Fix building with -DENABLE_CUDA=ON

CMakeLists.txt

@@ -2693,6 +2693,7 @@ if(ENABLE_CUDA)
             PURPOSE "Used in some processing block implementations."
             TYPE REQUIRED
         )
+        set(CMAKE_CUDA_STANDARD 14)
         if(NOT CUDA_FOUND)
             set(ENABLE_CUDA OFF)
         endif()
@@ -2991,8 +2992,10 @@ if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
         add_compile_options(-Wno-missing-field-initializers)
     endif()
     if(CMAKE_CROSSCOMPILING OR NOT ENABLE_PACKAGING)
+        if(NOT ENABLE_CUDA)
             add_compile_options(-Wno-psabi)
         endif()
+    endif()
     if(IS_ARM)
         if((CMAKE_CXX_COMPILER_VERSION VERSION_GREATER "7.1.0") AND (CMAKE_VERSION VERSION_GREATER "3.1"))
             if(CMAKE_CXX_STANDARD VERSION_LESS 17)
@@ -3025,10 +3028,12 @@ if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
                 add_compile_options(-mtune=native)
             endif()
         else()
+            if(NOT ENABLE_CUDA)
                 add_compile_options(-march=native)
             endif()
         endif()
     endif()
+endif()
 if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     if(NOT ENABLE_GENERIC_ARCH)
         if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")

docs/changelog.md

@@ -31,6 +31,7 @@ SPDX-FileCopyrightText: 2011-2020 Carles Fernandez-Prades <carles.fernandez@cttc
 - Replaced `git://` by `https://` as the used protocol when downloading Gflags,
   so it can work through firewalls requiring authentication.
 - Fixed static linking of the matio library when downloaded and built by CMake.
+- Fix building with `-DENABLE_CUDA=ON` for blocks implemented with CUDA.
 
 ### Improvements in Usability:
 

src/algorithms/tracking/adapters/CMakeLists.txt

@@ -107,14 +107,22 @@ target_include_directories(tracking_adapters
         ${CMAKE_SOURCE_DIR}/src/core/interfaces
 )
 
-if(ENABLE_CUDA AND NOT CMAKE_VERSION VERSION_GREATER 3.11)
+if(ENABLE_CUDA)
+    if(CMAKE_VERSION VERSION_GREATER 3.11)
+        target_include_directories(tracking_adapters
+            PUBLIC ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES}
+        )
+    else()
         target_link_libraries(tracking_adapters
-        PUBLIC
+            PUBLIC ${CUDA_LIBRARIES}
-            ${CUDA_LIBRARIES}
         )
         target_include_directories(tracking_adapters
-        PUBLIC
+            PUBLIC ${CUDA_INCLUDE_DIRS}
-            ${CUDA_INCLUDE_DIRS}
+        )
+    endif()
+    set_target_properties(tracking_adapters PROPERTIES
+        CUDA_SEPARABLE_COMPILATION ON
+        POSITION_INDEPENDENT_CODE ON
     )
 endif()
 

src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt

@@ -103,14 +103,22 @@ if(GNURADIO_USES_STD_POINTERS)
     )
 endif()
 
-if(ENABLE_CUDA AND NOT CMAKE_VERSION VERSION_GREATER 3.11)
+if(ENABLE_CUDA)
+    if(CMAKE_VERSION VERSION_GREATER 3.11)
+        target_include_directories(tracking_gr_blocks
+            PUBLIC ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES}
+        )
+    else()
         target_link_libraries(tracking_gr_blocks
-        PUBLIC
+            PUBLIC cuda_correlator_lib
-            ${CUDA_LIBRARIES}
         )
         target_include_directories(tracking_gr_blocks
-        PUBLIC
+            PUBLIC ${CUDA_INCLUDE_DIRS}
-            ${CUDA_INCLUDE_DIRS}
+        )
+    endif()
+    set_target_properties(tracking_gr_blocks PROPERTIES
+        CUDA_SEPARABLE_COMPILATION ON
+        POSITION_INDEPENDENT_CODE ON
     )
 endif()
 

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc

@@ -177,7 +177,7 @@ void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::start_tracking()
     d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
     const double T_chip_mod_seconds = 1 / d_code_freq_chips;
     const double T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
-    T_prn_mod_samples T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
+    const double T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
 
     d_correlation_length_samples = round(T_prn_mod_samples);
 

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h

@@ -48,7 +48,7 @@ typedef std::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc>
 #else
 typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc>
     gps_l1_ca_dll_pll_tracking_gpu_cc_sptr;
-#end
+#endif
 
 gps_l1_ca_dll_pll_tracking_gpu_cc_sptr
 gps_l1_ca_dll_pll_make_tracking_gpu_cc(

src/algorithms/tracking/libs/CMakeLists.txt

@@ -42,8 +42,6 @@ set(TRACKING_LIB_HEADERS
     exponential_smoother.h
 )
 
-set(OPT_TRACKING_LIBRARIES "")
-set(OPT_TRACKING_INCLUDES "")
 if(ENABLE_CUDA)
     if(CMAKE_VERSION VERSION_GREATER 3.11)
         set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} cuda_multicorrelator.cu)
@@ -53,9 +51,7 @@ if(ENABLE_CUDA)
         set(CUDA_PROPAGATE_HOST_FLAGS OFF)
         cuda_include_directories(${CMAKE_CURRENT_SOURCE_DIR})
         set(LIB_TYPE STATIC) #set the lib type
-        cuda_add_library(CUDA_CORRELATOR_LIB ${LIB_TYPE} cuda_multicorrelator.h cuda_multicorrelator.cu)
+        cuda_add_library(cuda_correlator_lib ${LIB_TYPE} cuda_multicorrelator.h cuda_multicorrelator.cu)
-        set(OPT_TRACKING_LIBRARIES ${OPT_TRACKING_LIBRARIES} CUDA_CORRELATOR_LIB)
-        set(OPT_TRACKING_INCLUDES ${OPT_TRACKING_INCLUDES} ${CUDA_INCLUDE_DIRS})
     endif()
 endif()
 
@@ -94,20 +90,27 @@ target_link_libraries(tracking_libs
         Volkgnsssdr::volkgnsssdr
         core_system_parameters
         algorithms_libs
-        ${OPT_TRACKING_LIBRARIES}
     PRIVATE
         gnss_sdr_flags
         Glog::glog
 )
 
-if(NOT CMAKE_VERSION VERSION_GREATER 3.11)
+if(ENABLE_CUDA)
+    if(CMAKE_VERSION VERSION_GREATER 3.11)
+        target_include_directories(tracking_libs
+            PUBLIC ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES}
+        )
+    else()
         target_link_libraries(tracking_libs
-        PUBLIC
+            PUBLIC ${CUDA_LIBRARIES}
-            ${OPT_TRACKING_LIBRARIES}
         )
         target_include_directories(tracking_libs
-        PUBLIC
+            PUBLIC ${CUDA_INCLUDE_DIRS}
-            ${OPT_TRACKING_INCLUDES}
+        )
+    endif()
+    set_target_properties(tracking_libs PROPERTIES
+        CUDA_SEPARABLE_COMPILATION ON
+        POSITION_INDEPENDENT_CODE ON
     )
 endif()
 

src/core/receiver/CMakeLists.txt

@@ -120,9 +120,22 @@ else()
 endif()
 
 if(ENABLE_CUDA)
-    if(NOT CMAKE_VERSION VERSION_GREATER 3.11)
+    if(CMAKE_VERSION VERSION_GREATER 3.11)
-        target_include_directories(core_receiver PUBLIC ${CUDA_INCLUDE_DIRS})
+        target_include_directories(core_receiver
+            PUBLIC ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES}
+        )
+    else()
+        target_link_libraries(core_receiver
+            PUBLIC ${CUDA_LIBRARIES}
+        )
+        target_include_directories(core_receiver
+            PUBLIC ${CUDA_INCLUDE_DIRS}
+        )
     endif()
+    set_target_properties(core_receiver PROPERTIES
+        CUDA_SEPARABLE_COMPILATION ON
+        POSITION_INDEPENDENT_CODE ON
+    )
     target_compile_definitions(core_receiver PRIVATE -DCUDA_GPU_ACCEL=1)
 endif()
 

src/main/CMakeLists.txt

@@ -39,16 +39,22 @@ target_link_libraries(gnss-sdr
 target_compile_definitions(gnss-sdr PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
 
 if(ENABLE_CUDA)
-    if(NOT CMAKE_VERSION VERSION_GREATER 3.11)
+    if(CMAKE_VERSION VERSION_GREATER 3.11)
+        target_include_directories(gnss-sdr
+            PUBLIC ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES}
+        )
+    else()
         target_link_libraries(gnss-sdr
-            PRIVATE
+            PUBLIC ${CUDA_LIBRARIES}
-                ${CUDA_LIBRARIES}
         )
         target_include_directories(gnss-sdr
-            PRIVATE
+            PUBLIC ${CUDA_INCLUDE_DIRS}
-                ${CUDA_INCLUDE_DIRS}
         )
     endif()
+    set_target_properties(gnss-sdr PROPERTIES
+        CUDA_SEPARABLE_COMPILATION ON
+        POSITION_INDEPENDENT_CODE ON
+    )
     target_compile_definitions(gnss-sdr PRIVATE -DCUDA_GPU_ACCEL=1)
 endif()