Merge branch 'next' into bds_b3i. Keep code up to date

.gitignore

@@ -13,3 +13,4 @@ thirdparty/
 cmake-build-debug/
 /install
 .DS_Store
+.pydevproject

CMakeLists.txt

@@ -87,6 +87,7 @@ add_feature_info(ENABLE_FPGA ENABLE_FPGA "Enables building of processing blocks
 
 # Building and packaging options
 option(ENABLE_GENERIC_ARCH "Builds a portable binary" OFF)
+add_feature_info(ENABLE_GENERIC_ARCH ENABLE_GENERIC_ARCH "When disabled, flags such as '-march=native' are passed to the compiler.")
 
 option(ENABLE_PACKAGING "Enable software packaging" OFF)
 add_feature_info(ENABLE_PACKAGING ENABLE_PACKAGING "Enables software packaging.")
@@ -412,7 +413,7 @@ set(GNSSSDR_ARMADILLO_LOCAL_VERSION "9.200.x")
 set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
 set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10.6")
-set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.13")
+set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.14")
 set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.9")
 
 if(CMAKE_VERSION VERSION_LESS "3.0.2") # Fix for CentOS 7

docs/changelog

@@ -3,6 +3,7 @@
 ### Improvements in Availability
 
 - Fixed bug that caused a random deadlock in the Observables block, preventing the computation of PVT fixes.
+- Fixed bug in Galileo INAV message decoding when PLL is locked at 180 degrees, which prevented from correct navigation message decoding in some situations.
 
 
 ### Improvements in Efficiency
@@ -42,6 +43,7 @@
 - The receiver now admits FPGA off-loading, allowing for real time operation at high sampling rates and higher number of signals and channels.
 - Fixed program termination (avoiding hangs and segfaults in some platforms/configurations).
 - CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory.
+- New parameter PVT.show_local_time_zone displays time in the local time zone. Subject to the proper system configuration of the machine running the software receiver.
 - Improved information provided to the user in case of failure.
 
 

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -742,6 +742,9 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
     pvt_output_parameters.udp_addresses = configuration->property(role + ".monitor_client_addresses", std::string("127.0.0.1"));
     pvt_output_parameters.udp_port = configuration->property(role + ".monitor_udp_port", 1234);
 
+    // Show time in local zone
+    pvt_output_parameters.show_local_time_zone = configuration->property(role + ".show_local_time_zone", false);
+
     // make PVT object
     pvt_ = rtklib_make_pvt_gs(in_streams_, pvt_output_parameters, rtk);
     DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";

src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt

@@ -58,6 +58,18 @@ if(Boost_VERSION LESS 105800)
     target_compile_definitions(pvt_gr_blocks PRIVATE -DOLD_BOOST=1)
 endif()
 
+# Check if we have std::put_time (Workaround for gcc < 5.0)
+include(CheckCXXSourceCompiles)
+check_cxx_source_compiles("
+    #include <iomanip>
+    int main()
+    { std::put_time(nullptr, \"\"); }"
+    has_put_time
+)
+if(${has_put_time})
+    target_compile_definitions(pvt_gr_blocks PRIVATE -DHAS_PUT_TIME=1)
+endif()
+
 set_property(TARGET pvt_gr_blocks
     APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -76,7 +76,10 @@
 #include <algorithm>                    // for sort, unique
 #include <exception>                    // for exception
 #include <fstream>                      // for ofstream
+#include <iomanip>                      // for put_time, setprecision
 #include <iostream>                     // for operator<<
+#include <locale>                       // for locale
+#include <sstream>                      // for ostringstream
 #include <stdexcept>                    // for length_error
 #include <sys/ipc.h>                    // for IPC_CREAT
 #include <sys/msg.h>                    // for msgctl
@@ -361,6 +364,43 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
             throw std::exception();
         }
 
+    // Display time in local time zone
+    d_show_local_time_zone = conf_.show_local_time_zone;
+    time_t when = std::time(nullptr);
+    auto const tm = *std::localtime(&when);
+    std::ostringstream os;
+#ifdef HAS_PUT_TIME
+    os << std::put_time(&tm, "%z");
+#endif
+    std::string utc_diff_str = os.str();  // in ISO 8601 format: "+HHMM" or "-HHMM"
+    if (utc_diff_str.empty())
+        {
+            utc_diff_str = "+0000";
+        }
+    int h = std::stoi(utc_diff_str.substr(0, 3), nullptr, 10);
+    int m = std::stoi(utc_diff_str[0] + utc_diff_str.substr(3), nullptr, 10);
+    d_utc_diff_time = boost::posix_time::hours(h) + boost::posix_time::minutes(m);
+    std::ostringstream os2;
+#ifdef HAS_PUT_TIME
+    os2 << std::put_time(&tm, "%Z");
+#endif
+    std::string time_zone_abrv = os2.str();
+    if (time_zone_abrv.empty())
+        {
+            if (utc_diff_str == "+0000")
+                {
+                    d_local_time_str = " UTC";
+                }
+            else
+                {
+                    d_local_time_str = " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
+                }
+        }
+    else
+        {
+            d_local_time_str = std::string(" ") + time_zone_abrv + " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
+        }
+
     d_pvt_solver = std::make_shared<Rtklib_Solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk);
     d_pvt_solver->set_averaging_depth(1);
     start = std::chrono::system_clock::now();
@@ -1465,8 +1505,16 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
 
                                     if (first_fix == true)
                                         {
-                                            std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_pvt_solver->get_position_UTC_time())
+                                            if (d_show_local_time_zone)
-                                                      << " UTC is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
+                                                {
+                                                    boost::posix_time::ptime time_first_solution = d_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
+                                                    std::cout << "First position fix at " << time_first_solution << d_local_time_str;
+                                                }
+                                            else
+                                                {
+                                                    std::cout << "First position fix at " << d_pvt_solver->get_position_UTC_time() << " UTC";
+                                                }
+                                            std::cout << " is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
                                                       << " [deg], Height= " << d_pvt_solver->get_height() << " [m]" << std::endl;
                                             ttff_msgbuf ttff;
                                             ttff.mtype = 1;
@@ -3297,18 +3345,31 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                     // DEBUG MESSAGE: Display position in console output
                     if (d_pvt_solver->is_valid_position() and flag_display_pvt)
                         {
+                            boost::posix_time::ptime time_solution;
+                            std::string UTC_solution_str;
+                            if (d_show_local_time_zone)
+                                {
+                                    time_solution = d_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
+                                    UTC_solution_str = d_local_time_str;
+                                }
+                            else
+                                {
+                                    time_solution = d_pvt_solver->get_position_UTC_time();
+                                    UTC_solution_str = " UTC";
+                                }
                             std::streamsize ss = std::cout.precision();  // save current precision
                             std::cout.setf(std::ios::fixed, std::ios::floatfield);
                             auto facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z");
                             std::cout.imbue(std::locale(std::cout.getloc(), facet));
-
+                            std::cout
-                            std::cout << TEXT_BOLD_GREEN
+                                << TEXT_BOLD_GREEN
-                                      << "Position at " << d_pvt_solver->get_position_UTC_time()
+                                << "Position at " << time_solution << UTC_solution_str
-                                      << " UTC using " << d_pvt_solver->get_num_valid_observations()
+                                << " using " << d_pvt_solver->get_num_valid_observations()
                                 << std::fixed << std::setprecision(9)
                                 << " observations is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
                                 << std::fixed << std::setprecision(3)
                                 << " [deg], Height = " << d_pvt_solver->get_height() << " [m]" << TEXT_RESET << std::endl;
+
                             std::cout << std::setprecision(ss);
                             DLOG(INFO) << "RX clock offset: " << d_pvt_solver->get_time_offset_s() << "[s]";
 

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h

@@ -162,6 +162,10 @@ private:
     std::unique_ptr<Monitor_Pvt_Udp_Sink> udp_sink_ptr;
     std::vector<std::string> split_string(const std::string& s, char delim) const;
 
+    bool d_show_local_time_zone;
+    std::string d_local_time_str;
+    boost::posix_time::time_duration d_utc_diff_time;
+
 public:
     ~rtklib_pvt_gs();  //!< Default destructor
 

src/algorithms/PVT/libs/pvt_conf.cc

@@ -70,4 +70,6 @@ Pvt_Conf::Pvt_Conf()
 
     monitor_enabled = false;
     udp_port = 0;
+
+    show_local_time_zone = false;
 }

src/algorithms/PVT/libs/pvt_conf.h

@@ -83,6 +83,8 @@ public:
     std::string udp_addresses;
     int udp_port;
 
+    bool show_local_time_zone;
+
     Pvt_Conf();
 };
 

src/algorithms/PVT/libs/rtcm.h

@@ -144,6 +144,7 @@ public:
      * \return string with message contents
      */
     std::string print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
+
     /*!
      * \brief Prints Extended L1-Only GLONASS RTK Observables
      * \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
@@ -154,6 +155,7 @@ public:
      * \return string with message contents
      */
     std::string print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
+
     /*!
      * \brief Prints L1&L2 GLONASS RTK Observables
      * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
@@ -164,6 +166,7 @@ public:
      * \return string with message contents
      */
     std::string print_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
+
     /*!
      * \brief Prints Extended L1&L2 GLONASS RTK Observables
      * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content.  This is one of the most common messages found.
@@ -335,6 +338,7 @@ public:
     uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);       //!< Returns the time period in which GPS L1 signals have been continually tracked.
     uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);  //!< Returns the time period in which GPS L2 signals have been continually tracked.
     uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);   //!< Returns the time period in which Galileo signals have been continually tracked.
+
     /*!
      * \brief Locks time period in which GLONASS signals have been continually tracked.
      * \note Code added as part of GSoC 2017 program

src/algorithms/libs/rtklib/rtklib.h

@@ -193,12 +193,7 @@ const int NSATGLO = 0;
 const int NSYSGLO = 0;
 #endif
 
-/*
+
-const int MINPRNGLO = 1;                   //!<   min satellite slot number of GLONASS
-const int MAXPRNGLO = 27;                  //!<   max satellite slot number of GLONASS
-const int NSATGLO = (MAXPRNGLO - MINPRNGLO + 1); //!<   number of GLONASS satellites
-const int NSYSGLO = 1;
-*/
 const int MINPRNGAL = 1;                          //!<   min satellite PRN number of Galileo
 const int MAXPRNGAL = 36;                         //!<   max satellite PRN number of Galileo
 const int NSATGAL = (MAXPRNGAL - MINPRNGAL + 1);  //!<   number of Galileo satellites

src/algorithms/libs/rtklib/rtklib_ionex.cc

@@ -1,5 +1,5 @@
 /*!
- * \file rtklib_ionex.h
+ * \file rtklib_ionex.cc
  * \brief ionex functions
  * \authors <ul>
  *          <li> 2007-2013, T. Takasu

src/algorithms/libs/rtklib/rtklib_rtkcmn.cc

@@ -51,7 +51,6 @@
  *----------------------------------------------------------------------------*/
 
 #include "rtklib_rtkcmn.h"
-//#include <cstdio>
 #include <glog/logging.h>
 #include <dirent.h>
 #include <iostream>

src/algorithms/libs/rtklib/rtklib_rtkcmn.h

@@ -79,7 +79,7 @@
 #define GNSS_SDR_RTKLIB_RTKCMN_H_
 
 #include "rtklib.h"
-//#include <glog/logging.h>
+
 
 /* coordinate rotation matrix ------------------------------------------------*/
 #define Rx(t, X)                                     \

src/algorithms/libs/rtklib/rtklib_rtksvr.cc

@@ -1,3 +1,55 @@
+/*!
+ * \file rtklib_rtksvr.cc
+ * \brief rtk server functions
+ * \authors <ul>
+ *          <li> 2007-2013, T. Takasu
+ *          <li> 2017, Javier Arribas
+ *          <li> 2017, Carles Fernandez
+ *          </ul>
+ *
+ * This is a derived work from RTKLIB http://www.rtklib.com/
+ * The original source code at https://github.com/tomojitakasu/RTKLIB is
+ * released under the BSD 2-clause license with an additional exclusive clause
+ * that does not apply here. This additional clause is reproduced below:
+ *
+ * " The software package includes some companion executive binaries or shared
+ * libraries necessary to execute APs on Windows. These licenses succeed to the
+ * original ones of these software. "
+ *
+ * Neither the executive binaries nor the shared libraries are required by, used
+ * or included in GNSS-SDR.
+ *
+ * -------------------------------------------------------------------------
+ * Copyright (C) 2007-2013, T. Takasu
+ * Copyright (C) 2017, Javier Arribas
+ * Copyright (C) 2017, Carles Fernandez
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are
+ * met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ *
+ *----------------------------------------------------------------------------*/
 
 #include "rtklib_rtksvr.h"
 #include "rtklib_preceph.h"

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc

@@ -522,6 +522,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
                                 // try to decode frame
                                 DLOG(INFO) << "Starting page decoder for Galileo satellite " << this->d_satellite;
                                 d_preamble_index = d_sample_counter;  // record the preamble sample stamp
+                                d_CRC_error_counter = 0;
                                 d_stat = 2;
                             }
                         else
@@ -555,7 +556,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
                                     {
                                         for (uint32_t i = 0; i < d_frame_length_symbols; i++)
                                             {
-                                                d_page_part_symbols[i] = d_symbol_history.at(i + d_samples_per_preamble);  // because last symbol of the preamble is just received now!
+                                                d_page_part_symbols[i] = -d_symbol_history.at(i + d_samples_per_preamble);  // because last symbol of the preamble is just received now!
                                             }
                                     }
                                 decode_INAV_word(d_page_part_symbols, d_frame_length_symbols);

src/algorithms/telemetry_decoder/libs/libswiftcnav/bits.h

@@ -29,8 +29,8 @@
  * along with this program. If not, see <https://www.gnu.org/licenses/>.
  */
 
-#ifndef LIBSWIFTNAV_BITS_H
+#ifndef GNSS_SDR_BITS_H_
-#define LIBSWIFTNAV_BITS_H
+#define GNSS_SDR_BITS_H_
 
 #include "swift_common.h"
 
@@ -47,4 +47,4 @@ uint8_t count_bits_u32(uint32_t v, uint8_t bv);
 uint8_t count_bits_u16(uint16_t v, uint8_t bv);
 uint8_t count_bits_u8(uint8_t v, uint8_t bv);
 
-#endif /* LIBSWIFTNAV_BITS_H */
+#endif /* GNSS_SDR_BITS_H_ */

src/algorithms/telemetry_decoder/libs/libswiftcnav/cnav_msg.h

@@ -30,8 +30,8 @@
  */
 
 
-#ifndef LIBSWIFTNAV_CNAV_MSG_H
+#ifndef GNSS_SDR_CNAV_MSG_H_
-#define LIBSWIFTNAV_CNAV_MSG_H
+#define GNSS_SDR_CNAV_MSG_H_
 
 #include "fec.h"
 #include "swift_common.h"
@@ -117,4 +117,4 @@ bool cnav_msg_decoder_add_symbol(cnav_msg_decoder_t *dec,
 /** \} */
 /** \} */
 
-#endif /* LIBSWIFTNAV_CNAV_MSG_H */
+#endif /* GNSS_SDR_CNAV_MSG_H_ */

src/algorithms/telemetry_decoder/libs/libswiftcnav/edc.h

@@ -30,12 +30,12 @@
  */
 
 
-#ifndef LIBSWIFTNAV_EDC_H
+#ifndef GNSS_SDR_EDC_H_
-#define LIBSWIFTNAV_EDC_H
+#define GNSS_SDR_EDC_H_
 
 #include "swift_common.h"
 
 uint32_t crc24q(const uint8_t *buf, uint32_t len, uint32_t crc);
 uint32_t crc24q_bits(uint32_t crc, const uint8_t *buf, uint32_t n_bits, bool invert);
 
-#endif /* LIBSWIFTNAV_EDC_H */
+#endif /* GNSS_SDR_EDC_H_ */

src/algorithms/telemetry_decoder/libs/libswiftcnav/fec.h

@@ -29,8 +29,8 @@
  */
 
 
-#ifndef LIBSWIFTNAV_FEC_H_
+#ifndef GNSS_SDR_FEC_H_
-#define LIBSWIFTNAV_FEC_H_
+#define GNSS_SDR_FEC_H_
 
 /* r=1/2 k=7 convolutional encoder polynomials
  * The NASA-DSN convention is to use V27POLYA inverted, then V27POLYB

src/algorithms/telemetry_decoder/libs/libswiftcnav/swift_common.h

@@ -32,8 +32,8 @@
  */
 
 
-#ifndef LIBSWIFTNAV_COMMON_H
+#ifndef GNSS_SDR_SWIFT_COMMON_H_
-#define LIBSWIFTNAV_COMMON_H
+#define GNSS_SDR_SWIFT_COMMON_H_
 
 /** \defgroup common Common definitions
  * Common definitions used throughout the library.
@@ -50,4 +50,4 @@
 
 /** \} */
 
-#endif /* LIBSWIFTNAV_COMMON_H */
+#endif /* GNSS_SDR_SWIFT_COMMON_H_ */

src/core/system_parameters/beidou_dnav_navigation_message.cc

@@ -7,7 +7,7 @@
  * \author Damian Miralles, 2018. dmiralles2009@gmail.com
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ * Copyright (C) 2010-2019  (see AUTHORS file for a list of contributors)
  *
  * GNSS-SDR is a software defined Global Navigation
  *          Satellite Systems receiver

src/core/system_parameters/beidou_dnav_navigation_message.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2015  (see AUTHORS file for a list of contributors)
+ * Copyright (C) 2010-2019  (see AUTHORS file for a list of contributors)
  *
  * GNSS-SDR is a software defined Global Navigation
  *          Satellite Systems receiver

src/utils/matlab/libs/dll_pll_veml_read_tracking_dump.m

@@ -88,7 +88,11 @@ else
     v7 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
     bytes_shift = bytes_shift + float_size_bytes;
     fseek(f,bytes_shift,'bof'); % move to next interleaved float
-    v8 = fread (f, count, 'long', skip_bytes_each_read - unsigned_long_int_size_bytes);
+    if unsigned_long_int_size_bytes==8
+        v8 = fread (f, count, 'uint64', skip_bytes_each_read - unsigned_long_int_size_bytes);
+    else
+        v8 = fread (f, count, 'uint32', skip_bytes_each_read - unsigned_long_int_size_bytes);
+    end
     bytes_shift = bytes_shift + unsigned_long_int_size_bytes;
     fseek(f,bytes_shift,'bof'); % move to next float
     v9 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);