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

src/algorithms/PVT/libs/rinex_printer.h

@@ -272,7 +272,9 @@ private:
     inline std::string leftJustify(const std::string & s,
             const std::string::size_type length,
             const char pad = ' ')
-    { std::string t(s); return leftJustify(t, length, pad); }
+    {
+        std::string t(s); return leftJustify(t, length, pad);
+    }
 
 
     /*
@@ -294,8 +296,9 @@ private:
     inline std::string rightJustify(const std::string & s,
             const std::string::size_type length,
             const char pad = ' ')
-    { std::string t(s); return rightJustify(t, length, pad); }
+    {
-
+        std::string t(s); return rightJustify(t, length, pad);
+    }
 
 
     /*
@@ -315,8 +318,6 @@ private:
             const bool checkSwitch = true);
 
 
-
-
     /*
      * Convert scientific notation to FORTRAN notation.
      * As an example, the string "1.5636E5" becomes " .15636D6".
@@ -338,9 +339,6 @@ private:
             const bool checkSwitch = true);
 
 
-
-
-
     /*
      * Convert double precision floating point to a string
      * containing the number in FORTRAN notation.
@@ -365,7 +363,9 @@ private:
      * @return double representation of string.
      */
     inline double asDouble(const std::string & s)
-    { return strtod(s.c_str(), 0); }
+    {
+        return strtod(s.c_str(), 0);
+    }
 
 
     inline int toInt(std::string bitString, int sLength);
@@ -376,7 +376,9 @@ private:
      * @return long integer representation of string.
      */
     inline long asInt(const std::string & s)
-    { return strtol(s.c_str(), 0, 10); }
+    {
+        return strtol(s.c_str(), 0, 10);
+    }
 
 
     /*
@@ -398,14 +400,15 @@ private:
     inline std::string asString(const long double x,
             const std::string::size_type precision = 21);
 
+
     /*
      * Convert any old object to a string.
      * The class must have stream operators defined.
      * @param x object to turn into a string.
      * @return string representation of \a x.
      */
-    template <class X>
+    template <class X> inline std::string asString(const X x);
-    inline std::string asString(const X x);
+
     inline std::string asFixWidthString(const int x, const int width, char fill_digit);
 };
 
@@ -417,7 +420,6 @@ inline std::string& Rinex_Printer::leftJustify(std::string& s,
         const std::string::size_type length,
         const char pad)
 {
-
     if(length < s.length())
         {
             s = s.substr(0, length);
@@ -449,14 +451,11 @@ inline std::string& Rinex_Printer::rightJustify(std::string& s,
 
 
 
-
-
 inline std::string Rinex_Printer::doub2for(const double & d,
         const std::string::size_type length,
         const std::string::size_type expLen,
         const bool checkSwitch)
 {
-
     short exponentLength = expLen;
 
     /* Validate the assumptions regarding the input arguments */
@@ -467,7 +466,6 @@ inline std::string Rinex_Printer::doub2for(const double& d,
     sci2for(toReturn, 0, length, exponentLength, checkSwitch);
 
     return toReturn;
-
 }
 
 
@@ -501,6 +499,7 @@ inline std::string Rinex_Printer::doub2sci(const double& d,
     return toReturn;
 }
 
+
 inline std::string & Rinex_Printer::sci2for(std::string & aStr,
         const std::string::size_type startPos,
         const std::string::size_type length,
@@ -518,7 +517,7 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
     // Check for decimal place within specified boundaries
     if ((idx == 0) || (idx >= (startPos + length - expLen - 1)))
         {
-            //StringException e("sci2for: no decimal point in string");
+            // Error: no decimal point in string
         }
 
     // Here, account for the possibility that there are
@@ -530,8 +529,8 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
         {
             redoexp = true;
             // Swap digit and decimal.
-            aStr[idx] = aStr[idx - 1];
+            aStr[static_cast<unsigned int>(idx)] = aStr[static_cast<unsigned int>(idx - 1)];
-            aStr[idx - 1] = '.';
+            aStr[static_cast<unsigned int>(idx - 1)] = '.';
             // Only add one to the exponent if the number is non-zero
             if (asDouble(aStr.substr(startPos, length)) != 0.0)
                 expAdd = 1;
@@ -543,8 +542,7 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
             idx = aStr.find('E', startPos);
             if (idx == std::string::npos)
                 {
-                    //StringException e("sci2for:no 'e' or 'E' in string");
+                    // Error: no 'e' or 'E' in string";
-                    //GPSTK_THROW(e);
                 }
         }
 
@@ -598,8 +596,6 @@ inline std::string asString(const long double x, const std::string::size_type pr
 }
 
 
-
-
 inline std::string Rinex_Printer::asString(const double x, const std::string::size_type precision)
 {
     std::ostringstream ss;
@@ -612,12 +608,14 @@ inline std::string Rinex_Printer::asFixWidthString(const int x, const int width,
 {
     std::ostringstream ss;
     ss << std::setfill(fill_digit) << std::setw(width) << x;
-    //std::cout << "asFixWidthString(): x=" << x << " width=" << width << " fill_digit=" << fill_digit << " ss=" << ss.str() << std::endl;
     return ss.str().substr(ss.str().size() - width);
 }
 
+
 inline long asInt(const std::string & s)
-    { return strtol(s.c_str(), 0, 10); }
+{
+    return strtol(s.c_str(), 0, 10);
+}
 
 
 inline int Rinex_Printer::toInt(std::string bitString, int sLength)
@@ -633,8 +631,7 @@ inline int Rinex_Printer::toInt(std::string bitString, int sLength)
 }
 
 
-template<class X>
+template<class X> inline std::string Rinex_Printer::asString(const X x)
-inline std::string Rinex_Printer::asString(const X x)
 {
     std::ostringstream ss;
     ss << x;

src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc

@@ -116,6 +116,11 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
             d_fft_code_Q_A = static_cast<gr_complex*>(volk_malloc(d_fft_size * sizeof(gr_complex), volk_get_alignment()));
             d_magnitudeQA = static_cast<float*>(volk_malloc(d_fft_size * sizeof(float), volk_get_alignment()));
         }
+    else
+        {
+            d_fft_code_Q_A = 0;
+            d_magnitudeQA = 0;
+        }
     // IF COHERENT INTEGRATION TIME > 1
     if (d_sampled_ms > 1)
         {
@@ -126,6 +131,11 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
                     d_fft_code_Q_B = static_cast<gr_complex*>(volk_malloc(d_fft_size * sizeof(gr_complex), volk_get_alignment()));
                     d_magnitudeQB = static_cast<float*>(volk_malloc(d_fft_size * sizeof(float), volk_get_alignment()));
                 }
+            else
+                {
+                    d_fft_code_Q_B = 0;
+                    d_magnitudeQB = 0;
+                }
         }
 
     // Direct FFT
@@ -147,6 +157,7 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
     d_doppler_freq = 0;
     d_test_statistics = 0;
     d_channel_internal_queue = 0;
+    d_CAF_vector = 0;
     d_CAF_vector_I = 0;
     d_CAF_vector_Q = 0;
     d_channel = 0;

src/algorithms/tracking/libs/CMakeLists.txt

@@ -17,7 +17,6 @@
 #
 
 set(TRACKING_LIB_SOURCES   
-     cordic.cc    
      correlator.cc
      lock_detectors.cc
      tcp_communication.cc

src/algorithms/tracking/libs/cordic.cc

@@ -1,194 +0,0 @@
-/*!
- * \file cordic.cc
- * \brief Implementation of the CORDIC (COordinate Rotation DIgital Computer) algorithm.
- * This implementation is NOT OPTIMIZED, only for demonstration purposes
- * \author Carles Fernandez-Prades, 2012. cfernandez(at)cttc.es
- *
- * This is a modified implementation of the one found at
- * http://www.dspguru.com/dsp/faqs/cordic
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2015  (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 <http://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#include <stdlib.h>
-//#include <math.h>
-#include <cmath>
-#include "cordic.h"
-
-
-
-const double HALF_PI = 3.1415926535898 / 2;
-const int INVALID_K = -1;
-
-
-
-Cordic::Cordic(int max_L)
-{
-    double K, dummy;
-    int L;
-    //mp_cordic_table = (CORDIC_TABLE *) calloc(max_L + 1, sizeof(CORDIC_TABLE));
-    mp_cordic_table = (CORDIC_TABLE *) malloc((max_L + 1) * sizeof(CORDIC_TABLE));
-    if (!mp_cordic_table)
-        {
-             /* failed to calloc table */
-        }
-
-    K = 1.0;
-    for (L = 0; L <= max_L; L++)
-        {
-            mp_cordic_table[L].K = K;
-            mp_cordic_table[L].phase_rads = (double) atan(K);
-            K *= 0.5;
-        }
-
-    m_max_L = max_L;
-
-    /* get m_mag_scale by getting the cordic magnitude with m_mag_scale = 1.0 */
-    m_mag_scale = 1.0;
-    Cordic::cordic_get_mag_phase(1.0, 0.0, m_mag_scale, dummy);
-    m_mag_scale = 1.0 / m_mag_scale;
-}
-
-
-
-
-Cordic::~Cordic ()
-{
-    free(mp_cordic_table);
-    m_max_L = INVALID_K;
-}
-
-
-
-
-
-
-void Cordic::cordic_get_mag_phase(double I, double Q, double &p_mag, double &p_phase_rads)
-{
-    int L;
-    double tmp_I, K, phase_rads, acc_phase_rads;
-
-    if (I < 0)
-        {
-            /* rotate by an initial +/- 90 degrees */
-            tmp_I = I;
-            if (Q > 0.0)
-                {
-                    I = Q;           /* subtract 90 degrees */
-                    Q = -tmp_I;
-                    acc_phase_rads = -HALF_PI;
-                }
-            else
-                {
-                    I = -Q;          /* add 90 degrees */
-                    Q = tmp_I;
-                    acc_phase_rads = HALF_PI;
-                }
-        }
-    else
-        {
-            acc_phase_rads = 0.0;
-        }
-
-    /* rotate using "1 + jK" factors */
-    for (L = 0; L <= m_max_L; L++)
-        {
-            K = mp_cordic_table[L].K;
-            phase_rads = mp_cordic_table[L].phase_rads;
-            tmp_I = I;
-            if (Q >= 0.0)
-                {
-                    /* phase is positive: do negative rotation */
-                    I += Q * K;
-                    Q -= tmp_I * K;
-                    acc_phase_rads -= phase_rads;
-                }
-            else
-                {
-                    /* phase is negative: do positive rotation */
-                    I -= Q * K;
-                    Q += tmp_I * K;
-                    acc_phase_rads += phase_rads;
-                }
-        }
-
-    p_phase_rads = -acc_phase_rads;
-    p_mag = I * m_mag_scale;
-}
-
-
-
-
-void Cordic::cordic_get_cos_sin(double desired_phase_rads, double &p_cos, double &p_sin)
-{
-    double I, Q, tmp_I;
-    double acc_phase_rads, phase_rads, K;
-    int L;
-
-    /* start with +90, -90, or 0 degrees */
-    if (desired_phase_rads > HALF_PI)
-        {
-            I = 0.0;
-            Q = 1.0;
-            acc_phase_rads = HALF_PI;
-        }
-    else if (desired_phase_rads < -HALF_PI)
-        {
-            I = 0.0;
-            Q = -1.0;
-            acc_phase_rads = -HALF_PI;
-        }
-    else
-        {
-            I = 1.0;
-            Q = 0.0;
-            acc_phase_rads = 0.0;
-        }
-
-    /* rotate using "1 + jK" factors */
-    for (L = 0; L <= m_max_L; L++)
-        {
-            K = mp_cordic_table[L].K;
-            phase_rads = mp_cordic_table[L].phase_rads;
-            tmp_I = I;
-            if (desired_phase_rads - acc_phase_rads < 0.0)
-                {
-                    /* do negative rotation */
-                    I += Q * K;
-                    Q -= tmp_I * K;
-                    acc_phase_rads -= phase_rads;
-                }
-            else
-                {
-                    /* do positive rotation */
-                    I -= Q * K;
-                    Q += tmp_I * K;
-                    acc_phase_rads += phase_rads;
-                }
-        }
-
-    p_cos = I * m_mag_scale;
-    p_sin = Q * m_mag_scale;
-}

src/algorithms/tracking/libs/cordic.h

@@ -1,80 +0,0 @@
-/*!
- * \file cordic.h
- * \brief Interface of the CORDIC (COordinate Rotation DIgital Computer) algorithm.
- * \author Carles Fernandez-Prades, 2012. cfernandez(at)cttc.es
- *
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2015  (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 <http://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-
-
-
-#ifndef GNSS_SDR_CORDIC_H_
-#define GNSS_SDR_CORDIC_H_
-
-typedef struct tagCORDIC_TABLE {
-    double K;
-    double phase_rads;
-} CORDIC_TABLE;
-
-
-/*!
- * \brief Implementation of the CORDIC (COordinate Rotation DIgital Computer) algorithm.
- * This implementation is NOT OPTIMIZED, only for demonstration purposes
- */
-class Cordic
-{
-public:
-    /*!
-     * \brief construct the CORDIC table which will be of size "largest_k + 1".
-     */
-    Cordic(int largest_k);
-
-    /*!
-     * \brief Frees the CORDIC table's memory
-     */
-    ~Cordic();
-
-    /*!
-     * \brief Calculates the magnitude and phase of "I + jQ".  p_phase_rads is in radians
-     */
-    void cordic_get_mag_phase(double I, double Q, double &p_mag, double &p_phase_rads);
-    /* calculate the magnitude and phase of "I + jQ".  phase is in radians */
-
-    /*!
-     * \brief Calculates the cosine and sine of the desired phase in radians
-     */
-    void cordic_get_cos_sin(double desired_phase_rads, double &p_cos, double &p_sin);
-
-private:
-
-    CORDIC_TABLE *mp_cordic_table;
-    int m_max_L;
-    double m_mag_scale;
-
-};
-
-#endif

src/core/system_parameters/sbas_telemetry_data.cc

@@ -723,7 +723,7 @@ int Sbas_Telemetry_Data::decode_sbstype9(const sbsmsg_t *msg, nav_t *nav)
     seph.af1 = getbits(msg->msg, 218, 8)*P2_39/2.0;
 
     i = msg->prn-MINPRNSBS;
-    if (!nav->seph || std::abs(nav->seph[i].t0 - seph.t0) < 1E-3)
+    if (std::abs(nav->seph[i].t0 - seph.t0) < 1E-3)
         { /* not change */
             VLOG(FLOW) << "<<T>> no change in ephemeris -> won't parse";
             return 0;