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

src/algorithms/PVT/libs/rinex_printer.h

@@ -157,7 +157,7 @@ public:
     /*!
      *  \brief Generates the Mixed GPS L1,L5 + BDS B1I, B3I Navigation Data header
      */
-    void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_lnav_iono, const Gps_Utc_Model& gps_lnav_utc_model, const Gps_Ephemeris& eph, const Beidou_Dnav_Iono& bds_dnav_iono, const Beidou_Dnav_Utc_Model& bds_dnav_utc_model);
+    void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Gps_Ephemeris& eph, const Beidou_Dnav_Iono& bds_dnav_iono, const Beidou_Dnav_Utc_Model& bds_dnav_utc_model);
 
     /*!
      *  \brief Generates the Mixed GPS L2C + BDS B1I, B3I Navigation Data header

src/algorithms/channel/adapters/CMakeLists.txt

@@ -31,7 +31,6 @@ target_link_libraries(channel_adapters
         Gnuradio::runtime
         channel_libs
         core_system_parameters
-        core_receiver
     PRIVATE
         Gflags::gflags
         Glog::glog
@@ -41,6 +40,7 @@ target_link_libraries(channel_adapters
 target_include_directories(channel_adapters
     PUBLIC
         ${CMAKE_SOURCE_DIR}/src/core/interfaces
+        ${CMAKE_SOURCE_DIR}/src/core/receiver
 )
 
 if(ENABLE_CLANG_TIDY)

src/algorithms/channel/libs/CMakeLists.txt

@@ -35,16 +35,21 @@ add_library(channel_libs ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
 
 target_link_libraries(channel_libs
     PUBLIC
-        core_libs
         core_system_parameters
         Gnuradio::runtime
         Gnuradio::pmt
     PRIVATE
+        core_libs
         Boost::boost
         Gflags::gflags
         Glog::glog
 )
 
+target_include_directories(channel_libs
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/core/receiver
+)
+
 if(ENABLE_CLANG_TIDY)
     if(CLANG_TIDY_EXE)
         set_target_properties(channel_libs

src/algorithms/libs/pass_through.cc

@@ -109,7 +109,7 @@ Pass_Through::Pass_Through(ConfigurationInterface* configuration, const std::str
         }
 
     kludge_copy_ = gr::blocks::copy::make(item_size_);
-    unsigned long int max_source_buffer_samples = configuration->property("GNSS-SDR.max_source_buffer_samples", 0);
+    uint64_t max_source_buffer_samples = configuration->property("GNSS-SDR.max_source_buffer_samples", 0ULL);
     if (max_source_buffer_samples > 0)
         {
             kludge_copy_->set_max_output_buffer(max_source_buffer_samples);

src/algorithms/signal_generator/adapters/CMakeLists.txt

@@ -34,12 +34,12 @@ target_link_libraries(signal_generator_adapters
         Gflags::gflags
         Glog::glog
         algorithms_libs
-        core_receiver
 )
 
 target_include_directories(signal_generator_adapters
     PUBLIC
         ${CMAKE_SOURCE_DIR}/src/core/interfaces
+        ${CMAKE_SOURCE_DIR}/src/core/receiver
 )
 
 if(ENABLE_CLANG_TIDY)

src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.h

@@ -148,7 +148,7 @@ private:
     std::vector<std::vector<gr_complex>> sampled_code_data_;
     std::vector<std::vector<gr_complex>> sampled_code_pilot_;
     std::vector<gr_complex> complex_phase_;
-    unsigned int work_counter_;
+    unsigned int work_counter_{};
     std::random_device r;
     std::default_random_engine e1;
     std::default_random_engine e2;

src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt

@@ -60,15 +60,20 @@ add_library(signal_source_gr_blocks
 
 target_link_libraries(signal_source_gr_blocks
     PUBLIC
+        signal_source_libs
         Boost::thread
         Gnuradio::runtime
-        signal_source_libs
     PRIVATE
-        core_receiver
+        core_libs
         Gflags::gflags
         Glog::glog
 )
 
+target_include_directories(signal_source_gr_blocks
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/core/receiver
+)
+
 if(ENABLE_RAW_UDP AND PCAP_FOUND)
     target_link_libraries(signal_source_gr_blocks
         PUBLIC

src/algorithms/signal_source/libs/CMakeLists.txt

@@ -71,10 +71,15 @@ target_link_libraries(signal_source_libs
     PUBLIC
         Boost::boost
         Gnuradio::runtime
-        core_receiver
     PRIVATE
         Gflags::gflags
         Glog::glog
+        core_libs
+)
+
+target_include_directories(signal_source_libs
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/core/receiver
 )
 
 if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)

src/core/libs/CMakeLists.txt

@@ -26,6 +26,7 @@ set(CORE_LIBS_SOURCES
     gnss_sdr_sample_counter.cc
     channel_status_msg_receiver.cc
     channel_event.cc
+    command_event.cc
 )
 
 set(CORE_LIBS_HEADERS
@@ -36,6 +37,7 @@ set(CORE_LIBS_HEADERS
     gnss_sdr_sample_counter.h
     channel_status_msg_receiver.h
     channel_event.h
+    command_event.h
 )
 
 if(ENABLE_FPGA)

src/core/libs/channel_event.cc

@@ -32,10 +32,10 @@
 
 channel_event_sptr channel_event_make(int channel_id, int event_type)
 {
-    return channel_event_sptr(new channel_event(channel_id, event_type));
+    return channel_event_sptr(new Channel_Event(channel_id, event_type));
 }
 
-channel_event::channel_event(int channel_id_, int event_type_)
+Channel_Event::Channel_Event(int channel_id_, int event_type_)
 {
     channel_id = channel_id_;
     event_type = event_type_;

src/core/libs/channel_event.h

@@ -33,21 +33,21 @@
 
 #include <memory>
 
-class channel_event;
+class Channel_Event;
 
-using channel_event_sptr = std::shared_ptr<channel_event>;
+using channel_event_sptr = std::shared_ptr<Channel_Event>;
 
 channel_event_sptr channel_event_make(int channel_id, int event_type);
 
-class channel_event
+class Channel_Event
 {
 public:
     int channel_id;
     int event_type;
+
 private:
     friend channel_event_sptr channel_event_make(int channel_id, int event_type);
-    channel_event(int channel_id_, int event_type_);
+    Channel_Event(int channel_id_, int event_type_);
-
 };
 
 #endif

src/core/libs/channel_status_msg_receiver.cc

@@ -1,11 +1,11 @@
 /*!
  * \file channel_status_msg_receiver.cc
  * \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
- * \author Javier Arribas, 2016. jarribas(at)cttc.es
+ * \author Javier Arribas, 2019. jarribas(at)cttc.es
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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
@@ -75,12 +75,12 @@ void channel_status_msg_receiver::msg_handler_events(const pmt::pmt_t& msg)
                             d_channel_status_map.erase(gnss_synchro_obj->Channel_ID);
                         }
 
-                    //                    std::cout << "-------- \n\n";
+                    // std::cout << "-------- " << std::endl << std::endl;
                     // for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = d_channel_status_map.begin(); it != d_channel_status_map.end(); ++it)
                     //     {
-                    //                            std::cout << " Channel: " << it->first << " => Doppler: " << it->second->Carrier_Doppler_hz << "[Hz] \n";
+                    //         std::cout << " Channel: " << it->first << " => Doppler: " << it->second->Carrier_Doppler_hz << "[Hz] " << std::endl;
                     //     }
-                    //                    std::cout << "-------- \n\n";
+                    // std::cout << "-------- " << std::endl << std::endl;
                 }
             else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Monitor_Pvt>))
                 {
@@ -88,10 +88,10 @@ void channel_status_msg_receiver::msg_handler_events(const pmt::pmt_t& msg)
                     std::shared_ptr<Monitor_Pvt> monitor_pvt_obj;
                     monitor_pvt_obj = boost::any_cast<std::shared_ptr<Monitor_Pvt>>(pmt::any_ref(msg));
                     d_pvt_status = *monitor_pvt_obj.get();
-                    //
+
-                    //                    std::cout << "-------- \n\n";
+                    // std::cout << "-------- " << std::endl << std::endl;
                     // std::cout << "PVT TOW: " << d_pvt_status->TOW_at_current_symbol_ms << std::endl;
-                    //                    std::cout << "-------- \n\n";
+                    // std::cout << "-------- " << std::endl << std::endl;
                 }
             else
                 {
@@ -104,11 +104,14 @@ void channel_status_msg_receiver::msg_handler_events(const pmt::pmt_t& msg)
         }
 }
 
+
 std::map<int, std::shared_ptr<Gnss_Synchro>> channel_status_msg_receiver::get_current_status_map()
 {
     gr::thread::scoped_lock lock(d_setlock);  // require mutex with msg_handler_events function called by the scheduler
     return d_channel_status_map;
 }
+
+
 Monitor_Pvt channel_status_msg_receiver::get_current_status_pvt()
 {
     gr::thread::scoped_lock lock(d_setlock);  // require mutex with msg_handler_events function called by the scheduler

src/core/libs/channel_status_msg_receiver.h

@@ -1,11 +1,11 @@
 /*!
  * \file channel_msg_receiver_cc.h
  * \brief GNU Radio block that receives asynchronous channel messages from acquisition and tracking blocks
- * \author Javier Arribas, 2016. jarribas(at)cttc.es
+ * \author Javier Arribas, 2019. jarribas(at)cttc.es
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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
@@ -50,10 +50,12 @@ class channel_status_msg_receiver : public gr::block
 {
 public:
     ~channel_status_msg_receiver();  //!< Default destructor
+
     /*!
      * \brief return the current status map of all channels with valid telemetry
      */
     std::map<int, std::shared_ptr<Gnss_Synchro>> get_current_status_map();
+
     /*!
      * \brief return the current receiver PVT
      */
@@ -63,7 +65,6 @@ private:
     friend channel_status_msg_receiver_sptr channel_status_msg_receiver_make();
     channel_status_msg_receiver();
     std::map<int, std::shared_ptr<Gnss_Synchro>> d_channel_status_map;
-
     Monitor_Pvt d_pvt_status{};
     void msg_handler_events(const pmt::pmt_t& msg);
 };

src/core/libs/command_event.cc

@@ -32,10 +32,10 @@
 
 command_event_sptr command_event_make(int command_id, int event_type)
 {
-    return command_event_sptr(new command_event(command_id, event_type));
+    return command_event_sptr(new Command_Event(command_id, event_type));
 }
 
-command_event::command_event(int command_id_, int event_type_)
+Command_Event::Command_Event(int command_id_, int event_type_)
 {
     command_id = command_id_;
     event_type = event_type_;

src/core/libs/command_event.h

@@ -28,18 +28,18 @@
  * -------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_command_EVENT_H
+#ifndef GNSS_SDR_COMMAND_EVENT_H
-#define GNSS_SDR_command_EVENT_H
+#define GNSS_SDR_COMMAND_EVENT_H
 
 #include <memory>
 
-class command_event;
+class Command_Event;
 
-using command_event_sptr = std::shared_ptr<command_event>;
+using command_event_sptr = std::shared_ptr<Command_Event>;
 
 command_event_sptr command_event_make(int command_id, int event_type);
 
-class command_event
+class Command_Event
 {
 public:
     int command_id;
@@ -47,7 +47,7 @@ public:
 
 private:
     friend command_event_sptr command_event_make(int command_id, int event_type);
-    command_event(int command_id_, int event_type_);
+    Command_Event(int command_id_, int event_type_);
 };
 
 #endif

src/core/receiver/CMakeLists.txt

@@ -24,7 +24,6 @@ set(GNSS_RECEIVER_SOURCES
     gnss_flowgraph.cc
     in_memory_configuration.cc
     tcp_cmd_interface.cc
-    command_event.cc
 )
 
 set(GNSS_RECEIVER_HEADERS
@@ -36,8 +35,6 @@ set(GNSS_RECEIVER_HEADERS
     tcp_cmd_interface.h
     concurrent_map.h
     concurrent_queue.h
-    control_message.h
-    command_event.h
 )
 
 list(SORT GNSS_RECEIVER_HEADERS)
@@ -136,17 +133,11 @@ endif()
 
 target_link_libraries(core_receiver
     PUBLIC
-        Armadillo::armadillo
-        Boost::boost
-        Boost::thread
-        Gnuradio::runtime
-        channel_libs
         core_libs
         core_monitor
+        Boost::thread
+        Gnuradio::runtime
     PRIVATE
-        Boost::chrono
-        Gflags::gflags
-        Glog::glog
         signal_source_adapters
         data_type_adapters
         input_filter_adapters
@@ -158,6 +149,11 @@ target_link_libraries(core_receiver
         telemetry_decoder_adapters
         obs_adapters
         pvt_adapters
+        Boost::boost
+        Boost::chrono
+        Gflags::gflags
+        Glog::glog
+        Armadillo::armadillo
 )
 
 # Fix for Boost Asio < 1.70

src/core/receiver/concurrent_map.h

@@ -31,8 +31,8 @@
 #ifndef GNSS_SDR_CONCURRENT_MAP_H
 #define GNSS_SDR_CONCURRENT_MAP_H
 
-#include <boost/thread/mutex.hpp>
 #include <map>
+#include <mutex>
 #include <utility>
 
 
@@ -49,7 +49,7 @@ class Concurrent_Map
 public:
     void write(int key, Data const& data)
     {
-        boost::mutex::scoped_lock lock(the_mutex);
+        std::unique_lock<std::mutex> lock(the_mutex);
         Data_iterator data_iter;
         data_iter = the_map.find(key);
         if (data_iter != the_map.end())
@@ -65,7 +65,7 @@ public:
 
     std::map<int, Data> get_map_copy()
     {
-        boost::mutex::scoped_lock lock(the_mutex);
+        std::unique_lock<std::mutex> lock(the_mutex);
         std::map<int, Data> map_aux = the_map;
         lock.unlock();
         return map_aux;
@@ -73,7 +73,7 @@ public:
 
     size_t size()
     {
-        boost::mutex::scoped_lock lock(the_mutex);
+        std::unique_lock<std::mutex> lock(the_mutex);
         size_t size_ = the_map.size();
         lock.unlock();
         return size_;
@@ -81,7 +81,7 @@ public:
 
     bool read(int key, Data& p_data)
     {
-        boost::mutex::scoped_lock lock(the_mutex);
+        std::unique_lock<std::mutex> lock(the_mutex);
         Data_iterator data_iter;
         data_iter = the_map.find(key);
         if (data_iter != the_map.end())
@@ -96,7 +96,7 @@ public:
 
 private:
     std::map<int, Data> the_map;
-    boost::mutex the_mutex;
+    mutable std::mutex the_mutex;
 };
 
 #endif

src/core/receiver/control_message.h

@@ -1,47 +0,0 @@
-/*!
- * \file control_message.h
- * \brief Interface for the different control messages.
- * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-
-#ifndef GNSS_SDR_CONTROL_MESSAGE_H_
-#define GNSS_SDR_CONTROL_MESSAGE_H_
-
-/*!
- * \brief This class defines the different Control Messages
- */
-class ControlMessage
-{
-public:
-    static unsigned int const ack_success = 0;
-    static unsigned int const ack_failed = 1;
-    static unsigned int const trk_failed = 2;
-    static unsigned int const channel_init = 3;
-};
-
-#endif /*GNSS_SDR_CONTROL_MESSAGE_H_*/

src/core/receiver/control_thread.cc

@@ -60,6 +60,8 @@
 #include "rtklib_conversions.h"    // for alm_to_rtklib
 #include "rtklib_ephemeris.h"      // for alm2pos, eph2pos
 #include "rtklib_rtkcmn.h"         // for utc2gpst
+#include <armadillo>               // for interaction with geofunctions
+#include <boost/chrono.hpp>        // for steady_clock
 #include <boost/lexical_cast.hpp>  // for bad_lexical_cast
 #include <glog/logging.h>          // for LOG
 #include <pmt/pmt.h>               // for make_any
@@ -67,7 +69,6 @@
 #include <array>                   // for array
 #include <chrono>                  // for milliseconds
 #include <cmath>                   // for floor, fmod, log
-#include <ctime>                   // for gmtime, strftime
 #include <exception>               // for exception
 #include <iostream>                // for operator<<, endl
 #include <limits>                  // for numeric_limits
@@ -225,6 +226,7 @@ void ControlThread::telecommand_listener()
         }
 }
 
+
 void ControlThread::event_dispatcher(bool &valid_event, pmt::pmt_t &msg)
 {
     if (valid_event)
@@ -270,6 +272,7 @@ void ControlThread::event_dispatcher(bool &valid_event, pmt::pmt_t &msg)
         }
 }
 
+
 /*
  * Runs the control thread that manages the receiver control plane
  *
@@ -813,9 +816,9 @@ void ControlThread::assist_GNSS()
     if ((agnss_ref_location_.valid == true) and ((enable_gps_supl_assistance == true) or (enable_agnss_xml == true)))
         {
             // Get the list of visible satellites
-            arma::vec ref_LLH = arma::zeros(3, 1);
+            std::array<float, 3> ref_LLH{};
-            ref_LLH(0) = agnss_ref_location_.lat;
+            ref_LLH[0] = agnss_ref_location_.lat;
-            ref_LLH(1) = agnss_ref_location_.lon;
+            ref_LLH[1] = agnss_ref_location_.lon;
             time_t ref_rx_utc_time = 0;
             if (agnss_ref_time_.valid == true)
                 {
@@ -885,10 +888,10 @@ void ControlThread::apply_action(unsigned int what)
 }
 
 
-std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time_t rx_utc_time, const arma::vec &LLH)
+std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time_t rx_utc_time, const std::array<float, 3> &LLH)
 {
     // 1. Compute rx ECEF position from LLH WGS84
-    arma::vec LLH_rad = arma::vec{degtorad(LLH(0)), degtorad(LLH(1)), LLH(2)};
+    arma::vec LLH_rad = arma::vec{degtorad(LLH[0]), degtorad(LLH[1]), LLH[2]};
     arma::mat C_tmp = arma::zeros(3, 3);
     arma::vec r_eb_e = arma::zeros(3, 1);
     arma::vec v_eb_e = arma::zeros(3, 1);
@@ -912,7 +915,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
     strftime(buf, sizeof(buf), "%d/%m/%Y %H:%M:%S ", &tstruct);
     std::string str_time = std::string(buf);
     std::cout << "Get visible satellites at " << str_time
-              << "UTC, assuming RX position " << LLH(0) << " [deg], " << LLH(1) << " [deg], " << LLH(2) << " [m]" << std::endl;
+              << "UTC, assuming RX position " << LLH[0] << " [deg], " << LLH[1] << " [deg], " << LLH[2] << " [m]" << std::endl;
 
     std::map<int, Gps_Ephemeris> gps_eph_map = pvt_ptr->get_gps_ephemeris();
     for (auto &it : gps_eph_map)

src/core/receiver/control_thread.h

@@ -9,7 +9,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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
@@ -37,13 +37,13 @@
 
 #include "agnss_ref_location.h"    // for Agnss_Ref_Location
 #include "agnss_ref_time.h"        // for Agnss_Ref_Time
-#include "concurrent_queue.h"
+#include "concurrent_queue.h"      // for Concurrent_Queue
 #include "gnss_sdr_supl_client.h"  // for Gnss_Sdr_Supl_Client
 #include "tcp_cmd_interface.h"     // for TcpCmdInterface
-#include <armadillo>               // for arma::vec
 #include <boost/thread.hpp>        // for boost::thread
 #include <pmt/pmt.h>
-#include <ctime>    // for time_t
+#include <array>    // for array
+#include <ctime>    // for time_t (gmtime, strftime in implementation)
 #include <memory>   // for shared_ptr
 #include <string>   // for string
 #include <thread>   // for std::thread
@@ -75,7 +75,9 @@ public:
      */
     ControlThread(std::shared_ptr<ConfigurationInterface> configuration);
 
-    //! \brief Destructor
+    /*!
+     * \brief Destructor
+     */
     ~ControlThread();
 
     /*! \brief Runs the control thread
@@ -99,12 +101,12 @@ public:
      */
     void set_control_queue(const std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> control_queue);  // NOLINT(performance-unnecessary-value-param)
 
-    unsigned int processed_control_messages()
+    unsigned int processed_control_messages() const
     {
         return processed_control_messages_;
     }
 
-    unsigned int applied_actions()
+    unsigned int applied_actions() const
     {
         return applied_actions_;
     }
@@ -123,11 +125,14 @@ private:
     // Telecommand TCP interface
     TcpCmdInterface cmd_interface_;
     void telecommand_listener();
+
     /*
      * New receiver event dispatcher
      */
     void event_dispatcher(bool &valid_event, pmt::pmt_t &msg);
+
     std::thread cmd_interface_thread_;
+
     // SUPL assistance classes
     Gnss_Sdr_Supl_Client supl_client_acquisition_;
     Gnss_Sdr_Supl_Client supl_client_ephemeris_;
@@ -141,9 +146,6 @@ private:
     // Read {ephemeris, iono, utc, ref loc, ref time} assistance from a local XML file previously recorded
     bool read_assistance_from_XML();
 
-    // Save {ephemeris, iono, utc, ref loc, ref time} assistance to a local XML file
-    //bool save_assistance_to_XML();
-
     /*
      * Blocking function that reads the GPS assistance queue
      */
@@ -153,7 +155,7 @@ private:
      * Compute elevations for the specified time and position for all the available satellites in ephemeris and almanac queues
      * returns a vector filled with the available satellites ordered from high elevation to low elevation angle.
      */
-    std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, const arma::vec &LLH);
+    std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, const std::array<float, 3> &LLH);
 
     /*
      * Read initial GNSS assistance from SUPL server or local XML files

src/core/receiver/gnss_flowgraph.cc

@@ -64,7 +64,6 @@
 #include <set>                       // for set
 #include <stdexcept>                 // for invalid_argument
 #include <thread>                    // for thread
-#include <utility>                   // for move
 #ifdef GR_GREATER_38
 #include <gnuradio/filter/fir_filter_blk.h>
 #else
@@ -1295,7 +1294,10 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
                     push_back_signal(gs);
                 }
             channels_state_[who] = 0;
-            if (acq_channels_count_ > 0) acq_channels_count_--;
+            if (acq_channels_count_ > 0)
+                {
+                    acq_channels_count_--;
+                }
             // call the acquisition manager to assign new satellite and start next acquisition (if required)
             acquisition_manager(who);
             break;
@@ -1305,7 +1307,10 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
             remove_signal(channels_[who]->get_signal());
 
             channels_state_[who] = 2;
-            if (acq_channels_count_ > 0) acq_channels_count_--;
+            if (acq_channels_count_ > 0)
+                {
+                    acq_channels_count_--;
+                }
             // call the acquisition manager to assign new satellite and start next acquisition (if required)
             acquisition_manager(who);
             break;
@@ -1900,18 +1905,18 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
                     std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
                     // 2. search the currently tracked GPS L1 satellites and assist the GPS L2 acquisition if the satellite is not tracked on L2
                     bool found_signal = false;
-                    for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = current_channels_status.begin(); it != current_channels_status.end(); ++it)
+                    for (auto& current_status : current_channels_status)
                         {
-                            if (std::string(it->second->Signal) == "1C")
+                            if (std::string(current_status.second->Signal) == "1C")
                                 {
                                     std::list<Gnss_Signal>::iterator it2;
                                     it2 = std::find_if(std::begin(available_GPS_2S_signals_), std::end(available_GPS_2S_signals_),
-                                        [&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == it->second->PRN; });
+                                        [&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
 
                                     if (it2 != available_GPS_2S_signals_.end())
                                         {
-                                            estimated_doppler = it->second->Carrier_Doppler_hz;
+                                            estimated_doppler = current_status.second->Carrier_Doppler_hz;
-                                            RX_time = it->second->RX_time;
+                                            RX_time = current_status.second->RX_time;
                                             // std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
                                             // 3. return the GPS L2 satellite and remove it from list
                                             result = *it2;
@@ -1953,18 +1958,18 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
                     // 1. Get the current channel status map
                     std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
                     // 2. search the currently tracked GPS L1 satellites and assist the GPS L5 acquisition if the satellite is not tracked on L5
-                    for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = current_channels_status.begin(); it != current_channels_status.end(); ++it)
+                    for (auto& current_status : current_channels_status)
                         {
-                            if (std::string(it->second->Signal) == "1C")
+                            if (std::string(current_status.second->Signal) == "1C")
                                 {
                                     std::list<Gnss_Signal>::iterator it2;
                                     it2 = std::find_if(std::begin(available_GPS_L5_signals_), std::end(available_GPS_L5_signals_),
-                                        [&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == it->second->PRN; });
+                                        [&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
 
                                     if (it2 != available_GPS_L5_signals_.end())
                                         {
-                                            estimated_doppler = it->second->Carrier_Doppler_hz;
+                                            estimated_doppler = current_status.second->Carrier_Doppler_hz;
-                                            RX_time = it->second->RX_time;
+                                            RX_time = current_status.second->RX_time;
                                             // std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
                                             // 3. return the GPS L5 satellite and remove it from list
                                             result = *it2;
@@ -2007,18 +2012,18 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
                     // 1. Get the current channel status map
                     std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
                     // 2. search the currently tracked Galileo E1 satellites and assist the Galileo E5 acquisition if the satellite is not tracked on E5
-                    for (std::map<int, std::shared_ptr<Gnss_Synchro>>::iterator it = current_channels_status.begin(); it != current_channels_status.end(); ++it)
+                    for (auto& current_status : current_channels_status)
                         {
-                            if (std::string(it->second->Signal) == "1B")
+                            if (std::string(current_status.second->Signal) == "1B")
                                 {
                                     std::list<Gnss_Signal>::iterator it2;
                                     it2 = std::find_if(std::begin(available_GAL_5X_signals_), std::end(available_GAL_5X_signals_),
-                                        [&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == it->second->PRN; });
+                                        [&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
 
                                     if (it2 != available_GAL_5X_signals_.end())
                                         {
-                                            estimated_doppler = it->second->Carrier_Doppler_hz;
+                                            estimated_doppler = current_status.second->Carrier_Doppler_hz;
-                                            RX_time = it->second->RX_time;
+                                            RX_time = current_status.second->RX_time;
                                             // std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
                                             // 3. return the Gal 5X satellite and remove it from list
                                             result = *it2;

src/core/receiver/gnss_flowgraph.h

@@ -11,7 +11,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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
@@ -79,10 +79,14 @@ public:
      */
     ~GNSSFlowgraph();
 
-    //! \brief Start the flow graph
+    /*!
+     * \brief Start the flow graph
+     */
     void start();
 
-    //! \brief Stop the flow graph
+    /*!
+     * \brief Stop the flow graph
+     */
     void stop();
 
     /*!
@@ -92,16 +96,27 @@ public:
      */
     void connect();
 
+    /*!
+     * \brief Disconnect the blocks in the flow graph
+     */
     void disconnect();
 
+    /*!
+     * \brief Wait for a flowgraph to complete.
+     *
+     * Flowgraphs complete when either
+     * (1) all blocks indicate that they are done, or
+     * (2) after stop() has been called to request shutdown.
+     */
     void wait();
-#ifdef ENABLE_FPGA
-    void start_acquisition_helper();
-
-    void perform_hw_reset();
-#endif
 
+    /*!
+     * \brief Manage satellite acquisition
+     *
+     * \param[in] who   Channel ID
+     */
     void acquisition_manager(unsigned int who);
+
     /*!
      * \brief Applies an action to the flow graph
      *
@@ -110,10 +125,9 @@ public:
      */
     void apply_action(unsigned int who, unsigned int what);
 
-
+    /*!
-    void push_back_signal(const Gnss_Signal& gs);
+     * \brief Set flow graph configuratiob
-    void remove_signal(const Gnss_Signal& gs);
+     */
-
     void set_configuration(std::shared_ptr<ConfigurationInterface> configuration);
 
     bool connected() const
@@ -146,6 +160,12 @@ public:
      */
     void priorize_satellites(const std::vector<std::pair<int, Gnss_Satellite>>& visible_satellites);
 
+#ifdef ENABLE_FPGA
+    void start_acquisition_helper();
+
+    void perform_hw_reset();
+#endif
+
 private:
     void init();  // Populates the SV PRN list available for acquisition and tracking
     void set_signals_list();
@@ -157,6 +177,10 @@ private:
         bool& assistance_available,
         float& estimated_doppler,
         double& RX_time);
+
+    void push_back_signal(const Gnss_Signal& gs);
+    void remove_signal(const Gnss_Signal& gs);
+
     bool connected_;
     bool running_;
     int sources_count_;

src/core/receiver/tcp_cmd_interface.cc

@@ -33,7 +33,6 @@
 #include "command_event.h"
 #include "pvt_interface.h"
 #include <boost/asio.hpp>
-#include <array>
 #include <cmath>      // for isnan
 #include <exception>  // for exception
 #include <iomanip>    // for setprecision
@@ -51,9 +50,9 @@ TcpCmdInterface::TcpCmdInterface()
     register_functions();
     keep_running_ = true;
     control_queue_ = nullptr;
-    rx_latitude_ = 0;
+    rx_latitude_ = 0.0;
-    rx_longitude_ = 0;
+    rx_longitude_ = 0.0;
-    rx_altitude_ = 0;
+    rx_altitude_ = 0.0;
     receiver_utc_time_ = 0;
 }
 
@@ -85,9 +84,9 @@ time_t TcpCmdInterface::get_utc_time()
 }
 
 
-arma::vec TcpCmdInterface::get_LLH()
+std::array<float, 3> TcpCmdInterface::get_LLH() const
 {
-    return arma::vec{rx_latitude_, rx_longitude_, rx_altitude_};
+    return std::array<float, 3>{rx_latitude_, rx_longitude_, rx_altitude_};
 }
 
 
@@ -192,9 +191,9 @@ std::string TcpCmdInterface::hotstart(const std::vector<std::string> &commandLin
             receiver_utc_time_ = timegm(&tm);
 
             // Read latitude, longitude, and height
-            rx_latitude_ = std::stod(commandLine.at(3).c_str());
+            rx_latitude_ = std::stof(commandLine.at(3).c_str());
-            rx_longitude_ = std::stod(commandLine.at(4).c_str());
+            rx_longitude_ = std::stof(commandLine.at(4).c_str());
-            rx_altitude_ = std::stod(commandLine.at(5).c_str());
+            rx_altitude_ = std::stof(commandLine.at(5).c_str());
 
             if (std::isnan(rx_latitude_) || std::isnan(rx_longitude_) || std::isnan(rx_altitude_))
                 {

src/core/receiver/tcp_cmd_interface.h

@@ -33,8 +33,8 @@
 
 
 #include "concurrent_queue.h"
-#include <armadillo>
 #include <pmt/pmt.h>
+#include <array>
 #include <cstdint>
 #include <ctime>
 #include <functional>
@@ -61,7 +61,7 @@ public:
     /*!
      * \brief gets the Latitude, Longitude and Altitude vector from the last TC command issued
      */
-    arma::vec get_LLH();
+    std::array<float, 3> get_LLH() const;
 
     void set_pvt(std::shared_ptr<PvtInterface> PVT_sptr);
 
@@ -83,9 +83,9 @@ private:
 
     time_t receiver_utc_time_;
 
-    double rx_latitude_;
+    float rx_latitude_;
-    double rx_longitude_;
+    float rx_longitude_;
-    double rx_altitude_;
+    float rx_altitude_;
 
     std::shared_ptr<PvtInterface> PVT_sptr_;
 };