax; } int main (void) { (void) _xgetbv(0); return (0); }")
-    else (NOT MSVC)
+    else()
         #MSVC defines an intrinsic
         file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv.c "#include <stdio.h> \n #include <intrin.h> \n int main() { int avxSupported = 0; \n#if (_MSC_FULL_VER >= 160040219) \nint cpuInfo[4]; __cpuid(cpuInfo, 1);\nif ((cpuInfo[2] & (1 << 27) || 0) && (cpuInfo[2] & (1 << 28) || 0)) \n{\nunsigned long long xcrFeatureMask = _xgetbv(_XCR_XFEATURE_ENABLED_MASK);\n   avxSupported = (xcrFeatureMask & 0x6) == 6;}\n#endif \n return 1- avxSupported; }")
-    endif(NOT MSVC)
+    endif()
     execute_process(COMMAND ${CMAKE_C_COMPILER} -o
         ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv
         ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv.c
         OUTPUT_QUIET ERROR_QUIET
         RESULT_VARIABLE avx_compile_result)
     if(NOT ${avx_compile_result} EQUAL 0)
-        OVERRULE_ARCH(avx "Compiler or linker missing xgetbv instruction")
+        overrule_arch(avx "Compiler or linker missing xgetbv instruction")
     elseif(NOT CROSSCOMPILE_MULTILIB)
         execute_process(COMMAND ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv
             OUTPUT_QUIET ERROR_QUIET
             RESULT_VARIABLE avx_exe_result)
         if(NOT ${avx_exe_result} EQUAL 0)
-            OVERRULE_ARCH(avx "CPU missing xgetbv")
+            overrule_arch(avx "CPU missing xgetbv")
         else()
             set(HAVE_XGETBV 1)
         endif()
@@ -192,13 +192,13 @@ if(CPU_IS_x86)
           OUTPUT_QUIET ERROR_QUIET
           RESULT_VARIABLE avx_compile_result)
         if(NOT ${avx_compile_result} EQUAL 0)
-          OVERRULE_ARCH(avx "Compiler missing cvtpi32_ps instrinsic")
+          overrule_arch(avx "Compiler missing cvtpi32_ps instrinsic")
         elseif(NOT CROSSCOMPILE_MULTILIB)
           execute_process(COMMAND ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps
             OUTPUT_QUIET ERROR_QUIET
             RESULT_VARIABLE avx_exe_result)
           if(NOT ${avx_exe_result} EQUAL 0)
-            OVERRULE_ARCH(avx "CPU missing cvtpi32_ps")
+            overrule_arch(avx "CPU missing cvtpi32_ps")
           else()
             set(HAVE_AVX_CVTPI32_PS 1)
           endif()
@@ -207,13 +207,13 @@ if(CPU_IS_x86)
         endif()
         file(REMOVE ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps
           ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps.c)
-    else(CMAKE_SIZEOF_VOID_P EQUAL 4)
+    else()
         # 64-bit compilations won't need this command so don't overrule AVX
         set(HAVE_AVX_CVTPI32_PS 0)
-    endif(CMAKE_SIZEOF_VOID_P EQUAL 4)
+    endif()
 
     # Disable SSE4a if Clang is less than version 3.2
-    if("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
+    if("${CMAKE_C_COMPILER_ID}" MATCHES "Clang")
       # Figure out the version of Clang
       if(CMAKE_VERSION VERSION_LESS "2.8.10")
         # Exctract the Clang version from the --version string.
@@ -222,14 +222,14 @@ if(CPU_IS_x86)
         execute_process(COMMAND ${CMAKE_C_COMPILER} --version
           OUTPUT_VARIABLE clang_version)
         string(REGEX MATCH "[0-9].[0-9]" CMAKE_C_COMPILER_VERSION ${clang_version})
-      endif(CMAKE_VERSION VERSION_LESS "2.8.10")
+      endif()
 
       if(CMAKE_C_COMPILER_VERSION VERSION_LESS "3.2")
-        OVERRULE_ARCH(sse4_a "Clang >= 3.2 required for SSE4a")
+        overrule_arch(sse4_a "Clang >= 3.2 required for SSE4a")
-      endif(CMAKE_C_COMPILER_VERSION VERSION_LESS "3.2")
+      endif()
-    endif("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
+    endif()
 
-endif(CPU_IS_x86)
+endif()
 
 if(${HAVE_XGETBV})
     add_definitions(-DHAVE_XGETBV)
@@ -244,17 +244,17 @@ endif()
 ########################################################################
 
 if(NOT CPU_IS_x86)
-    OVERRULE_ARCH(3dnow "Architecture is not x86 or x86_64")
+    overrule_arch(3dnow "Architecture is not x86 or x86_64")
-    OVERRULE_ARCH(mmx "Architecture is not x86 or x86_64")
+    overrule_arch(mmx "Architecture is not x86 or x86_64")
-    OVERRULE_ARCH(sse "Architecture is not x86 or x86_64")
+    overrule_arch(sse "Architecture is not x86 or x86_64")
-    OVERRULE_ARCH(sse2 "Architecture is not x86 or x86_64")
+    overrule_arch(sse2 "Architecture is not x86 or x86_64")
-    OVERRULE_ARCH(sse3 "Architecture is not x86 or x86_64")
+    overrule_arch(sse3 "Architecture is not x86 or x86_64")
-    OVERRULE_ARCH(ssse3 "Architecture is not x86 or x86_64")
+    overrule_arch(ssse3 "Architecture is not x86 or x86_64")
-    OVERRULE_ARCH(sse4_a "Architecture is not x86 or x86_64")
+    overrule_arch(sse4_a "Architecture is not x86 or x86_64")
-    OVERRULE_ARCH(sse4_1 "Architecture is not x86 or x86_64")
+    overrule_arch(sse4_1 "Architecture is not x86 or x86_64")
-    OVERRULE_ARCH(sse4_2 "Architecture is not x86 or x86_64")
+    overrule_arch(sse4_2 "Architecture is not x86 or x86_64")
-    OVERRULE_ARCH(avx "Architecture is not x86 or x86_64")
+    overrule_arch(avx "Architecture is not x86 or x86_64")
-endif(NOT CPU_IS_x86)
+endif()
 
 ########################################################################
 # Select neon based on ARM ISA version
@@ -274,24 +274,24 @@ if(neon_compile_result)
         have_neonv8_result)
 
     if(have_neonv7_result)
-        OVERRULE_ARCH(neonv8 "CPU is armv7")
+        overrule_arch(neonv8 "CPU is armv7")
     endif()
 
     if(have_neonv8_result)
-        OVERRULE_ARCH(neonv7 "CPU is armv8")
+        overrule_arch(neonv7 "CPU is armv8")
+    endif()
+else()
+    overrule_arch(neon "Compiler doesn't support NEON")
+    overrule_arch(neonv7 "Compiler doesn't support NEON")
+    overrule_arch(neonv8 "Compiler doesn't support NEON")
 endif()
-else(neon_compile_result)
-    OVERRULE_ARCH(neon "Compiler doesn't support NEON")
-    OVERRULE_ARCH(neonv7 "Compiler doesn't support NEON")
-    OVERRULE_ARCH(neonv8 "Compiler doesn't support NEON")
-endif(neon_compile_result)
 
 ########################################################################
 # implement overruling in the ORC case,
 # since ORC always passes flag detection
 ########################################################################
 if(NOT ORC_FOUND)
-    OVERRULE_ARCH(orc "ORC support not found")
+    overrule_arch(orc "ORC support not found")
 endif()
 
 ########################################################################
@@ -302,15 +302,15 @@ if(NOT CROSSCOMPILE_MULTILIB AND CPU_IS_x86)
     include(CheckTypeSize)
     check_type_size("void*[8]" SIZEOF_CPU BUILTIN_TYPES_ONLY)
     if(${SIZEOF_CPU} EQUAL 64)
-        OVERRULE_ARCH(32 "CPU width is 64 bits")
+        overrule_arch(32 "CPU width is 64 bits")
     endif()
     if(${SIZEOF_CPU} EQUAL 32)
-        OVERRULE_ARCH(64 "CPU width is 32 bits")
+        overrule_arch(64 "CPU width is 32 bits")
     endif()
 
     #MSVC 64 bit does not have MMX, overrule it
     if(${SIZEOF_CPU} EQUAL 64 AND MSVC)
-        OVERRULE_ARCH(mmx "No MMX for Win64")
+        overrule_arch(mmx "No MMX for Win64")
     endif()
 
 endif()
@@ -344,8 +344,8 @@ foreach(arch mmx orc 64 32)
         else()
             list(REMOVE_ITEM available_machines ${machine_name_no_arch})
         endif()
-    endforeach(machine_name)
+    endforeach()
-endforeach(arch)
+endforeach()
 
 ########################################################################
 # done overrules! print the result
@@ -373,7 +373,7 @@ macro(gen_template tmpl output)
         ${PROJECT_SOURCE_DIR}/gen/volk_gnsssdr_tmpl_utils.py
         --input ${tmpl} --output ${output} ${ARGN}
     )
-endmacro(gen_template)
+endmacro()
 
 file(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/include/volk_gnsssdr)
 
@@ -399,12 +399,12 @@ if(MSVC)
     elseif(MSVC11) #Visual Studio 11
         set(cmake_c_compiler_version "Microsoft Visual Studio 11.0")
     elseif(MSVC12) #Visual Studio 12
-        SET(cmake_c_compiler_version "Microsoft Visual Studio 12.0")
+        set(cmake_c_compiler_version "Microsoft Visual Studio 12.0")
     endif()
 else()
     execute_process(COMMAND ${CMAKE_C_COMPILER} --version
             OUTPUT_VARIABLE cmake_c_compiler_version)
-endif(MSVC)
+endif()
 set(COMPILER_INFO "${CMAKE_C_COMPILER}:::${CMAKE_C_FLAGS_${GRCBTU}} ${CMAKE_C_FLAGS}\n${CMAKE_CXX_COMPILER}:::${CMAKE_CXX_FLAGS_${GRCBTU}} ${CMAKE_CXX_FLAGS}\n")
 
 foreach(machine_name ${available_machines})
@@ -419,7 +419,7 @@ foreach(machine_name ${available_machines})
         --mode "machine_flags" --machine "${machine_name}" --compiler "${COMPILER_NAME}"
         OUTPUT_VARIABLE ${machine_name}_flags OUTPUT_STRIP_TRAILING_WHITESPACE
     )
-    MESSAGE(STATUS "BUILD INFO ::: ${machine_name} ::: ${COMPILER_NAME} ::: ${CMAKE_C_FLAGS_${CBTU}} ${CMAKE_C_FLAGS} ${${machine_name}_flags}")
+    message(STATUS "BUILD INFO ::: ${machine_name} ::: ${COMPILER_NAME} ::: ${CMAKE_C_FLAGS_${CBTU}} ${CMAKE_C_FLAGS} ${${machine_name}_flags}")
     set(COMPILER_INFO "${COMPILER_INFO}${machine_name}:::${COMPILER_NAME}:::${CMAKE_C_FLAGS_${CBTU}} ${CMAKE_C_FLAGS} ${${machine_name}_flags}\n")
     if(${machine_name}_flags AND NOT MSVC)
         set_source_files_properties(${machine_source} PROPERTIES COMPILE_FLAGS "${${machine_name}_flags}")
@@ -428,12 +428,12 @@ foreach(machine_name ${available_machines})
     #add to available machine defs
     string(TOUPPER LV_MACHINE_${machine_name} machine_def)
     list(APPEND machine_defs ${machine_def})
-endforeach(machine_name)
+endforeach()
 
 # Convert to a C string to compile and display properly
 string(STRIP "${cmake_c_compiler_version}" cmake_c_compiler_version)
 string(STRIP ${COMPILER_INFO} COMPILER_INFO)
-MESSAGE(STATUS "Compiler Version: ${cmake_c_compiler_version}")
+message(STATUS "Compiler Version: ${cmake_c_compiler_version}")
 string(REPLACE "\n" " \\n" cmake_c_compiler_version ${cmake_c_compiler_version})
 string(REPLACE "\n" " \\n" COMPILER_INFO ${COMPILER_INFO})
 
@@ -474,15 +474,15 @@ if(${CMAKE_VERSION} VERSION_GREATER "2.8.9")
       foreach(asm_file ${asm_files})
         list(APPEND volk_gnsssdr_sources ${asm_file})
         message(STATUS "Adding source file: ${asm_file}")
-      endforeach(asm_file)
+      endforeach()
     endif()
     enable_language(ASM)
     set(CMAKE_ASM_FLAGS ${ARCH_ASM_FLAGS})
     message(STATUS "c flags: ${FULL_C_FLAGS}")
     message(STATUS "asm flags: ${CMAKE_ASM_FLAGS}")
-  endforeach(ARCH)
+  endforeach()
 
-else(${CMAKE_VERSION} VERSION_GREATER "2.8.9")
+else()
   message(STATUS "Not enabling ASM support. CMake >= 2.8.10 required.")
   foreach(machine_name ${available_machines})
     string(REGEX MATCH "neon" NEON_MACHINE ${machine_name})
@@ -490,7 +490,7 @@ else(${CMAKE_VERSION} VERSION_GREATER "2.8.9")
       message(FATAL_ERROR "CMake >= 2.8.10 is required for ARM NEON support")
     endif()
   endforeach()
-endif(${CMAKE_VERSION} VERSION_GREATER "2.8.9")
+endif()
 
 ########################################################################
 # Handle orc support
@@ -517,7 +517,7 @@ if(ORC_FOUND)
         )
         list(APPEND volk_gnsssdr_sources ${orcc_gen})
 
-    endforeach(orc_file)
+    endforeach()
 else()
     message(STATUS "Did not find liborc and orcc, disabling orc support...")
 endif()
@@ -597,7 +597,7 @@ if(CMAKE_VERSION VERSION_GREATER "2.8.7")
         install(TARGETS volk_gnsssdr_static
             ARCHIVE DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_devel"
         )
-    endif(ENABLE_STATIC_LIBS)
+    endif()
 
 #Older cmake versions (slower to build when building dynamic/static libs)
 else()
@@ -619,14 +619,14 @@ else()
         if(NOT WIN32)
             set_target_properties(volk_gnsssdr_static
                 PROPERTIES OUTPUT_NAME volk_gnsssdr)
-        endif(NOT WIN32)
+        endif()
 
         install(TARGETS volk_gnsssdr_static
             ARCHIVE DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_devel"   # .lib file
         )
-    endif(ENABLE_STATIC_LIBS)
+    endif()
+endif()
 
-endif(CMAKE_VERSION VERSION_GREATER "2.8.7")
 ########################################################################
 # Build the QA test application
 ########################################################################
@@ -641,7 +641,7 @@ if(ENABLE_TESTING)
     )
 
     include(VolkAddTest)
-    VOLK_GEN_TEST("volk_gnsssdr_test_all"
+    volk_gen_test("volk_gnsssdr_test_all"
         SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/testqa.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/qa_utils.cc
         TARGET_DEPS volk_gnsssdr
@@ -649,7 +649,7 @@ if(ENABLE_TESTING)
     foreach(kernel ${h_files})
       get_filename_component(kernel ${kernel} NAME)
       string(REPLACE ".h" "" kernel ${kernel})
-      VOLK_ADD_TEST(${kernel} "volk_gnsssdr_test_all")
+      volk_add_test(${kernel} "volk_gnsssdr_test_all")
     endforeach()
 
-endif(ENABLE_TESTING)
+endif()

src/algorithms/observables/gnuradio_blocks/CMakeLists.txt

@@ -39,10 +39,27 @@ include_directories(
 )
 
 add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS})
+
 source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS})
+
 if(MATIO_FOUND)
-    add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE})
+    add_dependencies(obs_gr_blocks
-else(MATIO_FOUND)
+        gnss_sp_libs
-    add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
+        glog-${glog_RELEASE}
-endif(MATIO_FOUND)
+        armadillo-${armadillo_RELEASE}
-target_link_libraries(obs_gr_blocks gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES})
+    )
+else()
+    add_dependencies(obs_gr_blocks
+        gnss_sp_libs
+        glog-${glog_RELEASE}
+        armadillo-${armadillo_RELEASE}
+        matio-${GNSSSDR_MATIO_LOCAL_VERSION}
+    )
+endif()
+
+target_link_libraries(obs_gr_blocks
+    gnss_sp_libs
+    ${GNURADIO_RUNTIME_LIBRARIES}
+    ${ARMADILLO_LIBRARIES}
+    ${MATIO_LIBRARIES}
+)

src/algorithms/resampler/adapters/CMakeLists.txt

@@ -16,12 +16,12 @@
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 #
 
+
 set(RESAMPLER_ADAPTER_SOURCES
     direct_resampler_conditioner.cc
     mmse_resampler_conditioner.cc
 )
 
-
 set(RESAMPLER_ADAPTER_HEADERS
     direct_resampler_conditioner.h
     mmse_resampler_conditioner.h
@@ -37,14 +37,18 @@ include_directories(
     ${VOLK_INCLUDE_DIRS}
 )
 
-
 if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4")
     add_definitions(-DGR_GREATER_38=1)
-endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
+endif()
 
 list(SORT RESAMPLER_ADAPTER_HEADERS)
 list(SORT RESAMPLER_ADAPTER_SOURCES)
 
-add_library(resampler_adapters ${RESAMPLER_ADAPTER_SOURCES} ${RESAMPLER_ADAPTER_HEADERS})
+add_library(resampler_adapters
+    ${RESAMPLER_ADAPTER_SOURCES}
+    ${RESAMPLER_ADAPTER_HEADERS}
+)
+
 source_group(Headers FILES ${RESAMPLER_ADAPTER_HEADERS})
+
 target_link_libraries(resampler_adapters resampler_gr_blocks)

src/algorithms/resampler/adapters/mmse_resampler_conditioner.cc

@@ -63,6 +63,17 @@ MmseResamplerConditioner::MmseResamplerConditioner(
     if (item_type_.compare("gr_complex") == 0)
         {
             item_size_ = sizeof(gr_complex);
+
+
+            //create a FIR low pass filter
+            std::vector<float> taps = gr::filter::firdes::low_pass(1.0,
+                sample_freq_in_,
+                sample_freq_out_ / 2.1,
+                sample_freq_out_ / 10,
+                gr::filter::firdes::win_type::WIN_HAMMING);
+            std::cout << "Enabled fractional resampler low pass filter with " << taps.size() << " taps" << std::endl;
+            fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(1, taps);
+
 #ifdef GR_GREATER_38
             resampler_ = gr::filter::mmse_resampler_cc::make(0.0, sample_freq_in_ / sample_freq_out_);
 #else
@@ -96,18 +107,17 @@ MmseResamplerConditioner::MmseResamplerConditioner(
 
 
 MmseResamplerConditioner::~MmseResamplerConditioner() {}
-
-
 void MmseResamplerConditioner::connect(gr::top_block_sptr top_block)
 {
     if (dump_)
         {
+            top_block->connect(fir_filter_ccf_, 0, resampler_, 0);
             top_block->connect(resampler_, 0, file_sink_, 0);
             DLOG(INFO) << "connected resampler to file sink";
         }
     else
         {
-            DLOG(INFO) << "nothing to connect internally";
+            top_block->connect(fir_filter_ccf_, 0, resampler_, 0);
         }
 }
 
@@ -116,14 +126,19 @@ void MmseResamplerConditioner::disconnect(gr::top_block_sptr top_block)
 {
     if (dump_)
         {
+            top_block->disconnect(fir_filter_ccf_, 0, resampler_, 0);
             top_block->disconnect(resampler_, 0, file_sink_, 0);
         }
+    else
+        {
+            top_block->disconnect(fir_filter_ccf_, 0, resampler_, 0);
+        }
 }
 
 
 gr::basic_block_sptr MmseResamplerConditioner::get_left_block()
 {
-    return resampler_;
+    return fir_filter_ccf_;
 }
 
 

src/algorithms/resampler/adapters/mmse_resampler_conditioner.h

@@ -36,9 +36,13 @@
 #include "gnss_block_interface.h"
 #ifdef GR_GREATER_38
 #include <gnuradio/filter/mmse_resampler_cc.h>
+#include <gnuradio/filter/fir_filter_blk.h>
 #else
 #include <gnuradio/filter/fractional_resampler_cc.h>
+#include <gnuradio/filter/fir_filter_ccf.h>
 #endif
+
+#include <gnuradio/filter/firdes.h>
 #include <string>
 
 class ConfigurationInterface;
@@ -91,6 +95,7 @@ private:
 #else
     gr::filter::fractional_resampler_cc::sptr resampler_;
 #endif
+    gr::filter::fir_filter_ccf::sptr fir_filter_ccf_;
     gr::block_sptr file_sink_;
 };
 

src/algorithms/resampler/gnuradio_blocks/CMakeLists.txt

@@ -40,6 +40,11 @@ include_directories(
 list(SORT RESAMPLER_GR_BLOCKS_HEADERS)
 list(SORT RESAMPLER_GR_BLOCKS_SOURCES)
 
-add_library(resampler_gr_blocks ${RESAMPLER_GR_BLOCKS_SOURCES} ${RESAMPLER_GR_BLOCKS_HEADERS})
+add_library(resampler_gr_blocks
+    ${RESAMPLER_GR_BLOCKS_SOURCES}
+    ${RESAMPLER_GR_BLOCKS_HEADERS}
+)
+
 source_group(Headers FILES ${RESAMPLER_GR_BLOCKS_HEADERS})
+
 add_dependencies(resampler_gr_blocks glog-${glog_RELEASE})

src/algorithms/signal_generator/adapters/CMakeLists.txt

@@ -31,9 +31,15 @@ include_directories(
     ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-add_library(signal_generator_adapters ${SIGNAL_GENERATOR_ADAPTER_SOURCES} ${SIGNAL_GENERATOR_ADAPTER_HEADERS})
+add_library(signal_generator_adapters
+    ${SIGNAL_GENERATOR_ADAPTER_SOURCES}
+    ${SIGNAL_GENERATOR_ADAPTER_HEADERS}
+)
+
 source_group(Headers FILES ${SIGNAL_GENERATOR_ADAPTER_HEADERS})
-target_link_libraries(signal_generator_adapters gnss_sp_libs 
+
+target_link_libraries(signal_generator_adapters
+    gnss_sp_libs
     signal_generator_blocks
     ${GNURADIO_RUNTIME_LIBRARIES}
     ${GNURADIO_BLOCKS_LIBRARIES}

src/algorithms/signal_generator/gnuradio_blocks/CMakeLists.txt

@@ -31,16 +31,24 @@ include_directories(
     ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
 
-add_library(signal_generator_blocks ${SIGNAL_GENERATOR_BLOCK_SOURCES} ${SIGNAL_GENERATOR_BLOCK_HEADERS})
+add_library(signal_generator_blocks
-source_group(Headers FILES ${SIGNAL_GENERATOR_BLOCK_HEADERS})
+    ${SIGNAL_GENERATOR_BLOCK_SOURCES}
-target_link_libraries(signal_generator_blocks gnss_system_parameters gnss_sp_libs
+    ${SIGNAL_GENERATOR_BLOCK_HEADERS}
-                                              ${GNURADIO_RUNTIME_LIBRARIES}
-                                              ${GNURADIO_FFT_LIBRARIES}
-                                              ${VOLK_GNSSSDR_LIBRARIES} ${ORC_LIBRARIES}
 )
 
-if(VOLK_GNSSSDR_FOUND)
+source_group(Headers FILES ${SIGNAL_GENERATOR_BLOCK_HEADERS})
+
+target_link_libraries(signal_generator_blocks
+    gnss_system_parameters
+    gnss_sp_libs
+    ${GNURADIO_RUNTIME_LIBRARIES}
+    ${GNURADIO_FFT_LIBRARIES}
+    ${VOLK_GNSSSDR_LIBRARIES}
+    ${ORC_LIBRARIES}
+)
+
+if(VOLKGNSSSDR_FOUND)
     # add_dependencies(signal_generator_blocks glog-${glog_RELEASE})
-else(VOLK_GNSSSDR_FOUND)
+else()
     add_dependencies(signal_generator_blocks volk_gnsssdr_module)
-endif(VOLK_GNSSSDR_FOUND)
+endif()

src/algorithms/signal_source/adapters/CMakeLists.txt

@@ -23,30 +23,30 @@ if(ENABLE_RAW_UDP)
     find_package(PCAP)
     if(NOT PCAP_FOUND)
         message(FATAL_ERROR "PCAP required to compile custom UDP packet sample source (ENABLE_RAW_UDP)")
-    endif(NOT PCAP_FOUND)
+    endif()
     get_filename_component(PCAP_LIBRARY_DIRS ${PCAP_LIBRARY} DIRECTORY CACHE)
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${PCAP_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${PCAP_INCLUDE_DIRS})
     set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} custom_udp_signal_source.cc)
     set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} custom_udp_signal_source.h)
-endif(ENABLE_RAW_UDP)
+endif()
 
 if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
-    find_package(Griio REQUIRED)
+    find_package(GRIIO REQUIRED)
-    if(NOT IIO_FOUND)
+    if(NOT GRIIO_FOUND)
         message(STATUS "gnuradio-iio not found, its installation is required.")
         message(STATUS "Please build and install the following projects:")
         message(STATUS " * libiio from https://github.com/analogdevicesinc/libiio")
         message(STATUS " * libad9361-iio from https://github.com/analogdevicesinc/libad9361-iio")
         message(STATUS " * gnuradio-iio from https://github.com/analogdevicesinc/gr-iio")
         message(FATAL_ERROR "gnuradio-iio is required for building gnss-sdr with this option enabled.")
-    endif(NOT IIO_FOUND)
+    endif()
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${IIO_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
-endif(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
+endif()
 
 if(ENABLE_AD9361)
-    find_package(libiio REQUIRED)
+    find_package(LIBIIO REQUIRED)
     if(NOT LIBIIO_FOUND)
         message(STATUS "libiio not found, its installation is required.")
         message(STATUS "Please build and install the following projects:")
@@ -54,32 +54,33 @@ if(ENABLE_AD9361)
         message(STATUS " * libad9361-iio from https://github.com/analogdevicesinc/libad9361-iio")
         message(STATUS " * gnuradio-iio from https://github.com/analogdevicesinc/gr-iio")
         message(FATAL_ERROR "libiio is required for building gnss-sdr with this option enabled.")
-    endif(NOT LIBIIO_FOUND)
+    endif()
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${LIBIIO_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${LIBIIO_INCLUDE_DIRS})
-endif(ENABLE_AD9361)
+endif()
 
 
 if(ENABLE_PLUTOSDR)
     ##############################################
     # ADALM-PLUTO (Analog Devices Inc.)
     ##############################################
-    if(IIO_FOUND)
+    if(GRIIO_FOUND)
         set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} plutosdr_signal_source.cc)
         set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} plutosdr_signal_source.h)
-    endif(IIO_FOUND)
+    endif()
-endif(ENABLE_PLUTOSDR)
+endif()
 
 
 if(ENABLE_FMCOMMS2)
     ###############################################
     # FMCOMMS2 based SDR Hardware
     ###############################################
-    if(IIO_FOUND)
+    if(GRIIO_FOUND)
         set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} fmcomms2_signal_source.cc)
         set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} fmcomms2_signal_source.h)
-    endif(IIO_FOUND)
+    endif()
-endif(ENABLE_FMCOMMS2)
+endif()
+
 
 if(ENABLE_AD9361)
     ###############################################
@@ -88,36 +89,34 @@ if(ENABLE_AD9361)
     if(LIBIIO_FOUND)
         set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} ad9361_fpga_signal_source.cc)
         set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} ad9361_fpga_signal_source.h)
-    endif(LIBIIO_FOUND)
+    endif()
-endif(ENABLE_AD9361)
+endif()
-
 
 
 if(ENABLE_GN3S)
     ##############################################
     # GN3S (USB dongle)
     ##############################################
-     find_package(GrGN3S REQUIRED)
+    find_package(GRGN3S REQUIRED)
-     if(NOT GR_GN3S_FOUND)
+    if(NOT GRGN3S_FOUND)
         message(" gr-gn3s not found, install it from https://github.com/gnss-sdr/gr-gn3s ")
         message(FATAL_ERROR "gr-gn3s required for building gnss-sdr with this option enabled")
-     endif(NOT GR_GN3S_FOUND)
+    endif()
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GR_GN3S_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${GR_GN3S_INCLUDE_DIRS})
     set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} gn3s_signal_source.cc)
     set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} gn3s_signal_source.h)
-endif(ENABLE_GN3S)
+endif()
 
 
 if(ENABLE_FLEXIBAND)
     ##############################################
     # TELEORBIT FLEXIBAND FRONTEND ADAPTER
     ##############################################
-     find_package(Teleorbit REQUIRED)
+    find_package(TELEORBIT REQUIRED)
     if(NOT TELEORBIT_FOUND)
         message(FATAL_ERROR "Teleorbit Flexiband GNU Radio driver required to build gnss-sdr with the optional FLEXIBAND adapter")
-     endif(NOT TELEORBIT_FOUND)
+    endif()
-
     # Set up variables
     set(FLEXIBAND_DRIVER_INCLUDE_DIRS
         ${OPT_DRIVER_INCLUDE_DIRS}
@@ -127,23 +126,23 @@ if(ENABLE_FLEXIBAND)
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${FLEXIBAND_DRIVER_INCLUDE_DIRS})
     set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} flexiband_signal_source.cc)
     set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} flexiband_signal_source.h)
-endif(ENABLE_FLEXIBAND)
+endif()
 
 
 if(ENABLE_ARRAY)
     ##############################################
     # DBFCTTC GNSS EXPERIMENTAL ARRAY PROTOTYPE
     ##############################################
-     find_package(GrDbfcttc REQUIRED)
+    find_package(GRDBFCTTC REQUIRED)
-     if(NOT GR_DBFCTTC_FOUND)
+    if(NOT GRDBFCTTC_FOUND)
         message(" gr-dbfcttc not found, install it from https://github.com/gnss-sdr/gr-dbfcttc ")
         message(FATAL_ERROR "gr-dbfcttc required for building gnss-sdr with this option enabled")
-     endif(NOT GR_DBFCTTC_FOUND)
+    endif()
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GR_DBFCTTC_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${GR_DBFCTTC_INCLUDE_DIRS})
     set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} raw_array_signal_source.cc)
     set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} raw_array_signal_source.h)
-endif(ENABLE_ARRAY)
+endif()
 
 
 if(ENABLE_OSMOSDR)
@@ -153,8 +152,8 @@ if(ENABLE_OSMOSDR)
     if(NOT GROSMOSDR_FOUND)
         if(ENABLE_PACKAGING)
             list(REMOVE_ITEM SIGNAL_SOURCE_ADAPTER_HEADERS ${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/adapters/osmosdr_signal_source.h)
-        endif(ENABLE_PACKAGING)
+        endif()
-    else(NOT GROSMOSDR_FOUND)
+    else()
         # set OSMO include dirs
         set(OSMO_DRIVER_INCLUDE_DIRS
             ${OPT_DRIVER_INCLUDE_DIRS}
@@ -164,18 +163,20 @@ if(ENABLE_OSMOSDR)
         set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} osmosdr_signal_source.h)
         set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GROSMOSDR_LIBRARIES})
         set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${OSMO_DRIVER_INCLUDE_DIRS})
-    endif(NOT GROSMOSDR_FOUND)
+    endif()
-endif(ENABLE_OSMOSDR)
+endif()
+
 
 if(ENABLE_UHD AND GNURADIO_UHD_LIBRARIES_gnuradio-uhd)
     set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} uhd_signal_source.cc)
     set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} uhd_signal_source.h)
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${UHD_LIBRARIES} ${GNURADIO_UHD_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${UHD_INCLUDE_DIRS})
-endif(ENABLE_UHD AND GNURADIO_UHD_LIBRARIES_gnuradio-uhd)
+endif()
 
 
-set(SIGNAL_SOURCE_ADAPTER_SOURCES file_signal_source.cc
+set(SIGNAL_SOURCE_ADAPTER_SOURCES
+    file_signal_source.cc
     gen_signal_source.cc
     nsr_file_signal_source.cc
     spir_file_signal_source.cc
@@ -185,7 +186,8 @@ set(SIGNAL_SOURCE_ADAPTER_SOURCES file_signal_source.cc
     ${OPT_DRIVER_SOURCES}
 )
 
-set(SIGNAL_SOURCE_ADAPTER_HEADERS file_signal_source.h
+set(SIGNAL_SOURCE_ADAPTER_HEADERS
+    file_signal_source.h
     gen_signal_source.h
     nsr_file_signal_source.h
     spir_file_signal_source.h
@@ -203,7 +205,7 @@ if(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
     set(SIGNAL_SOURCE_ADAPTER_HEADERS ${SIGNAL_SOURCE_ADAPTER_HEADERS}
         two_bit_cpx_file_signal_source.h
         two_bit_packed_file_signal_source.h)
-endif(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
+endif()
 
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
@@ -222,7 +224,7 @@ include_directories(
 
 if(ARCH_64BITS)
     add_definitions(-DARCH_64BITS=1)
-endif(ARCH_64BITS)
+endif()
 
 add_definitions(-DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}")
 

src/algorithms/signal_source/adapters/spir_gss6450_file_signal_source.cc

@@ -59,7 +59,7 @@ SpirGSS6450FileSignalSource::SpirGSS6450FileSignalSource(ConfigurationInterface*
     adc_bits_ = configuration->property(role + ".adc_bits", 4);
     n_channels_ = configuration->property(role + ".total_channels", 1);
     sel_ch_ = configuration->property(role + ".sel_ch", 1);
-    item_size_ = sizeof(int);
+    item_size_ = sizeof(int32_t);
     int64_t bytes_seek = configuration->property(role + ".bytes_to_skip", 65536);
     double sample_size_byte = static_cast<double>(adc_bits_) / 4.0;
 
@@ -69,17 +69,22 @@ SpirGSS6450FileSignalSource::SpirGSS6450FileSignalSource(ConfigurationInterface*
         }
     if (n_channels_ > 1)
         {
-            for (uint32_t i = 0; i < (n_channels_ - 1); i++)
+            for (uint32_t i = 0; i < n_channels_; i++)
                 {
-                    null_sinks_.push_back(gr::blocks::null_sink::make(item_size_));
+                    null_sinks_.push_back(gr::blocks::null_sink::make(sizeof(gr_complex)));
+                    unpack_spir_vec_.push_back(make_unpack_spir_gss6450_samples(adc_bits_));
+                    if (endian_swap_)
+                        {
+                            endian_vec_.push_back(gr::blocks::endian_swap::make(item_size_));
+                        }
                 }
-            DLOG(INFO) << "NUMBER OF NULL SINKS = " << null_sinks_.size();
         }
     try
         {
             file_source_ = gr::blocks::file_source::make(item_size_, filename_.c_str(), repeat_);
             file_source_->seek(bytes_seek / item_size_, SEEK_SET);
-            unpack_spir_ = make_unpack_spir_gss6450_samples(adc_bits_);
+
+
             deint_ = gr::blocks::deinterleave::make(item_size_);
         }
     catch (const std::exception& e)
@@ -143,22 +148,19 @@ SpirGSS6450FileSignalSource::SpirGSS6450FileSignalSource(ConfigurationInterface*
     LOG(INFO) << "Total number samples to be processed= " << samples_ << " GNSS signal duration= " << signal_duration_s << " [s]";
     std::cout << "GNSS signal recorded time to be processed: " << signal_duration_s << " [s]" << std::endl;
 
-    valve_ = gnss_sdr_make_valve(sizeof(gr_complex), samples_, queue_);
+    for (uint32_t i = 0; i < (n_channels_); i++)
-    DLOG(INFO) << "valve(" << valve_->unique_id() << ")";
+        {
-
+            valve_vec_.push_back(gnss_sdr_make_valve(sizeof(gr_complex), samples_, queue_));
             if (dump_)
                 {
-            sink_ = gr::blocks::file_sink::make(sizeof(gr_complex), dump_filename_.c_str());
+                    sink_vec_.push_back(gr::blocks::file_sink::make(sizeof(gr_complex), dump_filename_.c_str()));
-            DLOG(INFO) << "file_sink(" << sink_->unique_id() << ")";
                 }
             if (enable_throttle_control_)
                 {
-            throttle_ = gr::blocks::throttle::make(sizeof(gr_complex), sampling_frequency_);
+                    throttle_vec_.push_back(gr::blocks::throttle::make(sizeof(gr_complex), sampling_frequency_));
                 }
-    if (endian_swap_)
-        {
-            endian_ = gr::blocks::endian_swap::make(item_size_);
         }
+
     DLOG(INFO) << "File source filename " << filename_;
     DLOG(INFO) << "Samples " << samples_;
     DLOG(INFO) << "Sampling frequency " << sampling_frequency_;
@@ -188,15 +190,17 @@ void SpirGSS6450FileSignalSource::connect(gr::top_block_sptr top_block)
     if (samples_ > 0)
         {
             top_block->connect(file_source_, 0, deint_, 0);
+
             if (endian_swap_)
                 {
-                    top_block->connect(deint_, sel_ch_ - 1, endian_, 0);
+                    top_block->connect(deint_, sel_ch_ - 1, endian_vec_.at(sel_ch_ - 1), 0);
-                    top_block->connect(endian_, 0, unpack_spir_, 0);
+                    top_block->connect(endian_vec_.at(sel_ch_ - 1), 0, unpack_spir_vec_.at(sel_ch_ - 1), 0);
                 }
             else
                 {
-                    top_block->connect(deint_, sel_ch_ - 1, unpack_spir_, 0);
+                    top_block->connect(deint_, sel_ch_ - 1, unpack_spir_vec_.at(sel_ch_ - 1), 0);
                 }
+
             if (n_channels_ > 1)
                 {
                     uint32_t aux = 0;
@@ -204,23 +208,37 @@ void SpirGSS6450FileSignalSource::connect(gr::top_block_sptr top_block)
                         {
                             if (i != (sel_ch_ - 1))
                                 {
-                                    top_block->connect(deint_, i, null_sinks_.at(aux), 0);
+                                    if (endian_swap_)
+                                        {
+                                            top_block->connect(deint_, i, endian_vec_.at(i), 0);
+                                            top_block->connect(endian_vec_.at(i), 0, unpack_spir_vec_.at(i), 0);
+                                        }
+                                    else
+                                        {
+                                            top_block->connect(deint_, i, unpack_spir_vec_.at(i), 0);
+                                        }
+
                                     aux++;
                                 }
                         }
                 }
+            for (uint32_t i = 0; i < n_channels_; i++)
+                {
                     if (enable_throttle_control_)
                         {
-                    top_block->connect(unpack_spir_, 0, throttle_, 0);
+                            top_block->connect(unpack_spir_vec_.at(i), 0, throttle_vec_.at(i), 0);
-                    top_block->connect(throttle_, 0, valve_, 0);
+                            top_block->connect(throttle_vec_.at(i), 0, valve_vec_.at(i), 0);
                         }
                     else
                         {
-                    top_block->connect(unpack_spir_, 0, valve_, 0);
+                            top_block->connect(unpack_spir_vec_.at(i), 0, valve_vec_.at(i), 0);
                         }
                     if (dump_)
                         {
-                    top_block->connect(valve_, 0, sink_, 0);
+                            top_block->connect(valve_vec_.at(i), 0, sink_vec_.at(i), 0);
+                        }
+
+                    top_block->connect(valve_vec_.at(i), 0, null_sinks_.at(i), 0);
                 }
         }
     else
@@ -237,12 +255,12 @@ void SpirGSS6450FileSignalSource::disconnect(gr::top_block_sptr top_block)
             top_block->disconnect(file_source_, 0, deint_, 0);
             if (endian_swap_)
                 {
-                    top_block->disconnect(deint_, sel_ch_ - 1, endian_, 0);
+                    top_block->disconnect(deint_, sel_ch_ - 1, endian_vec_.at(sel_ch_ - 1), 0);
-                    top_block->disconnect(endian_, 0, unpack_spir_, 0);
+                    top_block->disconnect(endian_vec_.at(sel_ch_ - 1), 0, unpack_spir_vec_.at(sel_ch_ - 1), 0);
                 }
             else
                 {
-                    top_block->disconnect(deint_, sel_ch_ - 1, unpack_spir_, 0);
+                    top_block->disconnect(deint_, sel_ch_ - 1, unpack_spir_vec_.at(sel_ch_ - 1), 0);
                 }
             if (n_channels_ > 1)
                 {
@@ -251,23 +269,38 @@ void SpirGSS6450FileSignalSource::disconnect(gr::top_block_sptr top_block)
                         {
                             if (i != (sel_ch_ - 1))
                                 {
-                                    top_block->disconnect(deint_, i, null_sinks_.at(aux), 0);
+                                    if (endian_swap_)
+                                        {
+                                            top_block->disconnect(deint_, i, endian_vec_.at(i), 0);
+                                            top_block->disconnect(endian_vec_.at(i), 0, unpack_spir_vec_.at(i), 0);
+                                        }
+                                    else
+                                        {
+                                            top_block->disconnect(deint_, i, unpack_spir_vec_.at(i), 0);
+                                        }
+
                                     aux++;
                                 }
                         }
                 }
+
+            for (uint32_t i = 0; i < (n_channels_); i++)
+                {
                     if (enable_throttle_control_)
                         {
-                    top_block->disconnect(unpack_spir_, 0, throttle_, 0);
+                            top_block->disconnect(unpack_spir_vec_.at(i), 0, throttle_vec_.at(i), 0);
-                    top_block->disconnect(throttle_, 0, valve_, 0);
+                            top_block->disconnect(throttle_vec_.at(i), 0, valve_vec_.at(i), 0);
                         }
                     else
                         {
-                    top_block->disconnect(unpack_spir_, 0, valve_, 0);
+                            top_block->disconnect(unpack_spir_vec_.at(i), 0, valve_vec_.at(i), 0);
                         }
                     if (dump_)
                         {
-                    top_block->disconnect(valve_, 0, sink_, 0);
+                            top_block->disconnect(valve_vec_.at(i), 0, sink_vec_.at(i), 0);
+                        }
+
+                    top_block->disconnect(valve_vec_.at(i), 0, null_sinks_.at(i), 0);
                 }
         }
     else
@@ -283,22 +316,12 @@ gr::basic_block_sptr SpirGSS6450FileSignalSource::get_left_block()
     return gr::blocks::file_source::sptr();
 }
 
+gr::basic_block_sptr SpirGSS6450FileSignalSource::get_right_block(int RF_channel)
+{
+    return valve_vec_.at(RF_channel);
+}
 
 gr::basic_block_sptr SpirGSS6450FileSignalSource::get_right_block()
 {
-    if (samples_ > 0)
+    return valve_vec_.at(0);
-        {
-            return valve_;
-        }
-    else
-        {
-            if (enable_throttle_control_)
-                {
-                    return throttle_;
-                }
-            else
-                {
-                    return unpack_spir_;
-                }
-        }
 }