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bds_b31: Getting new changes from upstream

This commit is contained in:
Damian Miralles 2019-02-05 17:25:16 -06:00
parent ea438328c4 08c6cc5c3c
commit 1b7d4edf51
165 changed files with 3398 additions and 3547 deletions
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445
CMakeLists.txt
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@ -1,4 +1,4 @@
# Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -23,7 +23,7 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
message(WARNING "In-tree build is bad practice. Try 'cd build && cmake ../' ")
endif()
cmake_minimum_required(VERSION 2.8)
cmake_minimum_required(VERSION 2.8.12)
project(gnss-sdr CXX C)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/Modules)
file(RELATIVE_PATH RELATIVE_CMAKE_CALL ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR})
@ -324,12 +324,12 @@ endif()
################################################################################
# Minimum required versions
################################################################################
set(GNSSSDR_CMAKE_MIN_VERSION "2.8.8")
set(GNSSSDR_CMAKE_MIN_VERSION "2.8.12")
set(GNSSSDR_GCC_MIN_VERSION "4.7.2")
set(GNSSSDR_CLANG_MIN_VERSION "3.4.0")
set(GNSSSDR_APPLECLANG_MIN_VERSION "500")
set(GNSSSDR_GNURADIO_MIN_VERSION "3.7.3")
set(GNSSSDR_BOOST_MIN_VERSION "1.45")
set(GNSSSDR_BOOST_MIN_VERSION "1.53")
set(GNSSSDR_PYTHON_MIN_VERSION "2.7")
set(GNSSSDR_PYTHON3_MIN_VERSION "3.4")
set(GNSSSDR_MAKO_MIN_VERSION "0.4.2")
@ -413,6 +413,9 @@ endif()
if(NOT OS_IS_MACOSX)
if(CMAKE_CROSSCOMPILING)
set(IS_ARM TRUE)
if(NOT CMAKE_NO_SYSTEM_FROM_IMPORTED)
set(CMAKE_NO_SYSTEM_FROM_IMPORTED TRUE)
endif()
else()
include(TestForARM)
endif()
@ -487,8 +490,7 @@ if(UNIX AND EXISTS "/usr/lib64")
list(APPEND BOOST_LIBRARYDIR "/usr/lib64") # Fedora 64-bit fix
endif()
set(Boost_ADDITIONAL_VERSIONS
"1.45.0" "1.45" "1.46.0" "1.46" "1.48.0" "1.48" "1.49.0" "1.49"
"1.50.0" "1.50" "1.51.0" "1.51" "1.53.0" "1.53" "1.54.0" "1.54"
"1.53.0" "1.53" "1.54.0" "1.54"
"1.55.0" "1.55" "1.56.0" "1.56" "1.57.0" "1.57" "1.58.0" "1.58" "1.59.0" "1.59"
"1.60.0" "1.60" "1.61.0" "1.61" "1.62.0" "1.62" "1.63.0" "1.63" "1.64.0" "1.64"
"1.65.0" "1.65" "1.66.0" "1.66" "1.67.0" "1.67" "1.68.0" "1.68" "1.69.0" "1.69"
@ -498,11 +500,84 @@ set(Boost_ADDITIONAL_VERSIONS
)
set(Boost_USE_MULTITHREAD ON)
set(Boost_USE_STATIC_LIBS OFF)
find_package(Boost COMPONENTS date_time system filesystem thread serialization chrono REQUIRED)
find_package(Boost ${GNSSSDR_BOOST_MIN_VERSION} COMPONENTS atomic chrono date_time filesystem serialization system thread REQUIRED)
if(NOT Boost_FOUND)
message(FATAL_ERROR "Fatal error: Boost (version >=${GNSSSDR_BOOST_MIN_VERSION}) required.")
endif()
if(CMAKE_VERSION VERSION_LESS 3.5)
if(NOT TARGET Boost::boost)
add_library(Boost::boost SHARED IMPORTED) # Trick for CMake 2.8.12
set_property(TARGET Boost::boost PROPERTY
INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
set_property(TARGET Boost::boost PROPERTY
IMPORTED_LOCATION ${Boost_DATE_TIME_LIBRARIES})
endif()
if(NOT TARGET Boost::date_time)
add_library(Boost::date_time SHARED IMPORTED)
set_property(TARGET Boost::date_time PROPERTY
INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
set_property(TARGET Boost::date_time PROPERTY
INTERFACE_LINK_LIBRARIES ${Boost_DATE_TIME_LIBRARIES})
set_property(TARGET Boost::date_time PROPERTY
IMPORTED_LOCATION ${Boost_DATE_TIME_LIBRARIES})
endif()
if(NOT TARGET Boost::system)
add_library(Boost::system SHARED IMPORTED)
set_property(TARGET Boost::system PROPERTY
INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
set_property(TARGET Boost::system PROPERTY
INTERFACE_LINK_LIBRARIES ${Boost_SYSTEM_LIBRARIES})
set_property(TARGET Boost::system PROPERTY
IMPORTED_LOCATION ${Boost_SYSTEM_LIBRARIES})
endif()
if(NOT TARGET Boost::filesystem)
add_library(Boost::filesystem SHARED IMPORTED)
set_property(TARGET Boost::filesystem PROPERTY
INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
set_property(TARGET Boost::filesystem PROPERTY
INTERFACE_LINK_LIBRARIES ${Boost_FILESYSTEM_LIBRARIES})
set_property(TARGET Boost::filesystem PROPERTY
IMPORTED_LOCATION ${Boost_FILESYSTEM_LIBRARIES})
endif()
if(NOT TARGET Boost::thread)
add_library(Boost::thread SHARED IMPORTED)
set_property(TARGET Boost::thread PROPERTY
INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
set_property(TARGET Boost::thread PROPERTY
INTERFACE_LINK_LIBRARIES ${Boost_THREAD_LIBRARIES})
set_property(TARGET Boost::thread PROPERTY
IMPORTED_LOCATION ${Boost_THREAD_LIBRARIES})
endif()
if(NOT TARGET Boost::serialization)
add_library(Boost::serialization SHARED IMPORTED)
set_property(TARGET Boost::serialization PROPERTY
INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
set_property(TARGET Boost::serialization PROPERTY
INTERFACE_LINK_LIBRARIES ${Boost_SERIALIZATION_LIBRARIES})
set_property(TARGET Boost::serialization PROPERTY
IMPORTED_LOCATION ${Boost_SERIALIZATION_LIBRARIES})
endif()
if(NOT TARGET Boost::chrono)
add_library(Boost::chrono SHARED IMPORTED)
set_property(TARGET Boost::chrono PROPERTY
INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
set_property(TARGET Boost::chrono PROPERTY
INTERFACE_LINK_LIBRARIES ${Boost_CHRONO_LIBRARIES})
set_property(TARGET Boost::chrono PROPERTY
IMPORTED_LOCATION ${Boost_CHRONO_LIBRARIES})
endif()
if(NOT TARGET Boost::atomic)
add_library(Boost::atomic SHARED IMPORTED)
set_property(TARGET Boost::atomic PROPERTY
INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
set_property(TARGET Boost::atomic PROPERTY
INTERFACE_LINK_LIBRARIES ${Boost_ATOMIC_LIBRARIES})
set_property(TARGET Boost::atomic PROPERTY
IMPORTED_LOCATION ${Boost_ATOMIC_LIBRARIES})
endif()
endif()
################################################################################
@ -530,22 +605,98 @@ if(NOT GNURADIO_RUNTIME_FOUND)
message(" brew install gnuradio")
message(FATAL_ERROR "GNU Radio ${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
endif()
else()
if(NOT TARGET Gnuradio::runtime)
add_library(Gnuradio::runtime SHARED IMPORTED)
list(GET GNURADIO_RUNTIME_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_RUNTIME_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::runtime PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_RUNTIME_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_RUNTIME_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_RUNTIME_LIBRARIES}"
)
endif()
endif()
if(NOT GNURADIO_ANALOG_FOUND)
message(FATAL_ERROR "*** The gnuradio-analog library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
else()
if(NOT TARGET Gnuradio::analog)
add_library(Gnuradio::analog SHARED IMPORTED)
list(GET GNURADIO_ANALOG_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_ANALOG_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::analog PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_ANALOG_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_ANALOG_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_ANALOG_LIBRARIES}"
)
endif()
endif()
if(NOT GNURADIO_BLOCKS_FOUND)
message(FATAL_ERROR "*** The gnuradio-blocks library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
else()
if(NOT TARGET Gnuradio::blocks)
add_library(Gnuradio::blocks SHARED IMPORTED)
list(GET GNURADIO_BLOCKS_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_BLOCKS_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::blocks PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_BLOCKS_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_BLOCKS_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_BLOCKS_LIBRARIES}"
)
endif()
endif()
if(NOT GNURADIO_FILTER_FOUND)
message(FATAL_ERROR "*** The gnuradio-filter library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
else()
if(NOT TARGET Gnuradio::filter)
add_library(Gnuradio::filter SHARED IMPORTED)
list(GET GNURADIO_FILTER_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_FILTER_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::filter PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_FILTER_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FILTER_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_FILTER_LIBRARIES}"
)
endif()
endif()
if(NOT GNURADIO_FFT_FOUND)
message(FATAL_ERROR "*** The gnuradio-fft library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
else()
if(NOT TARGET Gnuradio::fft)
add_library(Gnuradio::fft SHARED IMPORTED)
list(GET GNURADIO_FFT_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_FFT_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::fft PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_FFT_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FFT_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_FFT_LIBRARIES}"
)
endif()
endif()
if(NOT GNURADIO_PMT_FOUND)
message(FATAL_ERROR "*** The gnuradio-pmt library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
else()
if(NOT TARGET Gnuradio::pmt)
add_library(Gnuradio::pmt SHARED IMPORTED)
list(GET GNURADIO_PMT_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_PMT_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::pmt PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_PMT_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_PMT_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_PMT_LIBRARIES}"
)
endif()
endif()
@ -695,6 +846,19 @@ if(NOT VOLKGNSSSDR_FOUND)
set(VOLK_GNSSSDR_INCLUDE_DIRS "${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/build/include/;${CMAKE_CURRENT_SOURCE_DIR}/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/include;${ORC_INCLUDE_DIRS}")
set(VOLK_GNSSSDR_LIBRARIES volk_gnsssdr ${ORC_LIBRARIES})
if(NOT TARGET Volkgnsssdr::volkgnsssdr)
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/build/include)
add_library(Volkgnsssdr::volkgnsssdr STATIC IMPORTED)
add_dependencies(Volkgnsssdr::volkgnsssdr volk_gnsssdr_module)
set_target_properties(Volkgnsssdr::volkgnsssdr PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install/lib/libvolk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}"
INCLUDE_DIRECTORIES "${VOLK_GNSSSDR_INCLUDE_DIRS}"
INTERFACE_INCLUDE_DIRECTORIES "${VOLK_GNSSSDR_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${VOLK_GNSSSDR_LIBRARIES}"
)
endif()
if(CMAKE_VERSION VERSION_LESS 3.2)
add_custom_command(TARGET volk_gnsssdr_module POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install/bin/volk_gnsssdr_profile
@ -756,16 +920,23 @@ if(NOT GFLAGS_FOUND)
${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/include CACHE PATH "Local Gflags headers"
)
add_library(gflags UNKNOWN IMPORTED)
set_property(TARGET gflags PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX})
add_dependencies(gflags gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION})
set(GFlags_LIBS gflags)
file(GLOB GFlags_SHARED_LIBS "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_SHARED_LIBRARY_SUFFIX}*")
set(GFlags_LIBRARY gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION})
set(GFlags_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib)
link_directories(${GFlags_LIBRARY_PATH})
set(GFlags_lib ${GFlags_LIBS} CACHE FILEPATH "Local Gflags library")
set(GFlags_LIBRARY_PATH ${GFlags_LIBS})
file(GLOB GFlags_SHARED_LIBS
"${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_SHARED_LIBRARY_SUFFIX}*"
)
if(NOT TARGET Gflags::gflags)
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/include)
add_library(Gflags::gflags STATIC IMPORTED)
add_dependencies(Gflags::gflags gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION})
set_target_properties(Gflags::gflags PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX}"
INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/include"
INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/include"
INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX}"
)
endif()
set(LOCAL_GFLAGS true CACHE STRING "GFlags downloaded and built automatically" FORCE)
endif()
@ -899,6 +1070,7 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
INSTALL_COMMAND ""
)
endif()
add_dependencies(glog-${GNSSSDR_GLOG_LOCAL_VERSION} Gflags::gflags)
# Set up variables
set(GLOG_INCLUDE_DIRS
@ -908,15 +1080,28 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
set(GLOG_LIBRARIES
${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/.libs/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}
)
# Create Glog::glog target
if(NOT TARGET Glog::glog)
file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/src)
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/src)
add_library(Glog::glog STATIC IMPORTED)
add_dependencies(Glog::glog glog-${GNSSSDR_GLOG_LOCAL_VERSION})
set_target_properties(Glog::glog PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/.libs/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}"
INCLUDE_DIRECTORIES "${GLOG_INCLUDE_DIRS}"
INTERFACE_INCLUDE_DIRECTORIES "${GLOG_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/.libs/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}"
)
endif()
set(LOCAL_GLOG true CACHE STRING "Glog downloaded and built automatically" FORCE)
else()
add_library(glog-${GNSSSDR_GLOG_LOCAL_VERSION} UNKNOWN IMPORTED)
set_property(TARGET glog-${GNSSSDR_GLOG_LOCAL_VERSION} PROPERTY IMPORTED_LOCATION "${GLOG_LIBRARIES}")
endif()
if(NOT ENABLE_LOG)
message(STATUS "Logging is not enabled")
add_definitions(-DGOOGLE_STRIP_LOG=1)
target_compile_definitions(Glog::glog PUBLIC -DGOOGLE_STRIP_LOG=1)
endif()
@ -967,6 +1152,14 @@ if(ARMADILLO_FOUND)
if(${ARMADILLO_VERSION_STRING} VERSION_LESS ${GNSSSDR_ARMADILLO_MIN_VERSION})
set(ARMADILLO_FOUND false)
set(ENABLE_OWN_ARMADILLO true)
else()
add_library(Armadillo::armadillo SHARED IMPORTED)
set_target_properties(Armadillo::armadillo PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${ARMADILLO_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${ARMADILLO_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${ARMADILLO_LIBRARIES}"
)
endif()
endif()
@ -1028,17 +1221,22 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
# Set up variables
ExternalProject_Get_Property(armadillo-${armadillo_RELEASE} binary_dir)
set(ARMADILLO_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include)
#set(ARMADILLO_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include)
if(NOT GFORTRAN)
set(GFORTRAN "")
endif()
set(ARMADILLO_LIBRARIES ${BLAS} ${LAPACK} ${GFORTRAN} ${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX})
set(LOCAL_ARMADILLO true CACHE STRING "Armadillo downloaded and built automatically" FORCE)
set(ARMADILLO_VERSION_STRING ${armadillo_RELEASE})
else()
set(armadillo_RELEASE ${ARMADILLO_VERSION_STRING})
add_library(armadillo-${armadillo_RELEASE} UNKNOWN IMPORTED)
set_property(TARGET armadillo-${armadillo_RELEASE} PROPERTY IMPORTED_LOCATION "${ARMADILLO_LIBRARIES}")
file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include)
add_library(Armadillo::armadillo STATIC IMPORTED)
add_dependencies(Armadillo::armadillo armadillo-${armadillo_RELEASE})
set_target_properties(Armadillo::armadillo PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}"
INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include"
INTERFACE_LINK_LIBRARIES "${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}"
)
endif()
@ -1165,6 +1363,7 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
set(HDF5_BASE_DIR /usr/local)
endif()
endif()
if(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add(matio-${GNSSSDR_MATIO_LOCAL_VERSION}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/matio
@ -1173,7 +1372,7 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/autogen.sh
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/configure --with-hdf5=${HDF5_BASE_DIR} --with-zlib=${ZLIB_BASE_DIR} --with-default-file-ver=7.3 --enable-mat73=yes --prefix=<INSTALL_DIR>
BUILD_COMMAND make
BUILD_COMMAND $(MAKE)
)
else()
ExternalProject_Add(matio-${GNSSSDR_MATIO_LOCAL_VERSION}
@ -1183,13 +1382,23 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/autogen.sh
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/configure --with-hdf5=${HDF5_BASE_DIR} --with-zlib=${ZLIB_BASE_DIR} --with-default-file-ver=7.3 --enable-mat73=yes --prefix=<INSTALL_DIR>
BUILD_COMMAND make
BUILD_COMMAND $(MAKE)
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_STATIC_LIBRARY_SUFFIX}
)
endif()
set(MATIO_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_STATIC_LIBRARY_SUFFIX} ${HDF5_LIBRARIES} ${ZLIB_LIBRARIES})
set(MATIO_INCLUDE_DIRS ${CMAKE_CURRENT_BINARY_DIR}/matio/include)
set(MATIO_LOCAL true)
if(NOT TARGET Matio::matio)
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/matio/include)
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/matio/lib)
add_library(Matio::matio SHARED IMPORTED)
add_dependencies(Matio::matio matio-${GNSSSDR_MATIO_LOCAL_VERSION})
set_target_properties(Matio::matio PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_SHARED_LIBRARY_SUFFIX}"
INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}/matio/include"
INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_SHARED_LIBRARY_SUFFIX}"
)
endif()
else()
message(STATUS " The hdf5 library has not been found in your system.")
message(STATUS " Please try to install it by doing:")
@ -1250,29 +1459,22 @@ else()
INSTALL_COMMAND ""
)
endif()
set(PUGIXML_LIBRARY ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX})
set(PUGIXML_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/src)
set(PUGIXML_LOCAL true)
endif()
################################################################################
# USRP Hardware Driver (UHD) - OPTIONAL
################################################################################
if(ENABLE_UHD)
find_package(UHD)
if(NOT UHD_FOUND)
set(ENABLE_UHD OFF)
message(STATUS " The USRP Hardware Driver (UHD) signal source will not be built,")
message(STATUS " so all USRP-based front-ends will not be usable.")
message(STATUS " Please check https://files.ettus.com/manual/")
else()
set(GR_REQUIRED_COMPONENTS UHD)
find_package(Gnuradio)
if(NOT TARGET Pugixml::pugixml)
file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/src)
add_library(Pugixml::pugixml STATIC IMPORTED)
add_dependencies(Pugixml::pugixml pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION})
set_target_properties(Pugixml::pugixml PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}"
INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/src"
INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}"
)
endif()
endif()
################################################################################
# Doxygen - http://www.stack.nl/~dimitri/doxygen/index.html (OPTIONAL, used if found)
################################################################################
@ -1389,14 +1591,16 @@ endif()
# CUSTOM UDP PACKET SOURCE (OPTIONAL)
###############################################################################
if(ENABLE_RAW_UDP)
message(STATUS "High-optimized custom UDP ip packet source will be enabled.")
message(STATUS "You can disable it with 'cmake -DENABLE_RAW_UDP=OFF ../'")
else()
message(STATUS "High-optimized custom UDP ip packet source will be enabled.")
message(STATUS "High-optimized custom UDP IP packet source is enabled.")
message(STATUS "You can disable it with 'cmake -DENABLE_RAW_UDP=OFF ../'")
find_package(PCAP)
if(NOT PCAP_FOUND)
message(FATAL_ERROR "PCAP required to compile custom UDP packet sample source (with ENABLE_RAW_UDP=ON)")
endif()
endif()
###############################################################################
# FPGA (OPTIONAL)
###############################################################################
@ -1413,40 +1617,39 @@ endif()
################################################################################
# Setup of optional drivers
################################################################################
if($ENV{GN3S_DRIVER})
message(STATUS "GN3S_DRIVER environment variable found.")
set(ENABLE_GN3S ON)
endif()
if(GN3S_DRIVER)
set(ENABLE_GN3S ON)
endif()
if(ENABLE_GN3S)
message(STATUS "The GN3S driver will be compiled.")
message(STATUS "You can disable it with 'cmake -DENABLE_GN3S=OFF ../'")
else()
message(STATUS "The (optional and experimental) GN3S driver is not enabled.")
message(STATUS "Enable it with 'cmake -DENABLE_GN3S=ON ../' to add support for the GN3S dongle.")
########################################
# USRP Hardware Driver (UHD) - OPTIONAL
########################################
if(ENABLE_UHD)
find_package(UHD)
if(NOT UHD_FOUND)
set(ENABLE_UHD OFF)
message(STATUS " The USRP Hardware Driver (UHD) signal source will not be built,")
message(STATUS " so all USRP-based front-ends will not be usable.")
message(STATUS " Please check https://files.ettus.com/manual/")
else()
set(GR_REQUIRED_COMPONENTS UHD)
find_package(Gnuradio)
if(NOT TARGET Gnuradio::uhd)
add_library(Gnuradio::uhd SHARED IMPORTED)
list(GET GNURADIO_UHD_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_UHD_DIR ${FIRST_DIR} ABSOLUTE)
set_target_properties(Gnuradio::uhd PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GNURADIO_UHD_DIR}"
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_UHD_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GNURADIO_UHD_LIBRARIES}"
)
endif()
endif()
endif()
if($ENV{RAW_ARRAY_DRIVER})
message(STATUS "RAW_ARRAY_DRIVER environment variable found.")
set(ENABLE_ARRAY ON)
endif()
if(RAW_ARRAY_DRIVER)
set(ENABLE_ARRAY ON)
endif()
if(ENABLE_ARRAY)
message(STATUS "CTTC's Antenna Array front-end driver will be compiled.")
message(STATUS "You can disable it with 'cmake -DENABLE_ARRAY=OFF ../'")
# copy firmware to install folder
# Build project gr-dbfcttc
else()
message(STATUS "The (optional) CTTC's Antenna Array front-end driver is not enabled.")
message(STATUS "Enable it with 'cmake -DENABLE_ARRAY=ON ../' to add support for the CTTC experimental array front-end.")
endif()
##########################################
# gr-osmosdr - OPTIONAL
# https://github.com/osmocom/gr-osmosdr
##########################################
if($ENV{RTLSDR_DRIVER})
message(STATUS "RTLSDR_DRIVER environment variable found.")
set(ENABLE_OSMOSDR ON)
@ -1469,6 +1672,30 @@ else()
message(STATUS "Enable it with 'cmake -DENABLE_OSMOSDR=ON ../' to add support for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based USB dongles, etc.)")
endif()
##############################################
# gr-iio - OPTIONAL
# IIO blocks for GNU Radio
# https://github.com/analogdevicesinc/gr-iio
##############################################
if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
find_package(GRIIO)
endif()
###################################################################################
# libiio - OPTIONAL
# A cross platform library for interfacing with local and remote Linux IIO devices
# https://github.com/analogdevicesinc/libiio
###################################################################################
if(ENABLE_AD9361)
find_package(LIBIIO)
endif()
##############################################
# TELEORBIT FLEXIBAND FRONTEND - OPTIONAL
##############################################
if($ENV{FLEXIBAND_DRIVER})
message(STATUS "FLEXIBAND_DRIVER environment variable found.")
set(ENABLE_FLEXIBAND ON)
@ -1485,11 +1712,59 @@ else()
message(STATUS "The (optional) Teleorbit Flexiband front-end driver adapter is not enabled.")
message(STATUS "Enable it with 'cmake -DENABLE_FLEXIBAND=ON ../' to add support for the Teleorbit Flexiband front-end.")
endif()
if(ENABLE_FLEXIBAND)
find_package(TELEORBIT)
if(NOT TELEORBIT_FOUND)
message(FATAL_ERROR "Teleorbit Flexiband GNU Radio driver required to build gnss-sdr with the optional FLEXIBAND adapter")
endif()
endif()
##############################################
# GN3S - OPTIONAL
##############################################
if($ENV{GN3S_DRIVER})
message(STATUS "GN3S_DRIVER environment variable found.")
set(ENABLE_GN3S ON)
endif()
if(GN3S_DRIVER)
set(ENABLE_GN3S ON)
endif()
if(ENABLE_GN3S)
message(STATUS "The GN3S driver will be compiled.")
message(STATUS "You can disable it with 'cmake -DENABLE_GN3S=OFF ../'")
find_package(GRGN3S QUIET)
else()
message(STATUS "The (optional and experimental) GN3S driver is not enabled.")
message(STATUS "Enable it with 'cmake -DENABLE_GN3S=ON ../' to add support for the GN3S dongle.")
endif()
#######################################################
# CTTC's digital array beamformer prototype - OPTIONAL
#######################################################
if($ENV{RAW_ARRAY_DRIVER})
message(STATUS "RAW_ARRAY_DRIVER environment variable found.")
set(ENABLE_ARRAY ON)
endif()
if(RAW_ARRAY_DRIVER)
set(ENABLE_ARRAY ON)
endif()
if(ENABLE_ARRAY)
message(STATUS "CTTC's Antenna Array front-end driver will be compiled.")
message(STATUS "You can disable it with 'cmake -DENABLE_ARRAY=OFF ../'")
find_package(GRDBFCTTC QUIET)
else()
message(STATUS "The (optional) CTTC's Antenna Array front-end driver is not enabled.")
message(STATUS "Enable it with 'cmake -DENABLE_ARRAY=ON ../' to add support for the CTTC experimental array front-end.")
endif()
################################################################################
# GPerftools - https://github.com/gperftools/gperftools (OPTIONAL)
# GPerftools - https://github.com/gperftools/gperftools - OPTIONAL)
################################################################################
if(ENABLE_GPERFTOOLS)
find_package(GPERFTOOLS)
@ -1581,7 +1856,7 @@ endif()
if(NOT ((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT (CMAKE_CXX_COMPILER_ID MATCHES "Clang")) AND NOT WIN32)
if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD 11)
endif()
endif()

32
README.md
View File

@ -2,20 +2,20 @@
[![License: GPL v3](https://img.shields.io/badge/License-GPL%20v3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0)
link to website: https://gnsssdrbeidoub1igsoc2018.wordpress.com/
**Welcome to GNSS-SDR!**
This program is a software-defined receiver which is able to process (that is, to perform detection, synchronization, demodulation and decoding of the navigation message, computation of observables and, finally, computation of position fixes) the following Global Navigation Satellite System's signals:
In the L1 band:
- &#128752; BeiDou B1I (centered at 1561.098 MHz) :white_check_mark:
- &#128752; GPS L1 C/A (centered at 1575.42 MHz) :white_check_mark:
- &#128752; Galileo E1b/c (centered at 1575.42 MHz) :white_check_mark:
- &#128752; GLONASS L1 C/A (centered at 1601.72 MHz) :white_check_mark:
- &#128752; GLONASS L1 C/A (centered at 1602.00 MHz) :white_check_mark:
In the L2 band:
- &#128752; GPS L2C (centered at 1227.60 MHz) :white_check_mark:
- &#128752; GLONASS L2 C/A (centered at 1246 MHz) :white_check_mark:
- &#128752; GLONASS L2 C/A (centered at 1246.00 MHz) :white_check_mark:
In the L5 band:
- &#128752; GPS L5 (centered at 1176.45 MHz) :white_check_mark:
@ -189,9 +189,9 @@ $ sudo apt-get install libblas-dev liblapack-dev # For Debian/Ubuntu/Linux
$ sudo yum install lapack-devel blas-devel # For Fedora/CentOS/RHEL
$ sudo zypper install lapack-devel blas-devel # For OpenSUSE
$ sudo pacman -S blas lapack # For Arch Linux
$ wget https://sourceforge.net/projects/arma/files/armadillo-9.100.5.tar.xz
$ tar xvfz armadillo-9.100.5.tar.xz
$ cd armadillo-9.100.5
$ wget https://sourceforge.net/projects/arma/files/armadillo-9.200.7.tar.xz
$ tar xvfz armadillo-9.200.7.tar.xz
$ cd armadillo-9.200.7
$ cmake .
$ make
$ sudo make install
@ -573,7 +573,7 @@ First, install [Homebrew](https://brew.sh/). Paste this in a terminal prompt:
$ /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
~~~~~~
The script explains what it will do and then pauses before it does it. There are more installation options [here](https://docs.brew.sh/Installation.html).
The script explains what it will do, and then it pauses before doing it. There are more installation options [here](https://docs.brew.sh/Installation.html).
Install pip:
@ -584,17 +584,26 @@ $ sudo easy_install pip
Install the required dependencies:
~~~~~~
$ brew tap homebrew/science
$ brew install cmake hdf5 arpack superlu
$ brew install armadillo
$ brew install glog gflags gnutls
$ brew install cmake
$ brew install hdf5 arpack superlu armadillo
$ brew install glog gflags
$ brew install gnuradio
$ brew install libmatio
$ brew install log4cpp
$ brew install pugixml
$ pip install mako
$ pip install six
$ brew install openssl
~~~~~~
In the last step, Homebrew installs OpenSSL but it does not link it into `/usr/local`. Thus, you must manually link it instead:
~~~~~~
$ ln -s /usr/local/opt/openssl/include/openssl /usr/local/include
$ ln -s /usr/local/opt/openssl/lib/libssl.1.0.0.dylib /usr/local/lib/
~~~~~~
#### Build GNSS-SDR
Finally, you are ready to clone the GNSS-SDR repository, configure and build the software:
@ -1118,6 +1127,7 @@ Each channel must be assigned to a GNSS signal, according to the following ident
| GPS L1 C/A | 1C |
| Galileo E1b/c | 1B |
| Glonass L1 C/A | 1G |
| Beidou B1I | B1 |
| GPS L2 L2C(M) | 2S |
| Glonass L2 C/A | 2G |
| GPS L5 | L5 |

19
cmake/Modules/FindGFLAGS.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -26,6 +26,10 @@
# GFlags_INCLUDE_DIRS
# GFlags_LIBS
# GFlags_LIBRARY_DIRS
#
# Provides the following imported target:
# Gflags::gflags
#
if(APPLE)
find_path(GFlags_ROOT_DIR
@ -95,9 +99,6 @@ if(GFlags_ROOT_DIR)
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 ${GFlags_lib})
set(GFlags_FOUND true)
@ -109,3 +110,13 @@ endif()
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GFLAGS DEFAULT_MSG GFlags_LIBS GFlags_INCLUDE_DIRS)
if(GFLAGS_FOUND AND NOT TARGET Gflags::gflags)
add_library(Gflags::gflags SHARED IMPORTED)
set_target_properties(Gflags::gflags PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GFlags_LIBS}"
INTERFACE_INCLUDE_DIRECTORIES "${GFlags_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GFlags_LIBS}"
)
endif()

15
cmake/Modules/FindGLOG.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -27,6 +27,9 @@
#
# GLOG_ROOT - Can be set to Glog install path or Windows build path
#
# Provides the following imported target:
# Glog::glog
#
if(NOT DEFINED GLOG_ROOT)
set(GLOG_ROOT /usr /usr/local)
@ -135,6 +138,12 @@ else()
string(REGEX REPLACE "/libglog.so" "" GLOG_LIBRARIES_DIR ${GLOG_LIBRARIES})
endif()
if(GLOG_FOUND)
# _GLOG_APPEND_LIBRARIES(GLOG GLOG_LIBRARIES)
if(GLOG_FOUND AND NOT TARGET Glog::glog)
add_library(Glog::glog SHARED IMPORTED)
set_target_properties(Glog::glog PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GLOG_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${GLOG_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GLOG_LIBRARIES}"
)
endif()

24
cmake/Modules/FindGPSTK.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -32,18 +32,30 @@ find_path(GPSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
set(GPSTK_NAMES ${GPSTK_NAMES} gpstk libgpstk)
include(GNUInstallDirs)
find_library(GPSTK_LIBRARY NAMES ${GPSTK_NAMES}
HINTS /usr/lib
/usr/local/lib
/usr/${CMAKE_INSTALL_LIBDIR}
/usr/local/${CMAKE_INSTALL_LIBDIR}
/opt/local/lib
${GPSTK_ROOT}/lib
$ENV{GPSTK_ROOT}/lib
${GPSTK_ROOT}/lib64
$ENV{GPSTK_ROOT}/lib64
${GPSTK_ROOT}/${CMAKE_INSTALL_LIBDIR}
$ENV{GPSTK_ROOT}/${CMAKE_INSTALL_LIBDIR}
)
# handle the QUIETLY and REQUIRED arguments and set GPSTK_FOUND to TRUE if
# all listed variables are TRUE
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GPSTK DEFAULT_MSG GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
mark_as_advanced(GPSTK_INCLUDE_DIR GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
mark_as_advanced(GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
if(GPSTK_FOUND AND NOT TARGET Gpstk::gpstk)
add_library(Gpstk::gpstk SHARED IMPORTED)
set_target_properties(Gpstk::gpstk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GPSTK_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${GPSTK_INCLUDE_DIR};${GPSTK_INCLUDE_DIR}/gpstk"
INTERFACE_LINK_LIBRARIES "${GPSTK_LIBRARY}"
)
endif()

13
cmake/Modules/FindGRDBFCTTC.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -53,4 +53,15 @@ find_library(
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GRDBFCTTC DEFAULT_MSG GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)
if(GRDBFCTTC_FOUND AND NOT TARGET Gnuradio::dbfcttc)
add_library(Gnuradio::dbfcttc SHARED IMPORTED)
set_target_properties(Gnuradio::dbfcttc PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GR_DBFCTTC_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${GR_DBFCTTC_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GR_DBFCTTC_LIBRARIES}"
)
endif()
mark_as_advanced(GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)

13
cmake/Modules/FindGRGN3S.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -53,4 +53,15 @@ find_library(
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GRGN3S DEFAULT_MSG GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)
if(GRGN3S_FOUND AND NOT TARGET Gnuradio::gn3s)
add_library(Gnuradio::gn3s SHARED IMPORTED)
set_target_properties(Gnuradio::gn3s PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GR_GN3S_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${GR_GN3S_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${GR_GN3S_LIBRARIES}"
)
endif()
mark_as_advanced(GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)

19
cmake/Modules/FindGRIIO.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -15,6 +15,12 @@
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
# Provides the following imported target:
# Gnuradio::iio
#
include(FindPkgConfig)
pkg_check_modules(PC_IIO gnuradio-iio)
@ -69,4 +75,15 @@ find_library(IIO_LIBRARIES
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GRIIO DEFAULT_MSG IIO_LIBRARIES IIO_INCLUDE_DIRS)
if(GRIIO_FOUND AND NOT TARGET Gnuradio::iio)
add_library(Gnuradio::iio SHARED IMPORTED)
set_target_properties(Gnuradio::iio PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${IIO_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${IIO_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${IIO_LIBRARIES}"
)
endif()
mark_as_advanced(IIO_LIBRARIES IIO_INCLUDE_DIRS)

18
cmake/Modules/FindGROSMOSDR.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -33,6 +33,11 @@
# GROSMOSDR_FOUND System has gr-osmosdr libs/headers
# GROSMOSDR_LIBRARIES The gr-osmosdr libraries (gnuradio-osmosdr)
# GROSMOSDR_INCLUDE_DIR The location of gr-osmosdr headers
#
# Provides the following imported target:
# Gnuradio::osmosdr
#
include(FindPkgConfig)
pkg_check_modules(GROSMOSDR_PKG gnuradio-osmosdr)
@ -89,4 +94,15 @@ find_library(GROSMOSDR_LIBRARIES
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GROSMOSDR DEFAULT_MSG GROSMOSDR_LIBRARIES GROSMOSDR_INCLUDE_DIR)
if(GROSMOSDR_FOUND AND NOT TARGET Gnuradio::osmosdr)
add_library(Gnuradio::osmosdr SHARED IMPORTED)
set_target_properties(Gnuradio::osmosdr PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GROSMOSDR_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${GROSMOSDR_INCLUDE_DIR};${GROSMOSDR_INCLUDE_DIR}/osmosdr"
INTERFACE_LINK_LIBRARIES "${GROSMOSDR_LIBRARIES}"
)
endif()
mark_as_advanced(GROSMOSDR_LIBRARIES GROSMOSDR_INCLUDE_DIR)

18
cmake/Modules/FindLIBIIO.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -15,6 +15,11 @@
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
# Provides the following imported target:
# Iio::iio
#
include(FindPkgConfig)
pkg_check_modules(PC_LIBIIO libiio)
@ -73,4 +78,15 @@ find_library(
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(LIBIIO DEFAULT_MSG LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)
if(LIBIIO_FOUND AND NOT TARGET Iio::iio)
add_library(Iio::iio SHARED IMPORTED)
set_target_properties(Iio::iio PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${LIBIIO_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${LIBIIO_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${LIBIIO_LIBRARIES}"
)
endif()
mark_as_advanced(LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)

15
cmake/Modules/FindLIBOSMOSDR.cmake
View File

@ -27,6 +27,10 @@
# LIBOSMOSDR_FOUND System has libosmosdr libs/headers
# LIBOSMOSDR_LIBRARIES The libosmosdr libraries
# LIBOSMOSDR_INCLUDE_DIR The location of libosmosdr headers
#
# Provides the following imported target:
# Osmosdr::osmosdr
#
include(FindPkgConfig)
pkg_check_modules(LIBOSMOSDR_PKG libosmosdr)
@ -77,4 +81,15 @@ find_library(LIBOSMOSDR_LIBRARIES NAMES osmosdr
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(LIBOSMOSDR DEFAULT_MSG LIBOSMOSDR_INCLUDE_DIR LIBOSMOSDR_LIBRARIES)
if(LIBOSMOSDR_FOUND AND NOT TARGET Osmosdr::osmosdr)
add_library(Osmosdr::osmosdr SHARED IMPORTED)
set_target_properties(Osmosdr::osmosdr PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${LIBOSMOSDR_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${LIBOSMOSDR_INCLUDE_DIR}"
INTERFACE_LINK_LIBRARIES "${LIBOSMOSDR_LIBRARIES}"
)
endif()
mark_as_advanced(LIBOSMOSDR_INCLUDE_DIR LIBOSMOSDR_LIBRARIES)

22
cmake/Modules/FindLOG4CPP.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -21,7 +21,10 @@
# LOG4CPP_INCLUDE_DIR - where to find LOG4CPP.h, etc.
# LOG4CPP_LIBRARIES - List of libraries when using LOG4CPP.
# LOG4CPP_FOUND - True if LOG4CPP found.
#
# Provides the following imported target:
# Log4cpp::log4cpp
#
if(LOG4CPP_INCLUDE_DIR)
# Already in cache, be silent
@ -90,3 +93,18 @@ endif()
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(LOG4CPP DEFAULT_MSG LOG4CPP_INCLUDE_DIRS LOG4CPP_LIBRARIES)
if (LOG4CPP_FOUND AND NOT TARGET Log4cpp::log4cpp)
add_library(Log4cpp::log4cpp SHARED IMPORTED)
set_target_properties(Log4cpp::log4cpp PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${LOG4CPP_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${LOG4CPP_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${LOG4CPP_LIBRARIES}"
)
endif()
mark_as_advanced(
LOG4CPP_LIBRARIES
LOG4CPP_INCLUDE_DIRS
)

15
cmake/Modules/FindMATIO.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -26,6 +26,9 @@
# MATIO_INCLUDE_DIRS - where to find matio.h, etc..
# MATIO_VERSION_STRING - version number as a string (e.g.: "1.3.4")
#
# Provides the following imported target:
# Matio::matio
#
#=============================================================================
# Copyright 2015 Avtech Scientific <http://avtechscientific.com>
#
@ -127,3 +130,13 @@ else()
set(MATIO_LIBRARIES)
set(MATIO_INCLUDE_DIRS)
endif()
if(MATIO_FOUND AND NOT TARGET Matio::matio)
add_library(Matio::matio SHARED IMPORTED)
set_target_properties(Matio::matio PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${MATIO_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${MATIO_INCLUDE_DIR}"
INTERFACE_LINK_LIBRARIES "${MATIO_LIBRARY}"
)
endif()

21
cmake/Modules/FindPCAP.cmake
View File

@ -43,7 +43,10 @@
# PCAP_INCLUDE_DIRS - where to find pcap.h, etc.
# PCAP_LIBRARIES - List of libraries when using pcap.
# PCAP_FOUND - True if pcap found.
#
# Provides the following imported target:
# Pcap::pcap
#
if(EXISTS $ENV{PCAPDIR})
find_path(PCAP_INCLUDE_DIR
@ -113,10 +116,20 @@ check_function_exists("pcap_list_datalinks" HAVE_PCAP_LIST_DATALINKS)
check_function_exists("pcap_open_dead" HAVE_PCAP_OPEN_DEAD)
check_function_exists("pcap_set_datalink" HAVE_PCAP_SET_DATALINK)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(PCAP DEFAULT_MSG PCAP_INCLUDE_DIRS PCAP_LIBRARIES)
if(PCAP_FOUND AND NOT TARGET Pcap::pcap)
add_library(Pcap::pcap SHARED IMPORTED)
set_target_properties(Pcap::pcap PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${PCAP_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${PCAP_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${PCAP_LIBRARIES}"
)
endif()
mark_as_advanced(
PCAP_LIBRARIES
PCAP_INCLUDE_DIRS
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(PCAP DEFAULT_MSG PCAP_INCLUDE_DIRS PCAP_LIBRARIES)

16
cmake/Modules/FindPUGIXML.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -22,6 +22,10 @@
# PUGIXML_INCLUDE_DIR - header location
# PUGIXML_LIBRARIES - library to link against
# PUGIXML_FOUND - true if pugixml was found.
#
# Provides the following imported target:
# Pugixml::pugixml
#
find_path(PUGIXML_INCLUDE_DIR
NAMES pugixml.hpp
@ -73,3 +77,13 @@ else()
endif()
mark_as_advanced(PUGIXML_LIBRARY PUGIXML_INCLUDE_DIR)
if(PUGIXML_FOUND AND NOT TARGET Pugixml::pugixml)
add_library(Pugixml::pugixml SHARED IMPORTED)
set_target_properties(Pugixml::pugixml PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${PUGIXML_LIBRARY}"
INTERFACE_INCLUDE_DIRECTORIES "${PUGIXML_INCLUDE_DIR}"
INTERFACE_LINK_LIBRARIES "${PUGIXML_LIBRARY}"
)
endif()

11
cmake/Modules/FindTELEORBIT.cmake
View File

@ -47,4 +47,15 @@ find_library(TELEORBIT_LIBRARIES
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(TELEORBIT DEFAULT_MSG TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)
if(TELEORBIT_FOUND AND NOT TARGET Gnuradio::teleorbit)
add_library(Gnuradio::teleorbit SHARED IMPORTED)
set_target_properties(Gnuradio::teleorbit PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${TELEORBIT_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${TELEORBIT_INCLUDE_DIRS};${TELEORBIT_INCLUDE_DIRS}/teleorbit"
INTERFACE_LINK_LIBRARIES "${TELEORBIT_LIBRARIES}"
)
endif()
mark_as_advanced(TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)

19
cmake/Modules/FindUHD.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -15,10 +15,14 @@
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
# Provides the following imported target:
# Iio::iio
#
########################################################################
# Find the library for the USRP Hardware Driver
########################################################################
include(FindPkgConfig)
pkg_check_modules(PC_UHD uhd)
@ -72,4 +76,15 @@ find_library(UHD_LIBRARIES
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(UHD DEFAULT_MSG UHD_LIBRARIES UHD_INCLUDE_DIRS)
if(UHD_FOUND AND NOT TARGET Uhd::uhd)
add_library(Uhd::uhd SHARED IMPORTED)
set_target_properties(Uhd::uhd PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${UHD_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${UHD_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${UHD_LIBRARIES}"
)
endif()
mark_as_advanced(UHD_LIBRARIES UHD_INCLUDE_DIRS)

17
cmake/Modules/FindVOLK.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -15,6 +15,11 @@
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
# Provides the following imported target:
# Volk::volk
#
########################################################################
# Find VOLK (Vector-Optimized Library of Kernels)
########################################################################
@ -74,3 +79,13 @@ find_library(VOLK_LIBRARIES
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(VOLK DEFAULT_MSG VOLK_LIBRARIES VOLK_INCLUDE_DIRS)
mark_as_advanced(VOLK_LIBRARIES VOLK_INCLUDE_DIRS VOLK_VERSION)
if(VOLK_FOUND AND NOT TARGET Volk::volk)
add_library(Volk::volk SHARED IMPORTED)
set_target_properties(Volk::volk PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${VOLK_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${VOLK_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${VOLK_LIBRARIES}"
)
endif()

19
cmake/Modules/FindVOLKGNSSSDR.cmake
View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -15,6 +15,12 @@
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
# Provides the following imported target:
# Volkgnsssdr::volkgnsssdr
#
########################################################################
# Find VOLK (Vector-Optimized Library of Kernels) GNSS-SDR library
########################################################################
@ -51,3 +57,14 @@ find_library(VOLK_GNSSSDR_LIBRARIES
include(FindPackageHandleStandardArgs)
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)
if(GFLAGS_FOUND AND NOT TARGET Volkgnsssdr::volkgnsssdr)
add_library(Volkgnsssdr::volkgnsssdr SHARED IMPORTED)
set_target_properties(Volkgnsssdr::volkgnsssdr PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${VOLK_GNSSSDR_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${VOLK_GNSSSDR_INCLUDE_DIRS}"
INTERFACE_LINK_LIBRARIES "${VOLK_GNSSSDR_LIBRARIES}"
)
endif()

7
conf/gnss-sdr_GLONASS_L1_ibyte.conf
View File

@ -5,8 +5,8 @@
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_hz=6625000
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_sps=6625000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
@ -54,7 +54,6 @@ Channel.signal=1R
Acquisition_1R.dump=false
Acquisition_1R.dump_filename=./acq_dump.dat
Acquisition_1R.item_type=cshort
Acquisition_1R.if=0
Acquisition_1R.sampled_ms=1
Acquisition_1R.implementation=GLONASS_L1_CA_PCPS_Acquisition
Acquisition_1R.threshold=0.008
@ -68,7 +67,6 @@ Acquisition_1R.tong_max_dwells=20
;######### TRACKING GLOBAL CONFIG ############
Tracking_1R.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking
Tracking_1R.item_type=cshort
Tracking_1R.if=0
Tracking_1R.dump=false
Tracking_1R.dump_filename=../data/epl_tracking_ch_
Tracking_1R.pll_bw_hz=40.0;
@ -78,7 +76,6 @@ Tracking_1R.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1R.implementation=GLONASS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1R.dump=false
TelemetryDecoder_1R.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables

110
conf/gnss-sdr_GPS_L1_CA_byte.conf
View File

@ -1,110 +0,0 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
GNSS-SDR.internal_fs_sps=99375000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/media/dmiralles/Seagate Backup Plus Drive/GNSS Data/Beidou_B1_IF_signal.bin
SignalSource.item_type=byte
SignalSource.sampling_frequency=99375000
SignalSource.samples=0
SignalSource.repeat=false
SignalSource.dump=false
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
DataTypeAdapter.implementation=Byte_To_Short
InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.input_item_type=short
InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float
InputFilter.number_of_taps=5
InputFilter.number_of_bands=2
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.70
InputFilter.band2_begin=0.80
InputFilter.band2_end=1.0
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
InputFilter.filter_type=bandpass
InputFilter.grid_density=16
InputFilter.sampling_frequency=99375000
InputFilter.IF=14580000
Resampler.implementation=Direct_Resampler
Resampler.sample_freq_in=99375000
Resampler.sample_freq_out=99375000
Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
Channels.in_acquisition=1
Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.threshold=3.5
;Acquisition_1C.pfa=0.000001;
Acquisition_1C.doppler_max=14000
Acquisition_1C.doppler_step=100
Acquisition_1C.dump=true
Acquisition_1C.dump_filename=./gps_acq
Acquisition_1C.blocking=false;
Acquisition_1C.use_CFAR_algorithm=false
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.pll_bw_hz=30.0;
Tracking_1C.dll_bw_hz=3.0;
Tracking_1C.dump=true;
Tracking_1C.dump_filename=./epl_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=true
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false;
PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=false

17
conf/gnss-sdr_GPS_L1_ishort.conf
View File

@ -16,7 +16,7 @@ ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/home/sergi/gnss/gnss-sdr/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
SignalSource.filename=/archive/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE
SignalSource.item_type=ishort
SignalSource.sampling_frequency=4000000
SignalSource.samples=0
@ -29,14 +29,13 @@ SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
DataTypeAdapter.implementation=Ishort_To_Complex
DataTypeAdapter.implementation=Ishort_To_Cshort
InputFilter.implementation=Pass_Through
InputFilter.item_type=gr_complex
InputFilter.item_type=cshort
Resampler.implementation=Direct_Resampler
Resampler.sample_freq_in=4000000
Resampler.sample_freq_out=2000000
Resampler.item_type=gr_complex
Resampler.item_type=cshort
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
@ -46,19 +45,19 @@ Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.item_type=cshort
Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.threshold=0.008
;Acquisition_1C.pfa=0.000001
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=true
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.blocking=false;
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
Tracking_1C.item_type=cshort
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=4.0;
Tracking_1C.order=3;

56
conf/prova.conf
View File

@ -1,56 +0,0 @@
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
GNSS-SDR.internal_fs_hz=2000000
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/home/sergi/gnss/gnss-sdr/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
SignalSource.item_type=ishort
SignalSource.sampling_frequency=4000000
SignalSource.freq=1575420000
SignalSource.samples=0
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
DataTypeAdapter.implementation=Ishort_To_Complex
InputFilter.implementation=Pass_Through
InputFilter.item_type=gr_complex
Resampler.implementation=Direct_Resampler
Resampler.sample_freq_in=4000000
Resampler.sample_freq_out=2000000
Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
Channels.in_acquisition=1
Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.threshold=0.008
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=4.0;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=true
PVT.output_rate_ms=10
PVT.display_rate_ms=500

11
docs/changelog
View File

@ -1,3 +1,14 @@
## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
### Improvements in Interoperability:
- Added the BeiDou B1I receiver chain.
### Improvements in Portability:
- CMake scripts now follow a modern approach (targets and properties) but still work in 2.8.12
## [0.0.10](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.10)
This release has several improvements in different dimensions, addition of new features and bug fixes:

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45
src/algorithms/PVT/adapters/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -17,10 +17,6 @@
#
if(Boost_VERSION LESS 105800)
add_definitions(-DOLD_BOOST=1)
endif()
set(PVT_ADAPTER_SOURCES
rtklib_pvt.cc
)
@ -29,28 +25,27 @@ set(PVT_ADAPTER_HEADERS
rtklib_pvt.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${ARMADILLO_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
source_group(Headers FILES ${PVT_ADAPTER_HEADERS})
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}
PUBLIC
pvt_gr_blocks
Armadillo::armadillo
Gnuradio::runtime
gnss_system_parameters
gnss_rx
pvt_lib
PRIVATE
Boost::serialization
)
if(Boost_VERSION LESS 105800)
target_compile_definitions(pvt_adapters PRIVATE -DOLD_BOOST=1)
endif()
set_property(TARGET pvt_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

7
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -52,7 +52,7 @@ using google::LogMessage;
RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(std::move(role)),
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -534,6 +534,11 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
pvt_output_parameters.nmea_output_file_path = configuration->property(role + ".nmea_output_file_path", default_output_path);
pvt_output_parameters.rtcm_output_file_path = configuration->property(role + ".rtcm_output_file_path", default_output_path);
// Read PVT MONITOR Configuration
pvt_output_parameters.monitor_enabled = configuration->property(role + ".enable_monitor", false);
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);
// make PVT object
pvt_ = rtklib_make_pvt_cc(in_streams_, pvt_output_parameters, rtk);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";

561
src/algorithms/PVT/adapters/rtklib_pvt3.cc
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@ -1,561 +0,0 @@
/*!
* \file rtklib_pvt.cc
* \brief Interface of a Position Velocity and Time computation block
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* 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/>.
*
* -------------------------------------------------------------------------
*/
#include "rtklib_pvt.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/math/common_factor_rt.hpp>
#include <boost/serialization/map.hpp>
#include <glog/logging.h>
using google::LogMessage;
RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
// dump parameters
std::string default_dump_filename = "./pvt.dat";
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
// output rate
int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
// display rate
int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
// NMEA Printer settings
bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RINEX version
int rinex_version = configuration->property(role + ".rinex_version", 3);
if (FLAGS_RINEX_version.compare("3.01") == 0)
{
rinex_version = 3;
}
else if (FLAGS_RINEX_version.compare("3.02") == 0)
{
rinex_version = 3;
}
else if (FLAGS_RINEX_version.compare("3") == 0)
{
rinex_version = 3;
}
else if (FLAGS_RINEX_version.compare("2.11") == 0)
{
rinex_version = 2;
}
else if (FLAGS_RINEX_version.compare("2.10") == 0)
{
rinex_version = 2;
}
else if (FLAGS_RINEX_version.compare("2") == 0)
{
rinex_version = 2;
}
int rinexobs_rate_ms = boost::math::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), output_rate_ms);
int rinexnav_rate_ms = boost::math::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), output_rate_ms);
// RTCM Printer settings
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
// RTCM message rates: least common multiple with output_rate_ms
int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
int rtcm_MT1020_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1020_rate_ms", 5000), output_rate_ms);
int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int, int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
for (int k = 1071; k < 1078; k++) // All GPS MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
}
for (int k = 1081; k < 1088; k++) // All GLONASS MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1087_rate_ms;
}
for (int k = 1091; k < 1098; k++) // All Galileo MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
}
// getting names from the config file, if available
// default filename for assistance data
const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
const std::string utc_default_xml_filename = "./gps_utc_model.xml";
const std::string iono_default_xml_filename = "./gps_iono.xml";
const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
eph_xml_filename_ = configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
//std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
//std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
//std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
// Infer the type of receiver
/*
* TYPE | RECEIVER
* 0 | Unknown
* 1 | GPS L1 C/A
* 2 | GPS L2C
* 3 | GPS L5
* 4 | Galileo E1B
* 5 | Galileo E5a
* 6 | Galileo E5b
* 7 | GPS L1 C/A + GPS L2C
* 8 | GPS L1 C/A + GPS L5
* 9 | GPS L1 C/A + Galileo E1B
* 10 | GPS L1 C/A + Galileo E5a
* 11 | GPS L1 C/A + Galileo E5b
* 12 | Galileo E1B + GPS L2C
* 13 | Galileo E1B + GPS L5
* 14 | Galileo E1B + Galileo E5a
* 15 | Galileo E1B + Galileo E5b
* 16 | GPS L2C + GPS L5
* 17 | GPS L2C + Galileo E5a
* 18 | GPS L2C + Galileo E5b
* 19 | GPS L5 + Galileo E5a
* 20 | GPS L5 + Galileo E5b
* 21 | GPS L1 C/A + Galileo E1B + GPS L2C
* 22 | GPS L1 C/A + Galileo E1B + GPS L5
* 23 | GLONASS L1 C/A
* 24 | GLONASS L2 C/A
* 25 | GLONASS L1 C/A + GLONASS L2 C/A
* 26 | GPS L1 C/A + GLONASS L1 C/A
* 27 | Galileo E1B + GLONASS L1 C/A
* 28 | GPS L2C + GLONASS L1 C/A
*/
int gps_1C_count = configuration->property("Channels_1C.count", 0);
int gps_2S_count = configuration->property("Channels_2S.count", 0);
int gps_L5_count = configuration->property("Channels_L5.count", 0);
int gal_1B_count = configuration->property("Channels_1B.count", 0);
int gal_E5a_count = configuration->property("Channels_5X.count", 0);
int gal_E5b_count = configuration->property("Channels_7X.count", 0);
int glo_1G_count = configuration->property("Channels_1G.count", 0);
int glo_2G_count = configuration->property("Channels_2G.count", 0);
unsigned int type_of_receiver = 0;
// *******************WARNING!!!!!!!***********
// GPS L5 only configurable for single frequency, single system at the moment!!!!!!
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 1;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 2;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 3;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 4;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 5;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 6;
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 7;
//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 9;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 10;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 11;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 12;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 14;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 15;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 17;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 18;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 21;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 24;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0)) type_of_receiver = 25;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) type_of_receiver = 26;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) type_of_receiver = 27;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) type_of_receiver = 28;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 29;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 30;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 31;
//RTKLIB PVT solver options
// Settings 1
int positioning_mode = -1;
std::string default_pos_mode("Single");
std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
if (positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
if (positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
if (positioning_mode == -1)
{
//warn user and set the default
std::cout << "WARNING: Bad specification of positioning mode." << std::endl;
std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic" << std::endl;
std::cout << "positioning_mode specified value: " << positioning_mode_str << std::endl;
std::cout << "Setting positioning_mode to Single" << std::endl;
positioning_mode = PMODE_SINGLE;
}
int num_bands = 0;
if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0))) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3;
int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
{
//warn user and set the default
number_of_frequencies = num_bands;
}
double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
if ((elevation_mask < 0.0) || (elevation_mask > 90.0))
{
//warn user and set the default
LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
elevation_mask = 15.0;
}
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
if ((dynamics_model < 0) || (dynamics_model > 2))
{
//warn user and set the default
LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
dynamics_model = 0;
}
std::string default_iono_model("OFF");
std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
int iono_model = -1;
if (iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
if (iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
if (iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
if (iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
if (iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
if (iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
if (iono_model == -1)
{
//warn user and set the default
std::cout << "WARNING: Bad specification of ionospheric model." << std::endl;
std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX" << std::endl;
std::cout << "iono_model specified value: " << iono_model_str << std::endl;
std::cout << "Setting iono_model to OFF" << std::endl;
iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */
}
std::string default_trop_model("OFF");
int trop_model = -1;
std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if (trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
if (trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
if (trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
if (trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
if (trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
if (trop_model == -1)
{
//warn user and set the default
std::cout << "WARNING: Bad specification of tropospheric model." << std::endl;
std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad" << std::endl;
std::cout << "trop_model specified value: " << trop_model_str << std::endl;
std::cout << "Setting trop_model to OFF" << std::endl;
trop_model = TROPOPT_OFF;
}
/* RTKLIB positioning options */
int sat_PCV = 0; /* Set whether the satellite antenna PCV (phase center variation) model is used or not. This feature requires a Satellite Antenna PCV File. */
int rec_PCV = 0; /* Set whether the receiver antenna PCV (phase center variation) model is used or not. This feature requires a Receiver Antenna PCV File. */
/* Set whether the phase windup correction for PPP modes is applied or not. Only applicable to PPP‐* modes.*/
int phwindup = configuration->property(role + ".phwindup", 0);
/* Set whether the GPS Block IIA satellites in eclipse are excluded or not.
The eclipsing Block IIA satellites often degrade the PPP solutions due to unpredicted behavior of yaw‐attitude. Only applicable to PPP‐* modes.*/
int reject_GPS_IIA = configuration->property(role + ".reject_GPS_IIA", 0);
/* Set whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) feature is enabled or not.
In case of RAIM FDE enabled, a satellite is excluded if SSE (sum of squared errors) of residuals is over a threshold.
The excluded satellite is selected to indicate the minimum SSE. */
int raim_fde = configuration->property(role + ".raim_fde", 0);
int earth_tide = configuration->property(role + ".earth_tide", 0);
int nsys = 0;
if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0)) nsys += SYS_GPS;
if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
if ((glo_1G_count > 0) || (glo_2G_count > 0)) nsys += SYS_GLO;
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if ((navigation_system < 1) || (navigation_system > 255)) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
{
//warn user and set the default
LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
navigation_system = nsys;
}
// Settings 2
std::string default_gps_ar("Continuous");
std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
int integer_ambiguity_resolution_gps = -1;
if (integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
if (integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
if (integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
if (integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
if (integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
if (integer_ambiguity_resolution_gps == -1)
{
//warn user and set the default
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR" << std::endl;
std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << std::endl;
std::cout << "Setting AR_GPS to OFF" << std::endl;
integer_ambiguity_resolution_gps = ARMODE_OFF;
}
int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3))
{
//warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
integer_ambiguity_resolution_glo = 1;
}
int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1))
{
//warn user and set the default
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
integer_ambiguity_resolution_bds = 1;
}
double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test,
which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */
int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.
If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */
double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity.
If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */
int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */
double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */
double threshold_reject_gdop = configuration->property(role + ".threshold_reject_gdop", 30.0); /* reject threshold of GDOP. If the GDOP is over the value, the observable is excluded for the estimation process as an outlier. */
double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. */
int number_filter_iter = configuration->property(role + ".number_filter_iter", 1); /* Set the number of iteration in the measurement update of the estimation filter.
If the baseline length is very short like 1 m, the iteration may be effective to handle
the nonlinearity of measurement equation. */
/// Statistics
double bias_0 = configuration->property(role + ".bias_0", 30.0);
double iono_0 = configuration->property(role + ".iono_0", 0.03);
double trop_0 = configuration->property(role + ".trop_0", 0.3);
double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4); /* Set the process noise standard deviation of carrier‐phase
bias (ambiguity) (cycle/sqrt(s)) */
double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3); /* Set the process noise standard deviation of vertical ionospheric delay per 10 km baseline (m/sqrt(s)). */
double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4); /* Set the process noise standard deviation of zenith tropospheric delay (m/sqrt(s)). */
double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as
the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as
the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
double code_phase_error_ratio_l1 = configuration->property(role + ".code_phase_error_ratio_l1", 100.0);
double code_phase_error_ratio_l2 = configuration->property(role + ".code_phase_error_ratio_l2", 100.0);
double code_phase_error_ratio_l5 = configuration->property(role + ".code_phase_error_ratio_l5", 100.0);
double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
snrmask_t snrmask = {{}, {{}, {}}};
prcopt_t rtklib_configuration_options = {
positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
0, /* solution type (0:forward,1:backward,2:combined) */
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
navigation_system, /* navigation system */
elevation_mask * D2R, /* elevation mask angle (degrees) */
snrmask, /* snrmask_t snrmask SNR mask */
0, /* satellite ephemeris/clock (EPHOPT_XXX) */
integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */
outage_reset_ambiguity, /* obs outage count to reset bias */
min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */
10, /* min fix count to hold ambiguity */
1, /* max iteration to resolve ambiguity */
iono_model, /* ionosphere option (IONOOPT_XXX) */
trop_model, /* troposphere option (TROPOPT_XXX) */
dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */
earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
number_filter_iter, /* number of filter iteration */
0, /* code smoothing window size (0:none) */
0, /* interpolate reference obs (for post mission) */
0, /* sbssat_t sbssat SBAS correction options */
0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
0, /* rover position for fixed mode */
0, /* base position for relative mode */
/* 0:pos in prcopt, 1:average of single pos, */
/* 2:read from file, 3:rinex header, 4:rtcm pos */
{code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
{100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
{bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
{sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */
5e-12, /* sclkstab: satellite clock stability (sec/sec) */
{min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
0.0, /* elevation mask to hold ambiguity (deg) */
slip_threshold, /* slip threshold of geometry-free phase (m) */
30.0, /* max difference of time (sec) */
threshold_reject_innovation, /* reject threshold of innovation (m) */
threshold_reject_gdop, /* reject threshold of gdop */
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
{"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
{{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
0, /* max averaging epoches */
0, /* initialize by restart */
1, /* output single by dgps/float/fix/ppp outage */
{"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
{sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
0, /* solution sync mode (0:off,1:on) */
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
0, /* disable L2-AR */
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
};
rtkinit(&rtk, &rtklib_configuration_options);
// make PVT object
pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, rinexobs_rate_ms, rinexnav_rate_ms, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
if (out_streams_ > 0)
{
LOG(ERROR) << "The PVT block does not have an output stream";
}
}
bool RtklibPvt::save_assistance_to_XML()
{
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
std::map<int, Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
if (eph_map.size() > 0)
{
try
{
std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
ofs.close();
LOG(INFO) << "Saved GPS L1 Ephemeris map data";
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
return true; // return variable (true == succeeded)
}
else
{
LOG(WARNING) << "Failed to save Ephemeris, map is empty";
return false;
}
}
RtklibPvt::~RtklibPvt()
{
rtkfree(&rtk);
save_assistance_to_XML();
}
void RtklibPvt::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void RtklibPvt::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect
}
gr::basic_block_sptr RtklibPvt::get_left_block()
{
return pvt_;
}
gr::basic_block_sptr RtklibPvt::get_right_block()
{
return pvt_; // this is a sink, nothing downstream
}

54
src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -16,11 +16,6 @@
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
if(Boost_VERSION LESS 105800)
add_definitions(-DOLD_BOOST=1)
endif()
set(PVT_GR_BLOCKS_SOURCES
rtklib_pvt_cc.cc
)
@ -29,21 +24,36 @@ set(PVT_GR_BLOCKS_HEADERS
rtklib_pvt_cc.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${ARMADILLO_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
source_group(Headers FILES ${PVT_GR_BLOCKS_HEADERS})
add_library(pvt_gr_blocks ${PVT_GR_BLOCKS_SOURCES} ${PVT_GR_BLOCKS_HEADERS})
source_group(Headers FILES ${PVT_GR_BLOCKS_HEADERS})
target_link_libraries(pvt_gr_blocks pvt_lib ${ARMADILLO_LIBRARIES})
target_link_libraries(pvt_gr_blocks
PUBLIC
Boost::date_time
pvt_lib
Gnuradio::runtime
gnss_system_parameters
gnss_rx
PRIVATE
Gflags::gflags
Glog::glog
Boost::filesystem
Boost::system
)
target_include_directories(pvt_gr_blocks
PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/core/system_parameters
)
if(Boost_VERSION LESS 105800)
target_compile_definitions(pvt_gr_blocks PRIVATE -DOLD_BOOST=1)
endif()
set_property(TARGET pvt_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/core/system_parameters>
)

372
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -67,7 +67,7 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
}
void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
void rtklib_pvt_cc::msg_handler_telemetry(const pmt::pmt_t& msg)
{
try
{
@ -321,8 +321,8 @@ void rtklib_pvt_cc::clear_ephemeris()
rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
const Pvt_Conf& conf_,
const rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc",
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
{
d_output_rate_ms = conf_.output_rate_ms;
d_display_rate_ms = conf_.display_rate_ms;
@ -334,10 +334,10 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
{
std::string dump_path;
// Get path
if (d_dump_filename.find_last_of("/") != std::string::npos)
if (d_dump_filename.find_last_of('/') != std::string::npos)
{
std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of("/") + 1);
dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of("/"));
std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
d_dump_filename = dump_filename_;
}
else
@ -349,9 +349,9 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
d_dump_filename = "pvt";
}
// remove extension if any
if (d_dump_filename.substr(1).find_last_of(".") != std::string::npos)
if (d_dump_filename.substr(1).find_last_of('.') != std::string::npos)
{
d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of("."));
d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of('.'));
}
dump_ls_pvt_filename = dump_path + boost::filesystem::path::preferred_separator + d_dump_filename;
dump_ls_pvt_filename.append(".dat");
@ -559,6 +559,19 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
d_last_status_print_seg = 0;
// PVT MONITOR
flag_monitor_pvt_enabled = conf_.monitor_enabled;
if (flag_monitor_pvt_enabled)
{
std::string address_string = conf_.udp_addresses;
std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
udp_sink_ptr = std::unique_ptr<Monitor_Pvt_Udp_Sink>(new Monitor_Pvt_Udp_Sink(udp_addr_vec, conf_.udp_port));
}
// Create Sys V message queue
first_fix = true;
sysv_msg_key = 1101;
@ -574,7 +587,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
rtklib_pvt_cc::~rtklib_pvt_cc()
{
msgctl(sysv_msqid, IPC_RMID, NULL);
msgctl(sysv_msqid, IPC_RMID, nullptr);
if (d_xml_storage)
{
// save GPS L2CM ephemeris to XML file
@ -1018,8 +1031,8 @@ bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string& file_name)
return true;
}
LOG(WARNING) << "Failed to save gnss_synchro, map is empty";
return false;
LOG(WARNING) << "Failed to save gnss_synchro, map is empty";
return false;
}
@ -1064,7 +1077,7 @@ bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
return true;
}
return false;
return false;
}
@ -1085,7 +1098,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
bool flag_write_RINEX_nav_output = false;
gnss_observables_map.clear();
const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
const auto** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
// ############ 1. READ PSEUDORANGES ####
for (uint32_t i = 0; i < d_nchannels; i++)
{
@ -1564,7 +1577,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
break;
case 50: // BDS B1I only
if (beidou_dnav_ephemeris_iter != d_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
@ -1996,17 +2009,17 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 1: // GPS L1 C/A
if (flag_write_RTCM_1019_output == true)
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
@ -2015,76 +2028,76 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 6:
if (flag_write_RTCM_1045_output == true)
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
case 7: // GPS L1 C/A + GPS L2C
if (flag_write_RTCM_1019_output == true)
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
case 8: // L1+L5
if (flag_write_RTCM_1019_output == true)
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
case 9: // GPS L1 C/A + Galileo E1B
if (flag_write_RTCM_1019_output == true)
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_1045_output == true)
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
int gps_channel = 0;
int gal_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@ -2092,7 +2105,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gps_channel == 0)
{
if (system.compare("G") == 0)
if (system == "G")
{
// This is a channel with valid GPS signal
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2104,7 +2117,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gal_channel == 0)
{
if (system.compare("E") == 0)
if (system == "E")
{
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
@ -2116,28 +2129,28 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
case 13: // L5+E5a
if (flag_write_RTCM_1045_output == true)
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output and d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
int gal_channel = 0;
int gps_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@ -2149,10 +2162,10 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
// This is a channel with valid GPS signal
gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
{
if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
{
gps_channel = 1;
}
}
}
}
if (gal_channel == 0)
@ -2160,8 +2173,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (system == "E")
{
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
}
@ -2170,11 +2183,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend() and (d_rtcm_MT1077_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
@ -2182,17 +2195,17 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 15:
if (flag_write_RTCM_1045_output == true)
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
@ -2201,17 +2214,17 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 25:
if (flag_write_RTCM_1020_output == true)
{
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
for (auto glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
auto glo_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
if (glo_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2219,14 +2232,14 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (flag_write_RTCM_1019_output == true)
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_1020_output == true)
{
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
for (auto glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model);
}
@ -2234,8 +2247,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
int gps_channel = 0;
int glo_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@ -2268,34 +2281,34 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
case 27: // GLONASS L1 C/A + Galileo E1B
if (flag_write_RTCM_1020_output == true)
{
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
}
}
if (flag_write_RTCM_1045_output == true)
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
int gal_channel = 0;
int glo_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@ -2327,25 +2340,25 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (flag_write_RTCM_1019_output == true)
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_1020_output == true)
{
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
}
@ -2353,8 +2366,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
int gps_channel = 0;
int glo_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@ -2386,34 +2399,34 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
case 30: // GLONASS L2 C/A + Galileo E1B
if (flag_write_RTCM_1020_output == true)
{
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
}
}
if (flag_write_RTCM_1045_output == true)
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
int gal_channel = 0;
int glo_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@ -2445,34 +2458,34 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
case 32: // L1+E1+L5+E5a
if (flag_write_RTCM_1019_output == true)
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_1045_output == true)
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output == true)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
int gal_channel = 0;
int gps_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@ -2504,11 +2517,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
break;
@ -2524,18 +2537,18 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 1: // GPS L1 C/A
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2545,17 +2558,17 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 6:
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2563,18 +2576,18 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 7: // GPS L1 C/A + GPS L2C
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2582,18 +2595,18 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 8: // L1+L5
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2601,23 +2614,23 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 9: // GPS L1 C/A + Galileo E1B
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MT1045_rate_ms != 0)
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
int gps_channel = 0;
int gal_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@ -2649,11 +2662,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2662,15 +2675,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 13: // L5+E5a
if (d_rtcm_MT1045_rate_ms != 0)
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
int gal_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
@ -2690,7 +2703,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2699,17 +2712,17 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 15:
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2719,17 +2732,17 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 25:
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
auto glo_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
if (glo_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2737,14 +2750,14 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
}
@ -2752,8 +2765,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
int gps_channel = 0;
int glo_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@ -2785,11 +2798,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2797,16 +2810,16 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 27: // GLONASS L1 C/A + Galileo E1B
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
}
}
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
@ -2814,8 +2827,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
int gal_channel = 0;
int glo_channel = 0;
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -2845,11 +2858,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2857,22 +2870,22 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
int gps_channel = 0;
int glo_channel = 0;
@ -2905,12 +2918,12 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2918,16 +2931,16 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 30: // GLONASS L2 C/A + Galileo E1B
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
for (auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
{
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
}
}
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
@ -2935,8 +2948,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
int gal_channel = 0;
int glo_channel = 0;
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -2966,11 +2979,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -2978,23 +2991,23 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 32: // L1+E1+L5+E5a
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
for (const auto& gps_eph_iter : d_pvt_solver->gps_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
for (const auto& gal_eph_iter : d_pvt_solver->galileo_ephemeris_map)
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
auto gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
auto gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
int gps_channel = 0;
int gal_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
@ -3026,11 +3039,11 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, false, false);
}
}
b_rtcm_writing_started = true;
@ -3086,8 +3099,29 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
<< d_pvt_solver->get_vdop()
<< " GDOP = " << d_pvt_solver->get_gdop() << std::endl; */
}
// PVT MONITOR
if (d_pvt_solver->is_valid_position() and flag_monitor_pvt_enabled)
{
Monitor_Pvt monitor_pvt = d_pvt_solver->get_monitor_pvt();
udp_sink_ptr->write_monitor_pvt(monitor_pvt);
}
}
}
return noutput_items;
}
std::vector<std::string> rtklib_pvt_cc::split_string(const std::string& s, char delim)
{
std::vector<std::string> v;
std::stringstream ss(s);
std::string item;
while (std::getline(ss, item, delim))
{
*(std::back_inserter(v)++) = item;
}
return v;
}

6
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -35,6 +35,7 @@
#include "gps_ephemeris.h"
#include "gpx_printer.h"
#include "kml_printer.h"
#include "monitor_pvt_udp_sink.h"
#include "nmea_printer.h"
#include "pvt_conf.h"
#include "rinex_printer.h"
@ -71,7 +72,7 @@ private:
const Pvt_Conf& conf_,
const rtk_t& rtk);
void msg_handler_telemetry(pmt::pmt_t msg);
void msg_handler_telemetry(const pmt::pmt_t& msg);
bool d_dump;
bool d_dump_mat;
@ -143,6 +144,9 @@ private:
return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds();
}
bool flag_monitor_pvt_enabled;
std::unique_ptr<Monitor_Pvt_Udp_Sink> udp_sink_ptr;
std::vector<std::string> split_string(const std::string& s, char delim);
public:
rtklib_pvt_cc(uint32_t nchannels,

72
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -16,7 +16,6 @@
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
add_definitions(-DGNSS_SDR_VERSION="${VERSION}")
set(PVT_LIB_SOURCES
pvt_solution.cc
@ -30,6 +29,7 @@ set(PVT_LIB_SOURCES
geojson_printer.cc
rtklib_solver.cc
pvt_conf.cc
monitor_pvt_udp_sink.cc
)
set(PVT_LIB_HEADERS
@ -44,50 +44,44 @@ set(PVT_LIB_HEADERS
geojson_printer.h
rtklib_solver.h
pvt_conf.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${Boost_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${MATIO_INCLUDE_DIRS}
monitor_pvt_udp_sink.h
monitor_pvt.h
)
list(SORT PVT_LIB_HEADERS)
list(SORT PVT_LIB_SOURCES)
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-${armadillo_RELEASE}
)
else()
add_dependencies(pvt_lib
glog-${glog_RELEASE}
armadillo-${armadillo_RELEASE}
matio-${GNSSSDR_MATIO_LOCAL_VERSION}
)
endif()
add_library(pvt_lib ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
target_link_libraries(pvt_lib
rtklib_lib
gnss_sdr_flags
gnss_sp_libs
${Boost_LIBRARIES}
${GLOG_LIBRARIES}
${ARMADILLO_LIBRARIES}
${BLAS}
${LAPACK}
${MATIO_LIBRARIES}
PUBLIC
Armadillo::armadillo
Boost::date_time
gnss_system_parameters
gnss_sp_libs
rtklib_lib
gnss_rx
PRIVATE
Boost::filesystem
Boost::system
Gflags::gflags
Glog::glog
Matio::matio
)
target_include_directories(pvt_lib
PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
)
target_compile_definitions(pvt_lib PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
set_property(TARGET pvt_lib APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/algorithms/libs>
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib>
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/core/system_parameters>
)

140
src/algorithms/PVT/libs/monitor_pvt.h Normal file
View File

@ -0,0 +1,140 @@
/*!
* \file monitor_pvt.h
* \brief Interface of the Monitor_Pvt class
* \author
* Álvaro Cebrián Juan, 2019. acebrianjuan(at)gmail.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 MONITOR_PVT_H_
#define MONITOR_PVT_H_
#include <boost/serialization/nvp.hpp>
#include <cstdint>
/*!
* \brief This class contains parameters and outputs of the PVT block
*/
class Monitor_Pvt
{
public:
// TOW
uint32_t TOW_at_current_symbol_ms;
// WEEK
uint32_t week;
// PVT GPS time
double RX_time;
// User clock offset [s]
double user_clk_offset;
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
double pos_x;
double pos_y;
double pos_z;
double vel_x;
double vel_y;
double vel_z;
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
double cov_xx;
double cov_yy;
double cov_zz;
double cov_xy;
double cov_yz;
double cov_zx;
// GEO user position Latitude [deg]
double latitude;
// GEO user position Longitude [deg]
double longitude;
// GEO user position Height [m]
double height;
// NUMBER OF VALID SATS
uint8_t valid_sats;
// RTKLIB solution status
uint8_t solution_status;
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
uint8_t solution_type;
// AR ratio factor for validation
float AR_ratio_factor;
// AR ratio threshold for validation
float AR_ratio_threshold;
// GDOP / PDOP/ HDOP/ VDOP
double gdop;
double pdop;
double hdop;
double vdop;
/*!
* \brief This member function serializes and restores
* Monitor_Pvt objects from a byte stream.
*/
template <class Archive>
void serialize(Archive& ar, const unsigned int version)
{
if (version)
{
};
ar& BOOST_SERIALIZATION_NVP(TOW_at_current_symbol_ms);
ar& BOOST_SERIALIZATION_NVP(week);
ar& BOOST_SERIALIZATION_NVP(RX_time);
ar& BOOST_SERIALIZATION_NVP(user_clk_offset);
ar& BOOST_SERIALIZATION_NVP(pos_x);
ar& BOOST_SERIALIZATION_NVP(pos_y);
ar& BOOST_SERIALIZATION_NVP(pos_z);
ar& BOOST_SERIALIZATION_NVP(vel_x);
ar& BOOST_SERIALIZATION_NVP(vel_y);
ar& BOOST_SERIALIZATION_NVP(vel_z);
ar& BOOST_SERIALIZATION_NVP(cov_xx);
ar& BOOST_SERIALIZATION_NVP(cov_yy);
ar& BOOST_SERIALIZATION_NVP(cov_zz);
ar& BOOST_SERIALIZATION_NVP(cov_xy);
ar& BOOST_SERIALIZATION_NVP(cov_yz);
ar& BOOST_SERIALIZATION_NVP(cov_zx);
ar& BOOST_SERIALIZATION_NVP(latitude);
ar& BOOST_SERIALIZATION_NVP(longitude);
ar& BOOST_SERIALIZATION_NVP(height);
ar& BOOST_SERIALIZATION_NVP(valid_sats);
ar& BOOST_SERIALIZATION_NVP(solution_status);
ar& BOOST_SERIALIZATION_NVP(solution_type);
ar& BOOST_SERIALIZATION_NVP(AR_ratio_factor);
ar& BOOST_SERIALIZATION_NVP(AR_ratio_threshold);
ar& BOOST_SERIALIZATION_NVP(gdop);
ar& BOOST_SERIALIZATION_NVP(pdop);
ar& BOOST_SERIALIZATION_NVP(hdop);
ar& BOOST_SERIALIZATION_NVP(vdop);
}
};
#endif /* MONITOR_PVT_H_ */

69
src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc Normal file
View File

@ -0,0 +1,69 @@
/*!
* \file monitor_pvt_udp_sink.cc
* \brief Implementation of a class that sends serialized Monitor_Pvt
* objects over udp to one or multiple endpoints
* \author Álvaro Cebrián Juan, 2019. acebrianjuan(at)gmail.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/>.
*
* -------------------------------------------------------------------------
*/
#include "monitor_pvt_udp_sink.h"
#include <boost/archive/binary_oarchive.hpp>
//#include <boost/serialization/vector.hpp>
#include <iostream>
#include <sstream>
Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port) : socket{io_service}
{
for (auto address : addresses)
{
boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port);
endpoints.push_back(endpoint);
}
}
bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(Monitor_Pvt monitor_pvt)
{
std::ostringstream archive_stream;
boost::archive::binary_oarchive oa{archive_stream};
oa << monitor_pvt;
std::string outbound_data = archive_stream.str();
for (auto endpoint : endpoints)
{
socket.open(endpoint.protocol(), error);
socket.connect(endpoint, error);
try
{
socket.send(boost::asio::buffer(outbound_data));
}
catch (boost::system::system_error const& e)
{
return false;
}
}
return true;
}

53
src/algorithms/PVT/libs/monitor_pvt_udp_sink.h Normal file
View File

@ -0,0 +1,53 @@
/*!
* \file monitor_pvt_udp_sink.h
* \brief Interface of a class that sends serialized Monitor_Pvt objects
* over udp to one or multiple endpoints
* \author Álvaro Cebrián Juan, 2019. acebrianjuan(at)gmail.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 MONITOR_PVT_UDP_SINK_H_
#define MONITOR_PVT_UDP_SINK_H_
#include "monitor_pvt.h"
#include <boost/asio.hpp>
class Monitor_Pvt_Udp_Sink
{
public:
Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t &port);
bool write_monitor_pvt(Monitor_Pvt monitor_pvt);
private:
boost::asio::io_service io_service;
boost::asio::ip::udp::socket socket;
boost::system::error_code error;
std::vector<boost::asio::ip::udp::endpoint> endpoints;
Monitor_Pvt monitor_pvt;
};
#endif /* MONITOR_PVT_UDP_SINK_H_ */

1
src/algorithms/PVT/libs/nmea_printer.h
View File

@ -38,6 +38,7 @@
#include "rtklib_solver.h"
#include <fstream>
#include <memory>
#include <string>

4
src/algorithms/PVT/libs/pvt_conf.h
View File

@ -80,6 +80,10 @@ public:
std::string xml_output_path;
std::string rtcm_output_file_path;
bool monitor_enabled;
std::string udp_addresses;
int udp_port;
Pvt_Conf();
};

273
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -31,7 +31,6 @@
#include "rinex_printer.h"
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/local_time/local_time.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/date_time/time_zone_base.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
@ -251,9 +250,9 @@ Rinex_Printer::~Rinex_Printer()
if (remove(navGlofilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
}
if (posnc == 0)
{
if (remove(navBdsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
}
{
if (remove(navBdsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
}
}
@ -1371,8 +1370,8 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
line += std::string(3, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0, 18, 2), 19);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 18, 2), 19);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_t_OT), 9);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.i_WN_T + 1024), 9); // valid until 2019
line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_t_OT), 9);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T + 1024), 9); // valid until 2019
line += std::string(1, ' ');
line += Rinex_Printer::leftJustify("DELTA-UTC: A0,A1,T,W", 20);
}
@ -1382,8 +1381,8 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
line += std::string("GPUT");
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1, 15, 2), 16);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_t_OT), 7);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.i_WN_T + 1024), 5); // valid until 2019
line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_t_OT), 7);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_T + 1024), 5); // valid until 2019
/* if ( SBAS )
{
line += string(1, ' ');
@ -1403,16 +1402,16 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_Iono& iono, co
// -------- Line 6 leap seconds
// For leap second information, see http://www.endruntechnologies.com/leap.htm
line.clear();
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LS), 6);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_DeltaT_LS), 6);
if (version == 2)
{
line += std::string(54, ' ');
}
if (version == 3)
{
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LSF), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.i_WN_LSF), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.i_DN), 6);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_DeltaT_LSF), 6);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_LSF), 6);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DN), 6);
line += std::string(36, ' ');
}
line += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
@ -1616,38 +1615,38 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Beidou_Dnav_Iono&
// -------- Line ionospheric info 1, only version 3 supported
line.clear();
line += std::string("BDSA");
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha3, 10, 2), 12);
line += std::string(7, ' ');
line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha3, 10, 2), 12);
line += std::string(7, ' ');
line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line ionospheric info 2
line.clear();
line += std::string("BDSB");
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta3, 10, 2), 12);
line += std::string(7, ' ');
line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
line += std::string("BDSB");
line += std::string(1, ' ');
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta0, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta1, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta2, 10, 2), 12);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta3, 10, 2), 12);
line += std::string(7, ' ');
line += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
// -------- Line 5 system time correction
line.clear();
line += std::string("BDUT");
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0_UTC, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1_UTC, 15, 2), 16);
line += std::string(22, ' ');
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
line += std::string("BDUT");
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0_UTC, 16, 2), 18);
line += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1_UTC, 15, 2), 16);
line += std::string(22, ' ');
line += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
@ -1656,9 +1655,9 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Beidou_Dnav_Iono&
// For leap second information, see http://www.endruntechnologies.com/leap.htm
line.clear();
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LS), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LSF), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.i_WN_LSF), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.i_DN), 6);
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LSF), 6);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_LSF), 6);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DN), 6);
line += std::string(36, ' ');
line += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
Rinex_Printer::lengthCheck(line);
@ -2794,59 +2793,58 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Beidou_Dnav_Utc_M
{
line_aux.clear();
if (line_str.find("BDSA", 0) != std::string::npos)
{
line_aux += std::string("GPSA");
line_aux += std::string(1, ' ');
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha0, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha1, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha2, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha3, 10, 2), 12);
line_aux += std::string(7, ' ');
line_aux += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
data.push_back(line_aux);
}
else if (line_str.find("BDSB", 0) != std::string::npos)
{
line_aux += std::string("GPSB");
line_aux += std::string(1, ' ');
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta0, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta1, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta2, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta3, 10, 2), 12);
line_aux += std::string(7, ' ');
line_aux += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
data.push_back(line_aux);
}
else if (line_str.find("BDUT", 0) != std::string::npos)
{
line_aux += std::string("GPUT");
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0_UTC, 16, 2), 18);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1_UTC, 15, 2), 16);
line_aux += std::string(22, ' ');
line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
data.push_back(line_aux);
}
else if (line_str.find("LEAP SECONDS", 59) != std::string::npos)
{
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LS), 6);
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LSF), 6);
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.i_WN_LSF), 6);
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.i_DN), 6);
line_aux += std::string(36, ' ');
line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
data.push_back(line_aux);
}
else if (line_str.find("END OF HEADER", 59) != std::string::npos)
{
data.push_back(line_str);
no_more_finds = true;
}
else
{
data.push_back(line_str);
}
if (line_str.find("BDSA", 0) != std::string::npos)
{
line_aux += std::string("GPSA");
line_aux += std::string(1, ' ');
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha0, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha1, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha2, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_alpha3, 10, 2), 12);
line_aux += std::string(7, ' ');
line_aux += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
data.push_back(line_aux);
}
else if (line_str.find("BDSB", 0) != std::string::npos)
{
line_aux += std::string("GPSB");
line_aux += std::string(1, ' ');
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta0, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta1, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta2, 10, 2), 12);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(iono.d_beta3, 10, 2), 12);
line_aux += std::string(7, ' ');
line_aux += Rinex_Printer::leftJustify("IONOSPHERIC CORR", 20);
data.push_back(line_aux);
}
else if (line_str.find("BDUT", 0) != std::string::npos)
{
line_aux += std::string("GPUT");
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A0_UTC, 16, 2), 18);
line_aux += Rinex_Printer::rightJustify(Rinex_Printer::doub2for(utc_model.d_A1_UTC, 15, 2), 16);
line_aux += std::string(22, ' ');
line_aux += Rinex_Printer::leftJustify("TIME SYSTEM CORR", 20);
data.push_back(line_aux);
}
else if (line_str.find("LEAP SECONDS", 59) != std::string::npos)
{
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LS), 6);
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LSF), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_LSF), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DN), 6);
line_aux += std::string(36, ' ');
line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
data.push_back(line_aux);
}
else if (line_str.find("END OF HEADER", 59) != std::string::npos)
{
data.push_back(line_str);
no_more_finds = true;
}
else
{
data.push_back(line_str);
}
}
else
{
@ -3759,7 +3757,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Bei
std::map<int32_t, Beidou_Dnav_Ephemeris>::const_iterator bds_ephemeris_iter;
for (bds_ephemeris_iter = eph_map.cbegin();
bds_ephemeris_iter != eph_map.cend();
bds_ephemeris_iter != eph_map.cend();
bds_ephemeris_iter++)
{
// -------- SV / EPOCH / SV CLK
@ -3771,28 +3769,28 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Bei
std::string minutes(timestring, 11, 2);
std::string seconds(timestring, 13, 2);
line += satelliteSystem["Beidou"];
if (bds_ephemeris_iter->second.i_satellite_PRN < 10) line += std::string("0");
line += boost::lexical_cast<std::string>(bds_ephemeris_iter->second.i_satellite_PRN);
std::string year(timestring, 0, 4);
line += std::string(1, ' ');
line += year;
line += std::string(1, ' ');
line += month;
line += std::string(1, ' ');
line += day;
line += std::string(1, ' ');
line += hour;
line += std::string(1, ' ');
line += minutes;
line += std::string(1, ' ');
line += seconds;
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f1, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f2, 18, 2);
line += satelliteSystem["Beidou"];
if (bds_ephemeris_iter->second.i_satellite_PRN < 10) line += std::string("0");
line += std::to_string(bds_ephemeris_iter->second.i_satellite_PRN);
std::string year(timestring, 0, 4);
line += std::string(1, ' ');
line += year;
line += std::string(1, ' ');
line += month;
line += std::string(1, ' ');
line += day;
line += std::string(1, ' ');
line += hour;
line += std::string(1, ' ');
line += minutes;
line += std::string(1, ' ');
line += seconds;
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f0, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f1, 18, 2);
line += std::string(1, ' ');
line += Rinex_Printer::doub2for(bds_ephemeris_iter->second.d_A_f2, 18, 2);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
@ -3855,7 +3853,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Bei
line += std::string(1, ' ');
line += std::string(18, ' '); // spare
line += std::string(1, ' ');
double BDS_week_continuous_number = static_cast<double>(bds_ephemeris_iter->second.i_BEIDOU_week);
auto BDS_week_continuous_number = static_cast<double>(bds_ephemeris_iter->second.i_BEIDOU_week);
line += Rinex_Printer::doub2for(BDS_week_continuous_number, 18, 2);
line += std::string(1, ' ');
line += std::string(18, ' '); // spare
@ -7205,7 +7203,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
}
void Rinex_Printer::rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands)
void Rinex_Printer::rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string& bands)
{
std::string line;
version = 3;
@ -7662,27 +7660,26 @@ void Rinex_Printer::update_obs_header(std::fstream& out, const Beidou_Dnav_Utc_M
{
line_aux.clear();
if (line_str.find("TIME OF FIRST OBS", 59) != std::string::npos)
{
data.push_back(line_str);
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LS), 6);
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LSF), 6);
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.i_WN_LSF), 6);
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.i_DN), 6);
line_aux += std::string(36, ' ');
line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
data.push_back(line_aux);
}
else if (line_str.find("END OF HEADER", 59) != std::string::npos)
{
data.push_back(line_str);
no_more_finds = true;
}
else
{
data.push_back(line_str);
}
if (line_str.find("TIME OF FIRST OBS", 59) != std::string::npos)
{
data.push_back(line_str);
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LS), 6);
line_aux += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(utc_model.d_DeltaT_LSF), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_LSF), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DN), 6);
line_aux += std::string(36, ' ');
line_aux += Rinex_Printer::leftJustify("LEAP SECONDS", 20);
data.push_back(line_aux);
}
else if (line_str.find("END OF HEADER", 59) != std::string::npos)
{
data.push_back(line_str);
no_more_finds = true;
}
else
{
data.push_back(line_str);
}
}
else
{
@ -10413,7 +10410,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
}
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string bds_bands)
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string& bds_bands)
{
std::string line;
@ -10524,7 +10521,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
}
int32_t numSatellitesObserved = available_prns.size();
line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
//line += rightJustify(asString(clockOffset, 12), 15);
line += std::string(80 - line.size(), ' ');
@ -10540,9 +10537,9 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris
lineObs.clear();
lineObs += satelliteSystem["Beidou"];
if (static_cast<int32_t>(*it) < 10) lineObs += std::string(1, '0');
lineObs += boost::lexical_cast<std::string>(static_cast<int32_t>(*it));
lineObs += std::to_string(static_cast<int32_t>(*it));
ret = total_map.equal_range(*it);
for (std::multimap<uint32_t, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
for (auto iter = ret.first; iter != ret.second; ++iter)
{
lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);

20
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -51,21 +51,19 @@
#ifndef GNSS_SDR_RINEX_PRINTER_H_
#define GNSS_SDR_RINEX_PRINTER_H_
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "galileo_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "beidou_dnav_navigation_message.h"
#include "Beidou_B1I.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "GLONASS_L1_L2_CA.h"
#include "Beidou_B1I.h"
#include "beidou_dnav_navigation_message.h"
#include "galileo_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "gnss_synchro.h"
#include "gps_cnav_navigation_message.h"
#include "gps_navigation_message.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <cstdint>
#include <string>
#include <fstream>
#include <sstream> // for stringstream
#include <iomanip> // for setprecision
#include <map>
#include <sstream> // for stringstream
@ -203,7 +201,7 @@ public:
/*!
* \brief Generates the a Beidou B1I Observation data header. Example: beidou_bands("B1")
*/
void rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands);
void rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string& bands);
/*!
* \brief Generates the SBAS raw data header
@ -363,7 +361,7 @@ public:
/*!
* \brief Writes BDS B1I observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string bds_bands);
void log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string& bds_bands);
/*!

2
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -143,7 +143,7 @@ Rtcm_Printer::Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump
}
}
rtcm_devname = std::move(rtcm_dump_devname);
rtcm_devname = rtcm_dump_devname;
if (flag_rtcm_tty_port == true)
{
rtcm_dev_descriptor = init_serial(rtcm_devname.c_str());

4
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -36,8 +36,8 @@
#include "rtcm.h"
#include <fstream> // std::ofstream
#include <memory> // std::shared_ptr
#include <map>
#include <memory> // std::shared_ptr
/*!
* \brief This class provides a implementation of a subset of the RTCM Standard 10403.2 messages

60
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -52,10 +52,10 @@
* -----------------------------------------------------------------------*/
#include "rtklib_solver.h"
#include "Beidou_B1I.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "Beidou_B1I.h"
#include "rtklib_conversions.h"
#include "rtklib_solution.h"
#include <glog/logging.h>
@ -440,6 +440,10 @@ double rtklib_solver::get_vdop() const
return dop_[3];
}
Monitor_Pvt rtklib_solver::get_monitor_pvt() const
{
return monitor_pvt;
}
bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_map, bool flag_averaging)
{
@ -785,7 +789,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
}
break;
}
}
default:
DLOG(INFO) << "Hybrid observables: Unknown GNSS";
@ -907,6 +911,58 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
<< " [deg], Height= " << this->get_height() << " [m]"
<< " RX time offset= " << this->get_time_offset_s() << " [s]";
// PVT MONITOR
// TOW
monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
// WEEK
monitor_pvt.week = adjgpsweek(nav_data.eph[0].week);
// PVT GPS time
monitor_pvt.RX_time = gnss_observables_map.begin()->second.RX_time;
// User clock offset [s]
monitor_pvt.user_clk_offset = rx_position_and_time(3);
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
monitor_pvt.pos_x = pvt_sol.rr[0];
monitor_pvt.pos_y = pvt_sol.rr[1];
monitor_pvt.pos_z = pvt_sol.rr[2];
monitor_pvt.vel_x = pvt_sol.rr[3];
monitor_pvt.vel_y = pvt_sol.rr[4];
monitor_pvt.vel_z = pvt_sol.rr[5];
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
monitor_pvt.cov_xx = pvt_sol.qr[0];
monitor_pvt.cov_yy = pvt_sol.qr[1];
monitor_pvt.cov_zz = pvt_sol.qr[2];
monitor_pvt.cov_xy = pvt_sol.qr[3];
monitor_pvt.cov_yz = pvt_sol.qr[4];
monitor_pvt.cov_zx = pvt_sol.qr[5];
// GEO user position Latitude [deg]
monitor_pvt.latitude = get_latitude();
// GEO user position Longitude [deg]
monitor_pvt.longitude = get_longitude();
// GEO user position Height [m]
monitor_pvt.height = get_height();
// NUMBER OF VALID SATS
monitor_pvt.valid_sats = pvt_sol.ns;
// RTKLIB solution status
monitor_pvt.solution_status = pvt_sol.stat;
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
monitor_pvt.solution_type = pvt_sol.type;
// AR ratio factor for validation
monitor_pvt.AR_ratio_factor = pvt_sol.ratio;
// AR ratio threshold for validation
monitor_pvt.AR_ratio_threshold = pvt_sol.thres;
// GDOP / PDOP/ HDOP/ VDOP
monitor_pvt.gdop = dop_[0];
monitor_pvt.pdop = dop_[1];
monitor_pvt.hdop = dop_[2];
monitor_pvt.vdop = dop_[3];
// ######## LOG FILE #########
if (d_flag_dump_enabled == true)
{

7
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -55,13 +55,14 @@
#define GNSS_SDR_RTKLIB_SOLVER_H_
#include "beidou_dnav_navigation_message.h"
#include "galileo_almanac.h"
#include "galileo_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "gnss_synchro.h"
#include "gps_cnav_navigation_message.h"
#include "gps_navigation_message.h"
#include "beidou_dnav_navigation_message.h"
#include "monitor_pvt.h"
#include "pvt_solution.h"
#include "rtklib_rtkpos.h"
#include <array>
@ -85,6 +86,7 @@ private:
bool d_flag_dump_mat_enabled;
int d_nchannels; // Number of available channels for positioning
std::array<double, 4> dop_;
Monitor_Pvt monitor_pvt;
public:
sol_t pvt_sol;
@ -97,12 +99,13 @@ public:
double get_vdop() const;
double get_pdop() const;
double get_gdop() const;
Monitor_Pvt get_monitor_pvt() const;
std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephemeris
std::map<int, Beidou_Dnav_Ephemeris> beidou_dnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
std::map<int, Beidou_Dnav_Ephemeris> beidou_dnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono;

49
src/algorithms/acquisition/adapters/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -86,33 +86,30 @@ if(OPENCL_FOUND)
)
endif()
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${GNURADIO_BLOCKS_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
)
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})
add_library(acq_adapters ${ACQ_ADAPTER_SOURCES} ${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}
PUBLIC
gnss_sp_libs
gnss_sdr_flags
acq_gr_blocks
rx_core_lib
Gnuradio::blocks
gnss_system_parameters
PRIVATE
Boost::boost
Gflags::gflags
Glog::glog
Volkgnsssdr::volkgnsssdr
acquisition_lib
)
set_property(TARGET acq_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

61
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
View File

@ -32,27 +32,26 @@
*/
#include "beidou_b1i_pcps_acquisition.h"
#include "Beidou_B1I.h"
#include "acq_conf.h"
#include "beidou_b1i_signal_processing.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "acq_conf.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "beidou_b1i_signal_processing.h"
#include "Beidou_B1I.h"
using google::LogMessage;
BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat";
@ -61,7 +60,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
@ -82,7 +81,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / ( BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_;
@ -93,7 +92,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0)
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
@ -114,7 +113,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
if (item_type_ == "cbyte")
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
float_to_complex_ = gr::blocks::float_to_complex::make();
@ -123,7 +122,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -210,7 +209,7 @@ void BeidouB1iPcpsAcquisition::init()
void BeidouB1iPcpsAcquisition::set_local_code()
{
std::complex<float>* code = new std::complex<float>[code_length_];
auto* code = new std::complex<float>[code_length_];
beidou_b1i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
@ -254,9 +253,9 @@ float BeidouB1iPcpsAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(vector_length_);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -264,15 +263,15 @@ float BeidouB1iPcpsAcquisition::calculate_threshold(float pfa)
void BeidouB1iPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to connect
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to connect
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
@ -287,15 +286,15 @@ void BeidouB1iPcpsAcquisition::connect(gr::top_block_sptr top_block)
void BeidouB1iPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to disconnect
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to disconnect
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
@ -312,15 +311,15 @@ void BeidouB1iPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr BeidouB1iPcpsAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
return cbyte_to_float_x2_;
}

7
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
View File

@ -34,13 +34,12 @@
#ifndef GNSS_SDR_BEIDOU_B1I_PCPS_ACQUISITION_H_
#define GNSS_SDR_BEIDOU_B1I_PCPS_ACQUISITION_H_
#include "acq_conf.h"
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
@ -55,7 +54,7 @@ class BeidouB1iPcpsAcquisition : public AcquisitionInterface
{
public:
BeidouB1iPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role, unsigned int in_streams,
unsigned int out_streams);
virtual ~BeidouB1iPcpsAcquisition();

68
src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -49,21 +49,6 @@ if(OPENCL_FOUND)
set(ACQ_GR_BLOCKS_HEADERS ${ACQ_GR_BLOCKS_HEADERS} pcps_opencl_acquisition_cc.h)
endif()
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
${MATIO_INCLUDE_DIRS}
)
if(OPENCL_FOUND)
include_directories(${OPENCL_INCLUDE_DIRS})
@ -76,35 +61,36 @@ endif()
list(SORT ACQ_GR_BLOCKS_HEADERS)
list(SORT ACQ_GR_BLOCKS_SOURCES)
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
add_library(acq_gr_blocks ${ACQ_GR_BLOCKS_SOURCES} ${ACQ_GR_BLOCKS_HEADERS})
target_link_libraries(acq_gr_blocks
PUBLIC
Gnuradio::runtime
Gnuradio::fft
Volk::volk
gnss_system_parameters
acquisition_lib
gnss_sp_libs
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
PRIVATE
Boost::filesystem
Gflags::gflags
Glog::glog
Matio::matio
Volkgnsssdr::volkgnsssdr
gnss_sp_libs
gnss_system_parameters
${GNURADIO_RUNTIME_LIBRARIES}
${GNURADIO_FFT_LIBRARIES}
${VOLK_LIBRARIES}
${VOLK_GNSSSDR_LIBRARIES}
${OPT_LIBRARIES}
${MATIO_LIBRARIES}
${OPT_ACQUISITION_LIBRARIES}
)
gnss_rx
)
if(OPENCL_FOUND)
target_include_directories(acq_gr_blocks PUBLIC ${OPENCL_INCLUDE_DIRS})
endif()
if(NOT VOLKGNSSSDR_FOUND)
add_dependencies(acq_gr_blocks volk_gnsssdr_module)
endif()
target_include_directories(acq_gr_blocks PUBLIC ${CMAKE_SOURCE_DIR}/src/algorithms/libs)
set_property(TARGET acq_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

38
src/algorithms/acquisition/libs/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -19,17 +19,6 @@
if(ENABLE_FPGA)
set(ACQUISITION_LIB_SOURCES fpga_acquisition.cc)
set(ACQUISITION_LIB_HEADERS fpga_acquisition.h)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${VOLK_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
)
endif()
set(ACQUISITION_LIB_HEADERS ${ACQUISITION_LIB_HEADERS} acq_conf.h)
@ -38,21 +27,26 @@ set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} acq_conf.cc)
list(SORT ACQUISITION_LIB_HEADERS)
list(SORT ACQUISITION_LIB_SOURCES)
source_group(Headers FILES ${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}
${GNURADIO_RUNTIME_LIBRARIES}
PUBLIC
Volk::volk
Gnuradio::fft
PRIVATE
Gflags::gflags
Glog::glog
gnss_system_parameters
gnss_rx
gnss_sp_libs
)
if(VOLKGNSSSDR_FOUND)
add_dependencies(acquisition_lib glog-${glog_RELEASE})
else()
add_dependencies(acquisition_lib glog-${glog_RELEASE} volk_gnsssdr_module)
endif()
set_property(TARGET acquisition_lib
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

32
src/algorithms/channel/adapters/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -19,19 +19,6 @@
set(CHANNEL_ADAPTER_SOURCES channel.cc)
set(CHANNEL_ADAPTER_HEADERS channel.h)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/channel/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(channel_adapters
${CHANNEL_ADAPTER_SOURCES}
${CHANNEL_ADAPTER_HEADERS}
@ -40,8 +27,17 @@ add_library(channel_adapters
source_group(Headers FILES ${CHANNEL_ADAPTER_HEADERS})
target_link_libraries(channel_adapters
channel_fsm
${GNURADIO_RUNTIME_LIBRARIES}
${Boost_LIBRARIES}
gnss_sdr_flags
PUBLIC
Gnuradio::runtime
channel_fsm
gnss_rx
PRIVATE
Gflags::gflags
Glog::glog
gnss_sdr_flags
)
set_property(TARGET channel_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

32
src/algorithms/channel/libs/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -26,23 +26,23 @@ set(CHANNEL_FSM_HEADERS
channel_msg_receiver_cc.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/channel/adapters
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
list(SORT CHANNEL_FSM_HEADERS)
list(SORT CHANNEL_FSM_SOURCES)
add_library(channel_fsm ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
source_group(Headers FILES ${CHANNEL_FSM_HEADERS})
add_dependencies(channel_fsm glog-${glog_RELEASE})
target_link_libraries(channel_fsm gnss_rx)
add_library(channel_fsm ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
target_link_libraries(channel_fsm
PUBLIC
gnss_rx
Gnuradio::runtime
PRIVATE
Gflags::gflags
Glog::glog
)
set_property(TARGET channel_fsm
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

32
src/algorithms/conditioner/adapters/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -27,21 +27,23 @@ set(COND_ADAPTER_HEADERS
array_signal_conditioner.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
list(SORT COND_ADAPTER_HEADERS)
list(SORT COND_ADAPTER_SOURCES)
add_library(conditioner_adapters ${COND_ADAPTER_SOURCES} ${COND_ADAPTER_HEADERS})
source_group(Headers FILES ${COND_ADAPTER_HEADERS})
add_dependencies(conditioner_adapters glog-${glog_RELEASE})
add_library(conditioner_adapters ${COND_ADAPTER_SOURCES} ${COND_ADAPTER_HEADERS})
target_link_libraries(conditioner_adapters
PUBLIC
gnss_rx
Gnuradio::runtime
PRIVATE
Gflags::gflags
Glog::glog
)
set_property(TARGET conditioner_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

41
src/algorithms/data_type_adapter/adapters/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -35,30 +35,35 @@ set(DATATYPE_ADAPTER_HEADERS
ishort_to_complex.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/algorithms/data_type_adapter/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
)
list(SORT DATATYPE_ADAPTER_HEADERS)
list(SORT DATATYPE_ADAPTER_SOURCES)
source_group(Headers FILES ${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}
PUBLIC
Gnuradio::blocks
gnss_system_parameters
gnss_rx
data_type_gr_blocks
gnss_sp_libs
PRIVATE
Gflags::gflags
Glog::glog
Volk::volk
)
target_include_directories(datatype_adapters
PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs
)
set_property(TARGET datatype_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

25
src/algorithms/data_type_adapter/gnuradio_blocks/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -29,23 +29,26 @@ set(DATA_TYPE_GR_BLOCKS_HEADERS
interleaved_byte_to_complex_short.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
)
list(SORT DATA_TYPE_GR_BLOCKS_HEADERS)
list(SORT DATA_TYPE_GR_BLOCKS_SOURCES)
source_group(Headers FILES ${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}
PUBLIC
Gnuradio::runtime
Boost::boost
gnss_sp_libs
PRIVATE
Volk::volk
)
set_property(TARGET data_type_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

48
src/algorithms/input_filter/adapters/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -34,36 +34,36 @@ set(INPUT_FILTER_ADAPTER_HEADERS
notch_filter_lite.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/algorithms/input_filter/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4")
add_definitions(-DGR_GREATER_38=1)
endif()
list(SORT INPUT_FILTER_ADAPTER_HEADERS)
list(SORT INPUT_FILTER_ADAPTER_SOURCES)
source_group(Headers FILES ${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
PUBLIC
Gnuradio::blocks
Gnuradio::filter
input_filter_gr_blocks
gnss_sp_libs
gnss_rx
PRIVATE
Volk::volk
)
target_include_directories(input_filter_adapters
PUBLIC ${CMAKE_SOURCE_DIR}/src/algorithms/libs
)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4")
target_compile_definitions(input_filter_adapters PUBLIC -DGR_GREATER_38=1)
endif()
set_property(TARGET input_filter_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

36
src/algorithms/input_filter/gnuradio_blocks/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -31,31 +31,27 @@ set(INPUT_FILTER_GR_BLOCKS_HEADERS
notch_lite_cc.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${GNURADIO_BLOCKS_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
)
list(SORT INPUT_FILTER_GR_BLOCKS_HEADERS)
list(SORT INPUT_FILTER_GR_BLOCKS_SOURCES)
source_group(Headers FILES ${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}
${LOG4CPP_LIBRARIES})
PUBLIC
Gnuradio::blocks
Gnuradio::filter
Volkgnsssdr::volkgnsssdr
PRIVATE
Gflags::gflags
Glog::glog
Log4cpp::log4cpp
)
if(NOT VOLKGNSSSDR_FOUND)
add_dependencies(input_filter_gr_blocks volk_gnsssdr_module glog-${glog_RELEASE})
else()
add_dependencies(input_filter_gr_blocks glog-${glog_RELEASE})
endif()
set_property(TARGET input_filter_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

89
src/algorithms/libs/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -92,20 +92,6 @@ if(OPENCL_FOUND)
)
endif()
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/core/interfaces
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${GNURADIO_BLOCKS_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
)
if(OPENCL_FOUND)
include_directories(${OPENCL_INCLUDE_DIRS})
@ -116,38 +102,63 @@ if(OPENCL_FOUND)
endif()
endif()
add_definitions(-DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}")
list(SORT GNSS_SPLIBS_HEADERS)
list(SORT GNSS_SPLIBS_SOURCES)
add_library(gnss_sp_libs ${GNSS_SPLIBS_SOURCES} ${GNSS_SPLIBS_HEADERS})
source_group(Headers FILES ${GNSS_SPLIBS_HEADERS})
add_library(gnss_sp_libs ${GNSS_SPLIBS_SOURCES} ${GNSS_SPLIBS_HEADERS})
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}
${OPT_LIBRARIES}
gnss_rx
PUBLIC
Boost::boost
Gflags::gflags
Armadillo::armadillo
Gnuradio::runtime
Gnuradio::blocks
Volk::volk ${ORC_LIBRARIES}
Volkgnsssdr::volkgnsssdr
gnss_system_parameters
${OPT_LIBRARIES}
PRIVATE
Boost::filesystem
Gflags::gflags
Glog::glog
gnss_rx
)
if(NOT VOLKGNSSSDR_FOUND)
add_dependencies(gnss_sp_libs volk_gnsssdr_module
armadillo-${armadillo_RELEASE})
else()
add_dependencies(gnss_sp_libs armadillo-${armadillo_RELEASE})
endif()
target_compile_definitions(gnss_sp_libs
PUBLIC -DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}"
)
if(${GFLAGS_GREATER_20})
add_definitions(-DGFLAGS_GREATER_2_0=1)
endif()
set_property(TARGET gnss_sp_libs
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)
###############################################################################
source_group(Headers FILES gnss_sdr_flags.h)
add_library(gnss_sdr_flags gnss_sdr_flags.cc gnss_sdr_flags.h)
source_group(Headers FILES gnss_sdr_flags.h)
target_link_libraries(gnss_sdr_flags ${GFlags_LIBS})
target_link_libraries(gnss_sdr_flags
PUBLIC
Gflags::gflags
PRIVATE
Boost::filesystem
)
if(${GFLAGS_GREATER_20})
target_compile_definitions(gnss_sdr_flags PRIVATE -DGFLAGS_GREATER_2_0=1)
endif()
target_compile_definitions(gnss_sdr_flags
PRIVATE -DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}"
)
set_property(TARGET gnss_sdr_flags
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

14
src/algorithms/libs/beidou_b1i_signal_processing.cc
View File

@ -39,8 +39,8 @@ void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
const unsigned int _code_length = 2046;
bool G1[_code_length];
bool G2[_code_length];
bool G1_register[11] = {0,1,0,1,0,1,0,1,0,1,0};
bool G2_register[11] = {0,1,0,1,0,1,0,1,0,1,0};
bool G1_register[11] = {false, true, false, true, false, true, false, true, false, true, false};
bool G2_register[11] = {false, true, false, true, false, true, false, true, false, true, false};
bool feedback1, feedback2;
bool aux;
unsigned int lcv, lcv2;
@ -70,7 +70,7 @@ void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
for (lcv = 0; lcv < _code_length; lcv++)
{
G1[lcv] = G1_register[0];
G2[lcv] = G2_register[-(phase1[prn_idx] - 11) ] ^ G2_register[-(phase2[prn_idx] - 11) ];
G2[lcv] = G2_register[-(phase1[prn_idx] - 11)] ^ G2_register[-(phase2[prn_idx] - 11)];
feedback1 = (G1_register[0] + G1_register[1] + G1_register[2] + G1_register[3] + G1_register[4] + G1_register[10]) & 0x1;
feedback2 = (G2_register[0] + G2_register[2] + G2_register[3] + G2_register[6] + G2_register[7] + G2_register[8] + G2_register[9] + G2_register[10]) & 0x1;
@ -86,7 +86,7 @@ void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
}
/* Set the delay */
delay = _code_length - delays[prn_idx]*0; //**********************************
delay = _code_length - delays[prn_idx] * 0; //**********************************
delay += _chip_shift;
delay %= _code_length;
@ -104,7 +104,7 @@ void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
}
delay++;
//std::cout << _dest[lcv] << " ";
//std::cout << _dest[lcv] << " ";
delay %= _code_length;
}
}
@ -156,8 +156,8 @@ void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned in
_samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
beidou_b1i_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip
for (signed int i = 0; i < _samplesPerCode; i++)

38
src/algorithms/libs/rtklib/CMakeLists.txt
View File

@ -16,7 +16,6 @@
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
add_definitions(-DGNSS_SDR_VERSION="${VERSION}")
set(RTKLIB_LIB_SOURCES
rtklib_rtkcmn.cc
@ -59,33 +58,30 @@ set(RTKLIB_LIB_HEADERS
rtklib.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${Boost_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
)
list(SORT RTKLIB_LIB_HEADERS)
list(SORT RTKLIB_LIB_SOURCES)
add_library(rtklib_lib ${RTKLIB_LIB_SOURCES} ${RTKLIB_LIB_HEADERS})
source_group(Headers FILES ${RTKLIB_LIB_HEADERS})
add_dependencies(rtklib_lib glog-${glog_RELEASE})
add_library(rtklib_lib ${RTKLIB_LIB_SOURCES} ${RTKLIB_LIB_HEADERS})
if(OS_IS_MACOSX)
set(MAC_LIBRARIES "-framework Accelerate")
endif()
target_link_libraries(
rtklib_lib
${Boost_LIBRARIES}
${GFlags_LIBS}
${GLOG_LIBRARIES}
${BLAS}
${LAPACK}
${MAC_LIBRARIES}
target_link_libraries(rtklib_lib
PUBLIC
gnss_rx
gnss_system_parameters
PRIVATE
Gflags::gflags
Glog::glog
${BLAS}
${LAPACK}
${MAC_LIBRARIES}
)
set_property(TARGET rtklib_lib
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

4
src/algorithms/libs/rtklib/rtklib.h
View File

@ -223,8 +223,8 @@ const int NSYSQZS = 0;
#define ENABDS
#ifdef ENABDS
const int MINPRNBDS = 1; //!< min satellite sat number of BeiDou
const int MAXPRNBDS = 35; //!< max satellite sat number of BeiDou
const int MINPRNBDS = 1; //!< min satellite sat number of BeiDou
const int MAXPRNBDS = 35; //!< max satellite sat number of BeiDou
const int NSATBDS = (MAXPRNBDS - MINPRNBDS + 1); //!< number of BeiDou satellites
const int NSYSBDS = 1;
#else

35
src/algorithms/libs/rtklib/rtklib_conversions.cc
View File

@ -75,15 +75,15 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro
// Mote that BeiDou week numbers do not need adjustment for foreseeable future. Consider change
// to more elegant solution
// if(gnss_synchro.System == 'C')
// {
// rtklib_obs.time = bdt2gpst(bdt2time(week, gnss_synchro.RX_time));
// }
// else
// {
// rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
// }
//
// if(gnss_synchro.System == 'C')
// {
// rtklib_obs.time = bdt2gpst(bdt2time(week, gnss_synchro.RX_time));
// }
// else
// {
// rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
// }
//
rtklib_obs.time = gpst2time(adjgpsweek(week), gnss_synchro.RX_time);
rtklib_obs.rcv = 1;
return rtklib_obs;
@ -245,8 +245,8 @@ eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph)
eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph)
{
eph_t rtklib_sat = {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, 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, 0.0, {}, {}, 0.0, 0.0 };
rtklib_sat.sat = bei_eph.i_satellite_PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS ;
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, 0.0, 0.0, {}, {}, 0.0, 0.0};
rtklib_sat.sat = bei_eph.i_satellite_PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS;
rtklib_sat.A = bei_eph.d_sqrt_A * bei_eph.d_sqrt_A;
rtklib_sat.M0 = bei_eph.d_M_0;
rtklib_sat.deln = bei_eph.d_Delta_n;
@ -259,10 +259,10 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph)
rtklib_sat.Adot = 0; //only in CNAV;
rtklib_sat.ndot = 0; //only in CNAV;
rtklib_sat.code = bei_eph.i_sig_type; /*B1I data*/
rtklib_sat.flag = bei_eph.i_nav_type; /*MEO/IGSO satellite*/
rtklib_sat.iode=(int32_t)bei_eph.d_AODE; /* AODE */
rtklib_sat.iodc=(int32_t)bei_eph.d_AODC; /* AODC */
rtklib_sat.code = bei_eph.i_sig_type; /*B1I data*/
rtklib_sat.flag = bei_eph.i_nav_type; /*MEO/IGSO satellite*/
rtklib_sat.iode = static_cast<int32_t>(bei_eph.d_AODE); /* AODE */
rtklib_sat.iodc = static_cast<int32_t>(bei_eph.d_AODC); /* AODC */
rtklib_sat.week = bei_eph.i_BEIDOU_week; /* week of tow */
rtklib_sat.cic = bei_eph.d_Cic;
@ -285,8 +285,8 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph)
/* adjustment for week handover */
double tow, toc, toe;
tow = time2gpst(rtklib_sat.ttr, &rtklib_sat.week);
toc = time2gpst(rtklib_sat.toc, NULL);
toe = time2gpst(rtklib_sat.toe, NULL);
toc = time2gpst(rtklib_sat.toc, nullptr);
toe = time2gpst(rtklib_sat.toe, nullptr);
if (rtklib_sat.toes < tow - 302400.0)
{
@ -306,7 +306,6 @@ eph_t eph_to_rtklib(const Beidou_Dnav_Ephemeris& bei_eph)
}
eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph)
{
eph_t rtklib_sat = {0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {0, 0}, 0.0, 0.0, 0.0, 0.0, 0.0,

2
src/algorithms/libs/rtklib/rtklib_conversions.h
View File

@ -31,6 +31,7 @@
#ifndef GNSS_SDR_RTKLIB_CONVERSIONS_H_
#define GNSS_SDR_RTKLIB_CONVERSIONS_H_
#include "beidou_dnav_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_ephemeris.h"
#include "glonass_gnav_ephemeris.h"
@ -39,7 +40,6 @@
#include "gps_almanac.h"
#include "gps_cnav_ephemeris.h"
#include "gps_ephemeris.h"
#include "beidou_dnav_ephemeris.h"
#include "rtklib.h"
eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph);

1
src/algorithms/libs/rtklib/rtklib_ionex.cc
View File

@ -59,6 +59,7 @@
#include "rtklib_ionex.h"
#include "rtklib_rtkcmn.h"
#include <cstring>
/* get index -----------------------------------------------------------------*/
int getindex(double value, const double *range)

1
src/algorithms/libs/rtklib/rtklib_lambda.cc
View File

@ -52,6 +52,7 @@
#include "rtklib_lambda.h"
#include "rtklib_rtkcmn.h"
#include <cstring>
/* LD factorization (Q=L'*diag(D)*L) -----------------------------------------*/
int LD(int n, const double *Q, double *L, double *D)

1
src/algorithms/libs/rtklib/rtklib_pntpos.cc
View File

@ -54,6 +54,7 @@
#include "rtklib_ephemeris.h"
#include "rtklib_ionex.h"
#include "rtklib_sbas.h"
#include <cstring>
/* pseudorange measurement error variance ------------------------------------*/
double varerr(const prcopt_t *opt, double el, int sys)

1
src/algorithms/libs/rtklib/rtklib_ppp.cc
View File

@ -57,6 +57,7 @@
#include "rtklib_rtkcmn.h"
#include "rtklib_sbas.h"
#include "rtklib_tides.h"
#include <cstring>
/* wave length of LC (m) -----------------------------------------------------*/
double lam_LC(int i, int j, int k)

1
src/algorithms/libs/rtklib/rtklib_preceph.cc
View File

@ -62,6 +62,7 @@
#include "rtklib_preceph.h"
#include "rtklib_rtkcmn.h"
#include <cstring>
/* satellite code to satellite system ----------------------------------------*/
int code2sys(char code)

1
src/algorithms/libs/rtklib/rtklib_rtcm3.cc
View File

@ -54,6 +54,7 @@
#include "rtklib_rtcm3.h"
#include "rtklib_rtkcmn.h"
#include <cstring>
/* msm signal id table -------------------------------------------------------*/

1
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
View File

@ -52,6 +52,7 @@
#include "rtklib_rtkcmn.h"
//#include <cstdio>
#include <glog/logging.h>
#include <dirent.h>
#include <iostream>
#include <sstream>

2
src/algorithms/libs/rtklib/rtklib_rtkcmn.h
View File

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

1
src/algorithms/libs/rtklib/rtklib_rtkpos.cc
View File

@ -57,6 +57,7 @@
#include "rtklib_pntpos.h"
#include "rtklib_ppp.h"
#include "rtklib_tides.h"
#include <cstring>
static int resamb_WLNL(rtk_t *rtk __attribute((unused)), const obsd_t *obs __attribute((unused)), const int *sat __attribute((unused)),
const int *iu __attribute((unused)), const int *ir __attribute((unused)), int ns __attribute__((unused)), const nav_t *nav __attribute((unused)),

1
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
View File

@ -7,6 +7,7 @@
#include "rtklib_sbas.h"
#include "rtklib_solution.h"
#include "rtklib_stream.h"
#include <cstring>
/* write solution header to output stream ------------------------------------*/
void writesolhead(stream_t *stream, const solopt_t *solopt)

1
src/algorithms/libs/rtklib/rtklib_sbas.cc
View File

@ -61,6 +61,7 @@
#include "rtklib_sbas.h"
#include "rtklib_rtkcmn.h"
#include <cstring>
/* extract field from line ---------------------------------------------------*/
char *getfield(char *p, int pos)

1
src/algorithms/libs/rtklib/rtklib_solution.cc
View File

@ -55,6 +55,7 @@
#include "rtklib_rtkcmn.h"
#include "rtklib_rtksvr.h"
#include <cctype>
#include <cstring>
/* constants and macros ------------------------------------------------------*/

7
src/algorithms/libs/rtklib/rtklib_stream.cc
View File

@ -50,15 +50,16 @@
*
*----------------------------------------------------------------------------*/
#include "rtklib_stream.h"
#include "rtklib_rtkcmn.h"
#include "rtklib_solution.h"
#include <arpa/inet.h>
#include <cctype>
#include <cerrno>
#include <cstring>
#include <fcntl.h>
#include <netdb.h>
#include <netinet/tcp.h>
#include <rtklib_rtkcmn.h>
#include <rtklib_solution.h>
#include <rtklib_stream.h>
#include <string>
#include <sys/socket.h>
#include <sys/stat.h>

8
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
View File

@ -20,7 +20,7 @@
########################################################################
# Project setup
########################################################################
cmake_minimum_required(VERSION 2.6)
cmake_minimum_required(VERSION 2.8.12)
set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "Choose build type: None Debug Release RelWithDebInfo MinSizeRel")
project(volk_gnsssdr)
enable_language(CXX)
@ -135,7 +135,7 @@ message(STATUS "Build type set to ${CMAKE_BUILD_TYPE}.")
set(VERSION_INFO_MAJOR_VERSION 0)
set(VERSION_INFO_MINOR_VERSION 0)
set(VERSION_INFO_MAINT_VERSION 10)
set(VERSION_INFO_MAINT_VERSION 10.git)
include(VolkVersion) #setup version info
@ -369,6 +369,10 @@ install(
COMPONENT "volk_gnsssdr_devel"
)
install(EXPORT VOLK_GNSSSDR-export FILE VolkGnsssdrTargets.cmake
NAMESPACE VolkGnsssdr:: DESTINATION ${CMAKE_MODULES_DIR}/volk_gnsssdr
)
########################################################################
# Option to enable QA testing, on by default
########################################################################

33
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfig.cmake.in
View File

@ -15,33 +15,8 @@
# 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)
pkg_check_modules(PC_VOLK_GNSSSDR volk_gnsssdr)
get_filename_component(VOLK_GNSSSDR_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
find_path(
VOLK_GNSSSDR_INCLUDE_DIRS
NAMES volk_gnsssdr/volk_gnsssdr.h
HINTS $ENV{VOLK_DIR}/include
${PC_VOLK_INCLUDEDIR}
PATHS /usr/local/include
/usr/include
/opt/local/include
"@CMAKE_INSTALL_PREFIX@/include"
)
find_library(
VOLK_GNSSSDR_LIBRARIES
NAMES volk_gnsssdr
HINTS $ENV{VOLK_DIR}/lib
${PC_VOLK_LIBDIR}
PATHS /usr/local/lib
/usr/local/lib64
/usr/lib
/usr/lib64
/opt/local/lib
"@CMAKE_INSTALL_PREFIX@/lib"
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(VOLKGNSSSDR DEFAULT_MSG VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
mark_as_advanced(VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
if(NOT TARGET VolkGnsssdr::volkgnsssdr)
include("${VOLK_GNSSSDR_CMAKE_DIR}/VolkGnsssdrTargets.cmake")
endif()

7
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/archs.xml
View File

@ -6,14 +6,17 @@
<arch name="softfp">
<flag compiler="gnu">-mfloat-abi=softfp</flag>
<flag compiler="clang">-mfloat-abi=softfp</flag>
</arch>
<arch name="hardfp">
<flag compiler="gnu">-mfloat-abi=hard</flag>
<flag compiler="clang">-mfloat-abi=hard</flag>
</arch>
<arch name="neon">
<flag compiler="gnu">-funsafe-math-optimizations</flag>
<flag compiler="clang">-funsafe-math-optimizations</flag>
<alignment>16</alignment>
<check name="has_neon"></check>
</arch>
@ -21,18 +24,22 @@
<arch name="neonv7">
<flag compiler="gnu">-mfpu=neon</flag>
<flag compiler="gnu">-funsafe-math-optimizations</flag>
<flag compiler="clang">-mfpu=neon</flag>
<flag compiler="clang">-funsafe-math-optimizations</flag>
<alignment>16</alignment>
<check name="has_neonv7"></check>
</arch>
<arch name="neonv8">
<flag compiler="gnu">-funsafe-math-optimizations</flag>
<flag compiler="clang">-funsafe-math-optimizations</flag>
<alignment>16</alignment>
<check name="has_neonv8"></check>
</arch>
<arch name="32">
<flag compiler="gnu">-m32</flag>
<flag compiler="clang">-m32</flag>
</arch>
<arch name="64">

10
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/volk_gnsssdr_kernel_defs.py
View File

@ -53,7 +53,7 @@ def split_into_nested_ifdef_sections(code):
header = 'text'
in_section_depth = 0
for i, line in enumerate(code.splitlines()):
m = re.match('^(\s*)#(\s*)(\w+)(.*)$', line)
m = re.match(r'^(\s*)#(\s*)(\w+)(.*)$', line)
line_is = 'normal'
if m:
p0, p1, fcn, stuff = m.groups()
@ -121,11 +121,11 @@ def flatten_section_text(sections):
class impl_class(object):
def __init__(self, kern_name, header, body):
#extract LV_HAVE_*
self.deps = set(res.lower() for res in re.findall('LV_HAVE_(\w+)', header))
self.deps = set(res.lower() for res in re.findall(r'LV_HAVE_(\w+)', header))
#extract function suffix and args
body = flatten_section_text(body)
try:
fcn_matcher = re.compile('^.*(%s\\w*)\\s*\\((.*)$'%kern_name, re.DOTALL | re.MULTILINE)
fcn_matcher = re.compile(r'^.*(%s\w*)\s*\((.*)$'%kern_name, re.DOTALL | re.MULTILINE)
body = body.split('{')[0].rsplit(')', 1)[0] #get the part before the open ){ bracket
m = fcn_matcher.match(body)
impl_name, the_rest = m.groups()
@ -133,7 +133,7 @@ class impl_class(object):
self.args = list()
fcn_args = the_rest.split(',')
for fcn_arg in fcn_args:
arg_matcher = re.compile('^\s*(.*\\W)\s*(\w+)\s*$', re.DOTALL | re.MULTILINE)
arg_matcher = re.compile(r'^\s*(.*\W)\s*(\w+)\s*$', re.DOTALL | re.MULTILINE)
m = arg_matcher.match(fcn_arg)
arg_type, arg_name = m.groups()
self.args.append((arg_type, arg_name))
@ -153,7 +153,7 @@ def extract_lv_haves(code):
haves = list()
for line in code.splitlines():
if not line.strip().startswith('#'): continue
have_set = set(res.lower() for res in re.findall('LV_HAVE_(\w+)', line))
have_set = set(res.lower() for res in re.findall(r'LV_HAVE_(\w+)', line))
if have_set: haves.append(have_set)
return haves

108
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt
View File

@ -254,6 +254,8 @@ if(NOT CPU_IS_x86)
overrule_arch(sse4_1 "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(avx512f "Architecture is not x86 or x86_64")
overrule_arch(avx512cd "Architecture is not x86 or x86_64")
endif()
########################################################################
@ -477,7 +479,7 @@ if(${CMAKE_VERSION} VERSION_GREATER "2.8.9")
endforeach()
endif()
enable_language(ASM)
set(CMAKE_ASM_FLAGS ${ARCH_ASM_FLAGS})
set(CMAKE_ASM_FLAGS "${CMAKE_ASM_FLAGS} ${ARCH_ASM_FLAGS}")
message(STATUS "c flags: ${FULL_C_FLAGS}")
message(STATUS "asm flags: ${CMAKE_ASM_FLAGS}")
endforeach()
@ -567,71 +569,67 @@ if(MSVC)
set_source_files_properties(${volk_gnsssdr_sources} PROPERTIES LANGUAGE CXX)
endif()
#Use object library for faster overall build in newer versions of cmake
if(CMAKE_VERSION VERSION_GREATER "2.8.7")
#Create a volk_gnsssdr object library (requires cmake >= 2.8.8)
add_library(volk_gnsssdr_obj OBJECT ${volk_gnsssdr_sources})
#Create a volk_gnsssdr object library
add_library(volk_gnsssdr_obj OBJECT ${volk_gnsssdr_sources})
target_include_directories(volk_gnsssdr_obj
PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
PUBLIC $<INSTALL_INTERFACE:include>
PRIVATE ${PROJECT_SOURCE_DIR}/kernels
PRIVATE ${CMAKE_CURRENT_BINARY_DIR}
PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
)
#Add dynamic library
add_library(volk_gnsssdr SHARED $<TARGET_OBJECTS:volk_gnsssdr_obj>)
target_link_libraries(volk_gnsssdr ${volk_gnsssdr_libraries} ${Boost_LIBRARIES})
#Add dynamic library
add_library(volk_gnsssdr SHARED $<TARGET_OBJECTS:volk_gnsssdr_obj>)
target_link_libraries(volk_gnsssdr ${volk_gnsssdr_libraries} m)
target_include_directories(volk_gnsssdr
PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
PUBLIC $<INSTALL_INTERFACE:include>
PRIVATE ${PROJECT_SOURCE_DIR}/kernels
PRIVATE ${CMAKE_CURRENT_BINARY_DIR}
PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
)
#Configure target properties
set_target_properties(volk_gnsssdr_obj PROPERTIES COMPILE_FLAGS "-fPIC")
set_target_properties(volk_gnsssdr PROPERTIES SOVERSION ${LIBVER})
set_target_properties(volk_gnsssdr PROPERTIES DEFINE_SYMBOL "volk_gnsssdr_EXPORTS")
#Configure target properties
set_target_properties(volk_gnsssdr_obj PROPERTIES COMPILE_FLAGS "-fPIC")
set_target_properties(volk_gnsssdr PROPERTIES SOVERSION ${LIBVER})
set_target_properties(volk_gnsssdr PROPERTIES DEFINE_SYMBOL "volk_gnsssdr_EXPORTS")
#Install locations
install(TARGETS volk_gnsssdr
LIBRARY DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_runtime" # .so file
ARCHIVE DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_devel" # .lib file
RUNTIME DESTINATION bin COMPONENT "volk_gnsssdr_runtime" # .dll file
#Install locations
install(TARGETS volk_gnsssdr
EXPORT VOLK_GNSSSDR-export
LIBRARY DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_runtime" # .so file
ARCHIVE DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_devel" # .lib file
RUNTIME DESTINATION bin COMPONENT "volk_gnsssdr_runtime" # .dll file
)
#Configure static library
if(ENABLE_STATIC_LIBS)
add_library(volk_gnsssdr_static STATIC $<TARGET_OBJECTS:volk_gnsssdr_obj>)
target_link_libraries(volk_gnsssdr_static ${volk_gnsssdr_libraries} pthread m)
target_include_directories(volk_gnsssdr_static
PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
PUBLIC $<INSTALL_INTERFACE:include>
PRIVATE ${PROJECT_SOURCE_DIR}/kernels
PRIVATE ${CMAKE_CURRENT_BINARY_DIR}
PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
)
#Configure static library
if(ENABLE_STATIC_LIBS)
add_library(volk_gnsssdr_static STATIC $<TARGET_OBJECTS:volk_gnsssdr_obj>)
set_target_properties(volk_gnsssdr_static PROPERTIES OUTPUT_NAME volk_gnsssdr)
install(TARGETS volk_gnsssdr_static
ARCHIVE DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_devel"
)
endif()
#Older cmake versions (slower to build when building dynamic/static libs)
else()
#create the volk_gnsssdr runtime library
add_library(volk_gnsssdr SHARED ${volk_gnsssdr_sources})
target_link_libraries(volk_gnsssdr ${volk_gnsssdr_libraries})
set_target_properties(volk_gnsssdr PROPERTIES SOVERSION ${LIBVER})
set_target_properties(volk_gnsssdr PROPERTIES DEFINE_SYMBOL "volk_gnsssdr_EXPORTS")
install(TARGETS volk_gnsssdr
LIBRARY DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_runtime" # .so file
ARCHIVE DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_devel" # .lib file
RUNTIME DESTINATION bin COMPONENT "volk_gnsssdr_runtime" # .dll file
install(TARGETS volk_gnsssdr_static
EXPORT VOLK_GNSSSDR-export
ARCHIVE DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_devel"
)
if(ENABLE_STATIC_LIBS)
add_library(volk_gnsssdr_static STATIC ${volk_gnsssdr_sources})
if(NOT WIN32)
set_target_properties(volk_gnsssdr_static
PROPERTIES OUTPUT_NAME volk_gnsssdr)
endif()
install(TARGETS volk_gnsssdr_static
ARCHIVE DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_devel" # .lib file
)
endif()
set_target_properties(volk_gnsssdr_static PROPERTIES OUTPUT_NAME volk_gnsssdr)
endif()
########################################################################
# Build the QA test application
########################################################################
if(ENABLE_TESTING)
#include Boost headers
include_directories(${Boost_INCLUDE_DIRS})
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/.unittest)
@ -645,11 +643,11 @@ if(ENABLE_TESTING)
SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/testqa.cc
${CMAKE_CURRENT_SOURCE_DIR}/qa_utils.cc
TARGET_DEPS volk_gnsssdr
)
)
foreach(kernel ${h_files})
get_filename_component(kernel ${kernel} NAME)
string(REPLACE ".h" "" kernel ${kernel})
volk_add_test(${kernel} "volk_gnsssdr_test_all")
endforeach()
endif()

3
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/python/volk_gnsssdr_modtool/cfg.py
View File

@ -29,7 +29,7 @@ from six.moves import configparser, input
class volk_gnsssdr_modtool_config(object):
def key_val_sub(self, num, stuff, section):
return re.sub('\$' + 'k' + str(num), stuff[num][0], (re.sub('\$' + str(num), stuff[num][1], section[1][num])));
return re.sub(r'\$' + 'k' + str(num), stuff[num][0], (re.sub(r'\$' + str(num), stuff[num][1], section[1][num])));
def verify(self):
for i in self.verification:
@ -95,4 +95,3 @@ class volk_gnsssdr_modtool_config(object):
for i in stuff:
retval[i[0]] = i[1]
return retval

22
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/python/volk_gnsssdr_modtool/volk_gnsssdr_modtool_generate.py
View File

@ -28,13 +28,13 @@ class volk_gnsssdr_modtool(object):
def __init__(self, cfg):
self.volk_gnsssdr = re.compile('volk_gnsssdr');
self.remove_after_underscore = re.compile("_.*");
self.volk_gnsssdr_run_tests = re.compile('^\s*VOLK_RUN_TESTS.*\n', re.MULTILINE);
self.volk_gnsssdr_profile = re.compile('^\s*(VOLK_PROFILE|VOLK_PUPPET_PROFILE).*\n', re.MULTILINE);
self.volk_gnsssdr_run_tests = re.compile(r'^\s*VOLK_RUN_TESTS.*\n', re.MULTILINE);
self.volk_gnsssdr_profile = re.compile(r'^\s*(VOLK_PROFILE|VOLK_PUPPET_PROFILE).*\n', re.MULTILINE);
self.my_dict = cfg;
self.lastline = re.compile('\s*char path\[1024\];.*');
self.badassert = re.compile('^\s*assert\(toked\[0\] == "volk_gnsssdr_.*\n', re.MULTILINE);
self.lastline = re.compile(r'\s*char path\[1024\];.*');
self.badassert = re.compile(r'^\s*assert\(toked\[0\] == "volk_gnsssdr_.*\n', re.MULTILINE);
self.goodassert = ' assert(toked[0] == "volk_gnsssdr");\n'
self.baderase = re.compile('^\s*toked.erase\(toked.begin\(\)\);.*\n', re.MULTILINE);
self.baderase = re.compile(r'^\s*toked.erase\(toked.begin\(\)\);.*\n', re.MULTILINE);
self.gooderase = ' toked.erase(toked.begin());\n toked.erase(toked.begin());\n';
def get_basename(self, base=None):
@ -65,7 +65,7 @@ class volk_gnsssdr_modtool(object):
for line in hdr_files:
subline = re.search(".*\.h.*", os.path.basename(line))
subline = re.search(r".*\.h.*", os.path.basename(line))
if subline:
subsubline = begins.search(subline.group(0));
if subsubline:
@ -81,7 +81,7 @@ class volk_gnsssdr_modtool(object):
for dt in datatypes:
if dt in line:
#subline = re.search("(?<=volk_gnsssdr_)" + dt + ".*(?=\.h)", line);
subline = re.search(begins.pattern[:-2] + dt + ".*(?=\.h)", line);
subline = re.search(begins.pattern[:-2] + dt + r".*(?=\.h)", line);
if subline:
functions.append(subline.group(0));
@ -188,8 +188,8 @@ class volk_gnsssdr_modtool(object):
inpath = os.path.abspath(base);
kernel = re.compile(name)
search_kernels = set([kernel])
profile = re.compile('^\s*VOLK_PROFILE')
puppet = re.compile('^\s*VOLK_PUPPET')
profile = re.compile(r'^\s*VOLK_PROFILE')
puppet = re.compile(r'^\s*VOLK_PUPPET')
src_dest = os.path.join(inpath, 'apps/', top[:-1] + '_profile.cc');
infile = open(src_dest);
otherlines = infile.readlines();
@ -257,8 +257,8 @@ class volk_gnsssdr_modtool(object):
kernel = re.compile(name)
search_kernels = set([kernel])
profile = re.compile('^\s*VOLK_PROFILE')
puppet = re.compile('^\s*VOLK_PUPPET')
profile = re.compile(r'^\s*VOLK_PROFILE')
puppet = re.compile(r'^\s*VOLK_PUPPET')
infile = open(os.path.join(inpath, 'apps/', oldvolk_gnsssdr.pattern + '_profile.cc'));
otherinfile = open(os.path.join(self.my_dict['destination'], 'volk_gnsssdr_' + self.my_dict['name'], 'apps/volk_gnsssdr_' + self.my_dict['name'] + '_profile.cc'));
dest = os.path.join(self.my_dict['destination'], 'volk_gnsssdr_' + self.my_dict['name'], 'apps/volk_gnsssdr_' + self.my_dict['name'] + '_profile.cc');

37
src/algorithms/observables/adapters/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -24,19 +24,26 @@ set(OBS_ADAPTER_HEADERS
hybrid_observables.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/observables/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
source_group(Headers FILES ${OBS_ADAPTER_HEADERS})
add_library(obs_adapters ${OBS_ADAPTER_SOURCES} ${OBS_ADAPTER_HEADERS})
source_group(Headers FILES ${OBS_ADAPTER_HEADERS})
target_link_libraries(obs_adapters obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES})
target_include_directories(obs_adapters
PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs
)
target_link_libraries(obs_adapters
PUBLIC
obs_gr_blocks
gnss_rx
gnss_sp_libs
PRIVATE
Gflags::gflags
Glog::glog
)
set_property(TARGET obs_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

55
src/algorithms/observables/gnuradio_blocks/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -24,42 +24,29 @@ set(OBS_GR_BLOCKS_HEADERS
hybrid_observables_cc.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${MATIO_INCLUDE_DIRS}
)
source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS})
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-${armadillo_RELEASE}
)
else()
add_dependencies(obs_gr_blocks
gnss_sp_libs
glog-${glog_RELEASE}
armadillo-${armadillo_RELEASE}
matio-${GNSSSDR_MATIO_LOCAL_VERSION}
)
endif()
target_include_directories(obs_gr_blocks
PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs
)
target_link_libraries(obs_gr_blocks
gnss_sp_libs
${GNURADIO_RUNTIME_LIBRARIES}
${ARMADILLO_LIBRARIES}
${MATIO_LIBRARIES}
PUBLIC
Boost::boost
Gnuradio::blocks
gnss_system_parameters
PRIVATE
Gflags::gflags
Glog::glog
Boost::filesystem
Matio::matio
gnss_sp_libs
)
set_property(TARGET obs_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

38
src/algorithms/resampler/adapters/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -27,28 +27,32 @@ set(RESAMPLER_ADAPTER_HEADERS
mmse_resampler_conditioner.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/algorithms/resampler/gnuradio_blocks
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4")
add_definitions(-DGR_GREATER_38=1)
endif()
list(SORT RESAMPLER_ADAPTER_HEADERS)
list(SORT RESAMPLER_ADAPTER_SOURCES)
source_group(Headers FILES ${RESAMPLER_ADAPTER_HEADERS})
add_library(resampler_adapters
${RESAMPLER_ADAPTER_SOURCES}
${RESAMPLER_ADAPTER_HEADERS}
)
source_group(Headers FILES ${RESAMPLER_ADAPTER_HEADERS})
target_link_libraries(resampler_adapters
PUBLIC
Gnuradio::runtime
resampler_gr_blocks
gnss_rx
PRIVATE
Gflags::gflags
Glog::glog
Volk::volk
)
target_link_libraries(resampler_adapters resampler_gr_blocks)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4")
target_compile_definitions(resampler_adapters PUBLIC -DGR_GREATER_38=1)
endif()
set_property(TARGET resampler_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

26
src/algorithms/resampler/gnuradio_blocks/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -29,22 +29,26 @@ set(RESAMPLER_GR_BLOCKS_HEADERS
direct_resampler_conditioner_cb.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
)
list(SORT RESAMPLER_GR_BLOCKS_HEADERS)
list(SORT RESAMPLER_GR_BLOCKS_SOURCES)
source_group(Headers FILES ${RESAMPLER_GR_BLOCKS_HEADERS})
add_library(resampler_gr_blocks
${RESAMPLER_GR_BLOCKS_SOURCES}
${RESAMPLER_GR_BLOCKS_HEADERS}
)
source_group(Headers FILES ${RESAMPLER_GR_BLOCKS_HEADERS})
target_link_libraries(resampler_gr_blocks
PUBLIC
Gnuradio::runtime
Volk::volk
PRIVATE
Gflags::gflags
Glog::glog
)
add_dependencies(resampler_gr_blocks glog-${glog_RELEASE})
set_property(TARGET resampler_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

35
src/algorithms/signal_generator/adapters/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -19,29 +19,26 @@
set(SIGNAL_GENERATOR_ADAPTER_SOURCES signal_generator.cc)
set(SIGNAL_GENERATOR_ADAPTER_HEADERS signal_generator.h)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/signal_generator/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
source_group(Headers FILES ${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
signal_generator_blocks
${GNURADIO_RUNTIME_LIBRARIES}
${GNURADIO_BLOCKS_LIBRARIES}
${GNURADIO_FILTER_LIBRARIES}
PUBLIC
signal_generator_blocks
Gnuradio::runtime
Gnuradio::blocks
gnss_rx
PRIVATE
Gflags::gflags
Glog::glog
gnss_sp_libs
)
set_property(TARGET signal_generator_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

2
src/algorithms/signal_generator/adapters/signal_generator.cc
View File

@ -31,11 +31,11 @@
#include "signal_generator.h"
#include "Beidou_B1I.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "Beidou_B1I.h"
#include "configuration_interface.h"
#include <glog/logging.h>
#include <cstdint>

43
src/algorithms/signal_generator/gnuradio_blocks/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -19,36 +19,29 @@
set(SIGNAL_GENERATOR_BLOCK_SOURCES signal_generator_c.cc)
set(SIGNAL_GENERATOR_BLOCK_HEADERS signal_generator_c.h)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
)
source_group(Headers FILES ${SIGNAL_GENERATOR_BLOCK_HEADERS})
add_library(signal_generator_blocks
${SIGNAL_GENERATOR_BLOCK_SOURCES}
${SIGNAL_GENERATOR_BLOCK_HEADERS}
)
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}
${ORC_LIBRARIES}
PUBLIC
Boost::boost
Gnuradio::runtime
gnss_system_parameters
PRIVATE
gnss_sp_libs
Volkgnsssdr::volkgnsssdr
)
if(VOLKGNSSSDR_FOUND)
# add_dependencies(signal_generator_blocks glog-${glog_RELEASE})
else()
add_dependencies(signal_generator_blocks volk_gnsssdr_module)
endif()
target_include_directories(signal_generator_blocks
PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs
)
set_property(TARGET signal_generator_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

1
src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.h
View File

@ -33,7 +33,6 @@
#include "gnss_signal.h"
#include <boost/scoped_array.hpp>
//#include <gnuradio/random.h>
#include <gnuradio/block.h>
#include <random>
#include <string>

159
src/algorithms/signal_source/adapters/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -19,20 +19,13 @@
# Optional drivers
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()
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})
if(ENABLE_RAW_UDP AND PCAP_FOUND)
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()
if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
find_package(GRIIO REQUIRED)
if(NOT GRIIO_FOUND)
message(STATUS "gnuradio-iio not found, its installation is required.")
message(STATUS "Please build and install the following projects:")
@ -41,12 +34,10 @@ if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
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()
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${IIO_LIBRARIES})
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
endif()
if(ENABLE_AD9361)
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:")
@ -55,8 +46,6 @@ if(ENABLE_AD9361)
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()
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${LIBIIO_LIBRARIES})
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${LIBIIO_INCLUDE_DIRS})
endif()
@ -97,33 +86,16 @@ if(ENABLE_GN3S)
##############################################
# GN3S (USB dongle)
##############################################
find_package(GRGN3S REQUIRED)
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()
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()
if(ENABLE_FLEXIBAND)
##############################################
# TELEORBIT FLEXIBAND FRONTEND ADAPTER
##############################################
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()
# Set up variables
set(FLEXIBAND_DRIVER_INCLUDE_DIRS
${OPT_DRIVER_INCLUDE_DIRS}
${TELEORBIT_INCLUDE_DIR}/teleorbit
)
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${TELEORBIT_LIBRARIES})
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${FLEXIBAND_DRIVER_INCLUDE_DIRS})
if(ENABLE_FLEXIBAND AND TELEORBIT_FOUND)
set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} flexiband_signal_source.cc)
set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} flexiband_signal_source.h)
endif()
@ -133,7 +105,6 @@ if(ENABLE_ARRAY)
##############################################
# DBFCTTC GNSS EXPERIMENTAL ARRAY PROTOTYPE
##############################################
find_package(GRDBFCTTC REQUIRED)
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")
@ -154,15 +125,8 @@ if(ENABLE_OSMOSDR)
list(REMOVE_ITEM SIGNAL_SOURCE_ADAPTER_HEADERS ${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/adapters/osmosdr_signal_source.h)
endif()
else()
# set OSMO include dirs
set(OSMO_DRIVER_INCLUDE_DIRS
${OPT_DRIVER_INCLUDE_DIRS}
${GROSMOSDR_INCLUDE_DIR}/osmosdr
)
set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} osmosdr_signal_source.cc)
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()
endif()
@ -170,8 +134,6 @@ 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()
@ -197,7 +159,6 @@ set(SIGNAL_SOURCE_ADAPTER_HEADERS
${OPT_DRIVER_HEADERS}
)
if(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
set(SIGNAL_SOURCE_ADAPTER_SOURCES ${SIGNAL_SOURCE_ADAPTER_SOURCES}
two_bit_cpx_file_signal_source.cc
@ -207,36 +168,90 @@ if(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
two_bit_packed_file_signal_source.h)
endif()
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${OPT_DRIVER_INCLUDE_DIRS}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/libs
${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/gnuradio_blocks
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
)
if(ARCH_64BITS)
add_definitions(-DARCH_64BITS=1)
endif()
add_definitions(-DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}")
list(SORT SIGNAL_SOURCE_ADAPTER_HEADERS)
list(SORT SIGNAL_SOURCE_ADAPTER_SOURCES)
add_library(signal_source_adapters ${SIGNAL_SOURCE_ADAPTER_SOURCES} ${SIGNAL_SOURCE_ADAPTER_HEADERS})
source_group(Headers FILES ${SIGNAL_SOURCE_ADAPTER_HEADERS})
target_link_libraries(signal_source_adapters signal_source_gr_blocks
${Boost_LIBRARIES}
${GNURADIO_PMT_LIBRARIES}
${GNURADIO_BLOCKS_LIBRARIES}
${OPT_LIBRARIES}
gnss_sp_libs
add_library(signal_source_adapters
${SIGNAL_SOURCE_ADAPTER_SOURCES}
${SIGNAL_SOURCE_ADAPTER_HEADERS}
)
target_include_directories(signal_source_adapters
PUBLIC ${CMAKE_SOURCE_DIR}/src/algorithms/libs
)
target_link_libraries(signal_source_adapters
PUBLIC
Boost::boost
Gnuradio::runtime
Gnuradio::blocks
signal_source_gr_blocks
gnss_sp_libs
gnss_rx
signal_source_lib
PRIVATE
Gflags::gflags
Glog::glog
Volk::volk
)
if(ENABLE_RAW_UDP AND PCAP_FOUND)
target_link_libraries(signal_source_adapters
PRIVATE
Pcap::pcap
)
endif()
if(ENABLE_UHD AND GNURADIO_UHD_LIBRARIES_gnuradio-uhd)
target_link_libraries(signal_source_adapters
PUBLIC
Gnuradio::uhd
PRIVATE
Uhd::uhd
)
endif()
if(ENABLE_OSMOSDR AND GROSMOSDR_FOUND)
target_link_libraries(signal_source_adapters
PUBLIC
Gnuradio::osmosdr
)
endif()
if(ENABLE_AD9361 AND LIBIIO_FOUND)
target_link_libraries(signal_source_adapters
PRIVATE
Iio::iio
)
endif()
if(ENABLE_FLEXIBAND AND TELEORBIT_FOUND)
target_link_libraries(signal_source_adapters
PRIVATE
Gnuradio::teleorbit
)
endif()
if(ENABLE_GN3S AND GRGN3S_FOUND)
target_link_libraries(signal_source_adapters
PRIVATE
Gnuradio::gn3s
)
endif()
if(ENABLE_ARRAY AND GRDBFCTTC_FOUND)
target_link_libraries(signal_source_adapters
PRIVATE
Gnuradio::dbfcttc
)
endif()
target_compile_definitions(signal_source_adapters
PRIVATE -DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}"
)
set_property(TARGET signal_source_adapters APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

4
src/algorithms/signal_source/adapters/rtl_tcp_signal_source.cc
View File

@ -48,10 +48,10 @@ RtlTcpSignalSource::RtlTcpSignalSource(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_stream,
unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) : role_(std::move(role)),
boost::shared_ptr<gr::msg_queue> queue) : role_(role),
in_stream_(in_stream),
out_stream_(out_stream),
queue_(queue)
queue_(std::move(std::move(queue)))
{
// DUMP PARAMETERS
std::string empty = "";

48
src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -17,14 +17,7 @@
#
if(ENABLE_RAW_UDP)
find_package(PCAP)
if(NOT PCAP_FOUND)
message(FATAL_ERROR "PCAP required to compile custom UDP packet sample source")
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})
if(ENABLE_RAW_UDP AND PCAP_FOUND)
set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} gr_complex_ip_packet_source.cc)
set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} gr_complex_ip_packet_source.h)
endif()
@ -55,32 +48,33 @@ set(SIGNAL_SOURCE_GR_BLOCKS_HEADERS
${OPT_DRIVER_HEADERS}
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/libs
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${OPT_DRIVER_INCLUDE_DIRS}
)
list(SORT SIGNAL_SOURCE_GR_BLOCKS_HEADERS)
list(SORT SIGNAL_SOURCE_GR_BLOCKS_SOURCES)
source_group(Headers FILES ${SIGNAL_SOURCE_GR_BLOCKS_HEADERS})
add_library(signal_source_gr_blocks
${SIGNAL_SOURCE_GR_BLOCKS_SOURCES}
${SIGNAL_SOURCE_GR_BLOCKS_HEADERS}
)
source_group(Headers FILES ${SIGNAL_SOURCE_GR_BLOCKS_HEADERS})
target_link_libraries(signal_source_gr_blocks
signal_source_lib
${GNURADIO_RUNTIME_LIBRARIES}
${Boost_LIBRARIES}
${OPT_LIBRARIES}
PUBLIC
signal_source_lib
Gnuradio::runtime
Boost::thread
PRIVATE
Gflags::gflags
Glog::glog
)
add_dependencies(signal_source_gr_blocks glog-${glog_RELEASE})
if(ENABLE_RAW_UDP AND PCAP_FOUND)
target_link_libraries(signal_source_gr_blocks
PUBLIC
Pcap::pcap
)
endif()
set_property(TARGET signal_source_gr_blocks APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

2
src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc
View File

@ -333,7 +333,7 @@ int rtl_tcp_signal_source_c::work(int noutput_items,
gr_vector_const_void_star & /*input_items*/,
gr_vector_void_star &output_items)
{
gr_complex *out = reinterpret_cast<gr_complex *>(output_items[0]);
auto *out = reinterpret_cast<gr_complex *>(output_items[0]);
int i = 0;
if (io_service_.stopped())
{

2
src/algorithms/signal_source/gnuradio_blocks/unpack_2bit_samples.h
View File

@ -39,7 +39,7 @@
*
* Value_0, Value_1, Value_2, ..., Value_n, Value_n+1, Value_n+2, ...
*
* \author Cillian O'Driscoll cillian.odriscoll (at) gmail . com
* \author Cillian O'Driscoll cillian.odriscoll (at) gmail . com
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)

84
src/algorithms/signal_source/libs/CMakeLists.txt
View File

@ -17,36 +17,25 @@
#
if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
find_package(GRIIO REQUIRED)
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()
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${IIO_LIBRARIES})
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
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()
endif()
if(ENABLE_FMCOMMS2 OR ENABLE_AD9361)
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:")
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 "libiio is required for building gnss-sdr with this option enabled")
endif()
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${LIBIIO_LIBRARIES})
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${LIBIIO_INCLUDE_DIRS})
###############################################
# FMCOMMS2 based SDR Hardware
###############################################
if(LIBIIO_FOUND)
if(NOT LIBIIO_FOUND)
message(STATUS "libiio 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 "libiio is required for building gnss-sdr with this option enabled")
else()
set(OPT_SIGNAL_SOURCE_LIB_SOURCES ad9361_manager.cc)
set(OPT_SIGNAL_SOURCE_LIB_HEADERS ad9361_manager.h)
endif()
@ -57,14 +46,6 @@ if(ENABLE_FPGA OR ENABLE_AD9361)
set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_HEADERS} fpga_switch.h)
endif()
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${OPT_DRIVER_INCLUDE_DIRS}
)
set(SIGNAL_SOURCE_LIB_SOURCES
rtl_tcp_commands.cc
rtl_tcp_dongle_info.cc
@ -80,7 +61,34 @@ set(SIGNAL_SOURCE_LIB_HEADERS
list(SORT SIGNAL_SOURCE_LIB_HEADERS)
list(SORT SIGNAL_SOURCE_LIB_SOURCES)
add_library(signal_source_lib ${SIGNAL_SOURCE_LIB_SOURCES} ${SIGNAL_SOURCE_LIB_HEADERS})
source_group(Headers FILES ${SIGNAL_SOURCE_LIB_HEADERS})
target_link_libraries(signal_source_lib ${OPT_LIBRARIES})
add_dependencies(signal_source_lib glog-${glog_RELEASE})
add_library(signal_source_lib ${SIGNAL_SOURCE_LIB_SOURCES} ${SIGNAL_SOURCE_LIB_HEADERS})
target_link_libraries(signal_source_lib
PUBLIC
Boost::boost
PRIVATE
Gflags::gflags
Glog::glog
)
if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
target_link_libraries(signal_source_lib
PUBLIC
Gnuradio::iio
PRIVATE
Iio::iio
)
endif()
if(ENABLE_FMCOMMS2 OR ENABLE_AD9361)
target_link_libraries(signal_source_lib
PUBLIC
Iio::iio
)
endif()
set_property(TARGET signal_source_lib APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

2
src/algorithms/signal_source/libs/rtl_tcp_dongle_info.cc
View File

@ -121,7 +121,7 @@ double rtl_tcp_dongle_info::clip_gain(int gain) const
}
// clip
if (gains.size() == 0)
if (gains.empty())
{
// no defined gains to clip to
return gain;

33
src/algorithms/telemetry_decoder/adapters/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -43,32 +43,29 @@ set(TELEMETRY_DECODER_ADAPTER_HEADERS
beidou_b3i_telemetry_decoder.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs/libswiftcnav
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
list(SORT TELEMETRY_DECODER_ADAPTER_HEADERS)
list(SORT TELEMETRY_DECODER_ADAPTER_SOURCES)
source_group(Headers FILES ${TELEMETRY_DECODER_ADAPTER_HEADERS})
add_library(telemetry_decoder_adapters
${TELEMETRY_DECODER_ADAPTER_SOURCES}
${TELEMETRY_DECODER_ADAPTER_HEADERS}
)
source_group(Headers FILES ${TELEMETRY_DECODER_ADAPTER_HEADERS})
target_link_libraries(telemetry_decoder_adapters
PUBLIC
telemetry_decoder_gr_blocks
gnss_system_parameters
${GNURADIO_RUNTIME_LIBRARIES}
gnss_rx
PRIVATE
Gflags::gflags
Glog::glog
Gnuradio::runtime
telemetry_decoder_lib
)
set_property(TARGET telemetry_decoder_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

12
src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.cc
View File

@ -31,19 +31,19 @@
#include "beidou_b1i_telemetry_decoder.h"
#include "configuration_interface.h"
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
#include "configuration_interface.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
using google::LogMessage;
BeidouB1iTelemetryDecoder::BeidouB1iTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
@ -68,9 +68,7 @@ BeidouB1iTelemetryDecoder::BeidouB1iTelemetryDecoder(ConfigurationInterface* con
}
BeidouB1iTelemetryDecoder::~BeidouB1iTelemetryDecoder()
{
}
BeidouB1iTelemetryDecoder::~BeidouB1iTelemetryDecoder() = default;
void BeidouB1iTelemetryDecoder::set_satellite(const Gnss_Satellite& satellite)

4
src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.h
View File

@ -34,9 +34,9 @@
#ifndef GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_H_
#define GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_H_
#include "beidou_b1i_telemetry_decoder_cc.h"
#include "telemetry_decoder_interface.h"
#include <string>
#include "beidou_b1i_telemetry_decoder_cc.h"
class ConfigurationInterface;
@ -47,7 +47,7 @@ class BeidouB1iTelemetryDecoder : public TelemetryDecoderInterface
{
public:
BeidouB1iTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);

38
src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
View File

@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@ -37,40 +37,34 @@ set(TELEMETRY_DECODER_GR_BLOCKS_HEADERS
glonass_l2_ca_telemetry_decoder_cc.h
galileo_telemetry_decoder_cc.h
beidou_b1i_telemetry_decoder_cc.h
beidou_b3i_telemetry_decoder_cc.cc
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs/libswiftcnav
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
beidou_b3i_telemetry_decoder_cc.h
)
list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS)
list(SORT TELEMETRY_DECODER_GR_BLOCKS_SOURCES)
source_group(Headers FILES ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
add_library(telemetry_decoder_gr_blocks
${TELEMETRY_DECODER_GR_BLOCKS_SOURCES}
${TELEMETRY_DECODER_GR_BLOCKS_HEADERS}
)
source_group(Headers FILES ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
target_link_libraries(telemetry_decoder_gr_blocks
PUBLIC
telemetry_decoder_libswiftcnav
telemetry_decoder_lib
gnss_system_parameters
${GNURADIO_RUNTIME_LIBRARIES}
${VOLK_GNSSSDR_LIBRARIES}
gnss_rx
Gnuradio::runtime
Volkgnsssdr::volkgnsssdr
PRIVATE
Boost::boost
Gflags::gflags
Glog::glog
)
if(NOT VOLKGNSSSDR_FOUND)
add_dependencies(telemetry_decoder_gr_blocks volk_gnsssdr_module)
endif()
set_property(TARGET telemetry_decoder_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

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