Merge branch 'carlesfernandez:next' into osnma-cesare

.github/workflows/main.yml

@@ -53,7 +53,7 @@ jobs:
           rm /usr/local/bin/pydoc3.1* || true
           rm /usr/local/bin/python3.1* || true
           export HOMEBREW_NO_INSTALLED_DEPENDENTS_CHECK=1
-          brew install ninja hdf5 automake armadillo lapack \
+          brew install ninja hdf5 automake armadillo lapack libmatio \
           gflags glog gnuradio log4cpp openssl pugixml protobuf
           pip3 install mako
       - name: configure
@@ -82,8 +82,8 @@ jobs:
           rm /usr/local/bin/pydoc3.1* || true
           rm /usr/local/bin/python3.1* || true
           export HOMEBREW_NO_INSTALLED_DEPENDENTS_CHECK=1
-          brew install ninja pkg-config hdf5 automake armadillo lapack gflags glog \
+          brew install ninja pkg-config hdf5 automake armadillo lapack libmatio \
-          gnuradio log4cpp openssl pugixml protobuf
+          gflags glog gnuradio log4cpp openssl pugixml protobuf
           pip3 install mako
       - name: configure
         run: cd build && cmake -GXcode ..

CMakeLists.txt

@@ -2061,7 +2061,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
         IMPORTED_LOCATION_RELWITHDEBINFO ${ARMADILLO_STATIC_LIBRARY}
         IMPORTED_LOCATION_MINSIZEREL ${ARMADILLO_STATIC_LIBRARY}
         INTERFACE_INCLUDE_DIRECTORIES ${GNSSSDR_BINARY_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include
-        INTERFACE_LINK_LIBRARIES "${BLAS_LIBRARIES}" "${LAPACK_LIBRARIES}" ${GFORTRAN} ${ARMADILLO_STATIC_LIBRARY}
+        INTERFACE_LINK_LIBRARIES "${BLAS_LIBRARIES};${LAPACK_LIBRARIES};${GFORTRAN};${ARMADILLO_STATIC_LIBRARY}"
     )
     if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
         set_target_properties(Armadillo::armadillo PROPERTIES
@@ -2069,7 +2069,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
             IMPORTED_LOCATION_RELEASE ${binary_dir}/Release/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
             IMPORTED_LOCATION_RELWITHDEBINFO ${binary_dir}/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
             IMPORTED_LOCATION_MINSIZEREL ${binary_dir}/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
-            INTERFACE_LINK_LIBRARIES "${BLAS_LIBRARIES}" "${LAPACK_LIBRARIES}" ${GFORTRAN} ${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
+            INTERFACE_LINK_LIBRARIES "${BLAS_LIBRARIES};${LAPACK_LIBRARIES};${GFORTRAN};${binary_dir}/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}"
         )
     endif()
     set_package_properties(Armadillo PROPERTIES

cmake/Modules/AvoidAccelerate.cmake

@@ -27,6 +27,7 @@ find_library(BLAS_LIBRARIES
         /opt/local/lib/lapack
         /opt/local/lib/
         /usr/local/opt/lapack/lib
+        /opt/homebrew/opt/lapack/lib
     NO_DEFAULT_PATH
     NO_SYSTEM_ENVIRONMENT_PATH
     NO_CMAKE_ENVIRONMENT_PATH
@@ -47,6 +48,7 @@ find_library(LAPACK_LIBRARIES
         ${BLAS_ROOT_USER_DEFINED}/lapack
         /opt/local/lib/lapack
         /usr/local/opt/lapack/lib
+        /opt/homebrew/opt/lapack/lib
     NO_DEFAULT_PATH
     NO_SYSTEM_ENVIRONMENT_PATH
     NO_CMAKE_ENVIRONMENT_PATH

cmake/Modules/FindGFLAGS.cmake

@@ -44,6 +44,7 @@ if(APPLE)
             ${GFLAGS_ROOT_USER_PROVIDED}/lib
             /usr/local/lib
             /opt/local/lib
+            /opt/homebrew/opt/gflags/lib
     )
 else()
     find_path(GFlags_ROOT_DIR
@@ -84,6 +85,7 @@ else()
 endif()
 
 if(GFlags_ROOT_DIR)
+    unset(GFlags_INCLUDE_DIRS CACHE)
     # We are testing only a couple of files in the include directories
     find_path(GFlags_INCLUDE_DIRS
         gflags/gflags.h
@@ -93,6 +95,7 @@ if(GFlags_ROOT_DIR)
             /usr/include
             /usr/local/include
             /opt/local/include
+            /opt/homebrew/opt/gflags/include
     )
 
     # Find the libraries

cmake/Modules/FindGLOG.cmake

@@ -109,6 +109,7 @@ else()
             /usr/include/glog
             /usr/local/include/glog
             /opt/local/include/glog   # default location in Macports
+            /opt/homebrew/opt/glog/include/glog
             ${GLOG_ROOT}/include/glog
     )
 endif()

cmake/Modules/FindGOOGLETEST.cmake

@@ -47,6 +47,7 @@ find_path(LIBGTEST_DEV_DIR
         /usr/include/gtest
         /usr/local/src/googletest/googletest
         /opt/local/src/gtest-1.7.0
+        /opt/homebrew/opt/googletest/include/googletest/googletest
 )
 
 find_path(GTEST_INCLUDE_DIRS
@@ -57,6 +58,7 @@ find_path(GTEST_INCLUDE_DIRS
         /usr/include
         /usr/local/include
         /opt/local/src/gtest-1.7.0/include
+        /opt/homebrew/opt/googletest/include
 )
 
 include(FindPackageHandleStandardArgs)

src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cb.cc

@@ -65,12 +65,7 @@ void direct_resampler_conditioner_cb::forecast(int noutput_items,
     gr_vector_int &ninput_items_required)
 {
     int nreqd = std::max(static_cast<unsigned>(1), static_cast<int>(static_cast<double>(noutput_items + 1) * sample_freq_in() / sample_freq_out()) + history() - 1);
-    unsigned ninputs = ninput_items_required.size();
+    std::fill(ninput_items_required.begin(), ninput_items_required.end(), nreqd);
-
-    for (unsigned i = 0; i < ninputs; i++)
-        {
-            ninput_items_required[i] = nreqd;
-        }
 }
 
 

src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cc.cc

@@ -64,11 +64,7 @@ void direct_resampler_conditioner_cc::forecast(int noutput_items,
     gr_vector_int &ninput_items_required)
 {
     int nreqd = std::max(static_cast<unsigned>(1), static_cast<int>(static_cast<double>(noutput_items + 1) * sample_freq_in() / sample_freq_out()) + history() - 1);
-    unsigned ninputs = ninput_items_required.size();
+    std::fill(ninput_items_required.begin(), ninput_items_required.end(), nreqd);
-    for (unsigned i = 0; i < ninputs; i++)
-        {
-            ninput_items_required[i] = nreqd;
-        }
 }
 
 

src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cs.cc

@@ -66,12 +66,7 @@ void direct_resampler_conditioner_cs::forecast(int noutput_items,
     gr_vector_int &ninput_items_required)
 {
     int nreqd = std::max(static_cast<unsigned>(1), static_cast<int>(static_cast<double>(noutput_items + 1) * sample_freq_in() / sample_freq_out()) + history() - 1);
-    unsigned ninputs = ninput_items_required.size();
+    std::fill(ninput_items_required.begin(), ninput_items_required.end(), nreqd);
-
-    for (unsigned i = 0; i < ninputs; i++)
-        {
-            ninput_items_required[i] = nreqd;
-        }
 }
 
 

src/core/system_parameters/beidou_dnav_navigation_message.cc

@@ -21,7 +21,7 @@
 #include <cmath>     // for cos, sin, fmod, sqrt, atan2, fabs, floor
 #include <iostream>  // for string, operator<<, cout, ostream
 #include <limits>    // for std::numeric_limits
-
+#include <numeric>   // for accumulate
 
 Beidou_Dnav_Navigation_Message::Beidou_Dnav_Navigation_Message()
 {
@@ -30,9 +30,6 @@ Beidou_Dnav_Navigation_Message::Beidou_Dnav_Navigation_Message()
     for (uint32_t i = 1; i < 64; i++)
         {
             satelliteBlock[i] = gnss_sat.what_block(_system, i);
-        }
-    for (uint32_t i = 1; i < 64; i++)
-        {
             almanacHealth[i] = 0;
         }
 }
@@ -48,16 +45,7 @@ bool Beidou_Dnav_Navigation_Message::read_navigation_bool(
     const std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS>& bits,
     const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
-    bool value;
+    bool value = bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[0].first];
-
-    if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[0].first] == 1)
-        {
-            value = true;
-        }
-    else
-        {
-            value = false;
-        }
     return value;
 }
 
@@ -67,16 +55,11 @@ uint64_t Beidou_Dnav_Navigation_Message::read_navigation_unsigned(
     const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
     uint64_t value = 0ULL;
-    const int32_t num_of_slices = parameter.size();
+    for (const auto& param : parameter)
-    for (int32_t i = 0; i < num_of_slices; i++)
         {
-            for (int32_t j = 0; j < parameter[i].second; j++)
+            for (int32_t j = 0; j < param.second; j++)
                 {
-                    value <<= 1U;  // shift left
+                    value = (value << 1U) | static_cast<uint64_t>(bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - param.first - j]);
-                    if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1)
-                        {
-                            value += 1U;  // insert the bit
-                        }
                 }
         }
     return value;
@@ -87,29 +70,12 @@ int64_t Beidou_Dnav_Navigation_Message::read_navigation_signed(
     const std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS>& bits,
     const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
-    int64_t value = 0;
+    int64_t value = bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[0].first] ? -1LL : 0LL;
-    const int32_t num_of_slices = parameter.size();
+    for (const auto& param : parameter)
-
-    // read the MSB and perform the sign extension
-    if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[0].first] == 1)
         {
-            value ^= 0xFFFFFFFFFFFFFFFF;  // 64 bits variable
+            for (int32_t j = 0; j < param.second; j++)
-        }
-    else
                 {
-            value &= 0;
+                    value = (value << 1) | static_cast<int64_t>(bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - param.first - j]);
-        }
-
-    for (int32_t i = 0; i < num_of_slices; i++)
-        {
-            for (int32_t j = 0; j < parameter[i].second; j++)
-                {
-                    value *= 2;                   // shift left the signed integer
-                    value &= 0xFFFFFFFFFFFFFFFE;  // reset the corresponding bit (for the 64 bits variable)
-                    if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1)
-                        {
-                            value += 1;  // insert the bit
-                        }
                 }
         }
     return value;

src/core/system_parameters/galileo_fnav_message.cc

@@ -282,16 +282,12 @@ void Galileo_Fnav_Message::decode_page(const std::string& data)
 uint64_t Galileo_Fnav_Message::read_navigation_unsigned(const std::bitset<GALILEO_FNAV_DATA_FRAME_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
     uint64_t value = 0ULL;
-    const int num_of_slices = parameter.size();
+    for (const auto& p : parameter)
-    for (int i = 0; i < num_of_slices; i++)
         {
-            for (int j = 0; j < parameter[i].second; j++)
+            for (int j = 0; j < p.second; j++)
                 {
                     value <<= 1U;  // shift left
-                    if (static_cast<int>(bits[GALILEO_FNAV_DATA_FRAME_BITS - parameter[i].first - j]) == 1)
+                    value |= static_cast<uint64_t>(bits[GALILEO_FNAV_DATA_FRAME_BITS - p.first - j]);
-                        {
-                            value += 1;  // insert the bit
-                        }
                 }
         }
     return value;
@@ -300,29 +296,12 @@ uint64_t Galileo_Fnav_Message::read_navigation_unsigned(const std::bitset<GALILE
 
 int64_t Galileo_Fnav_Message::read_navigation_signed(const std::bitset<GALILEO_FNAV_DATA_FRAME_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
-    int64_t value = 0LL;
+    int64_t value = (bits[GALILEO_FNAV_DATA_FRAME_BITS - parameter[0].first] == 1) ? -1LL : 0LL;
-    const int num_of_slices = parameter.size();
+    for (const auto& p : parameter)
-
-    // read the MSB and perform the sign extension
-    if (static_cast<int>(bits[GALILEO_FNAV_DATA_FRAME_BITS - parameter[0].first]) == 1)
         {
-            value ^= 0x0FFFFFFFFFFFFFFF;  // 64 bits variable
+            for (int32_t j = 0; j < p.second; j++)
-        }
-    else
                 {
-            value &= 0;
+                    value = (value << 1) | static_cast<int64_t>(bits[GALILEO_FNAV_DATA_FRAME_BITS - p.first - j]);
-        }
-
-    for (int i = 0; i < num_of_slices; i++)
-        {
-            for (int j = 0; j < parameter[i].second; j++)
-                {
-                    value <<= 1;                  // shift left
-                    value &= 0xFFFFFFFFFFFFFFFE;  // reset the corresponding bit (for the 64 bits variable)
-                    if (static_cast<int>(bits[GALILEO_FNAV_DATA_FRAME_BITS - parameter[i].first - j]) == 1)
-                        {
-                            value += 1;  // insert the bit
-                        }
                 }
         }
     return value;

src/core/system_parameters/galileo_inav_message.cc

@@ -74,16 +74,12 @@ bool Galileo_Inav_Message::CRC_test(const std::bitset<GALILEO_DATA_FRAME_BITS>&
 uint64_t Galileo_Inav_Message::read_navigation_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
     uint64_t value = 0ULL;
-    const int32_t num_of_slices = parameter.size();
+    for (const auto& p : parameter)
-    for (int32_t i = 0; i < num_of_slices; i++)
         {
-            for (int32_t j = 0; j < parameter[i].second; j++)
+            for (int j = 0; j < p.second; j++)
                 {
                     value <<= 1U;  // shift left
-                    if (static_cast<int>(bits[GALILEO_DATA_JK_BITS - parameter[i].first - j]) == 1)
+                    value |= static_cast<uint64_t>(bits[GALILEO_DATA_JK_BITS - p.first - j]);
-                        {
-                            value += 1;  // insert the bit
-                        }
                 }
         }
     return value;
@@ -93,16 +89,12 @@ uint64_t Galileo_Inav_Message::read_navigation_unsigned(const std::bitset<GALILE
 uint8_t Galileo_Inav_Message::read_octet_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
     uint8_t value = 0;
-    const int32_t num_of_slices = parameter.size();
+    for (const auto& p : parameter)
-    for (int32_t i = 0; i < num_of_slices; i++)
         {
-            for (int32_t j = 0; j < parameter[i].second; j++)
+            for (int j = 0; j < p.second; j++)
                 {
                     value <<= 1;  // shift left
-                    if (static_cast<int>(bits[GALILEO_DATA_JK_BITS - parameter[i].first - j]) == 1)
+                    value |= static_cast<uint8_t>(bits[GALILEO_DATA_JK_BITS - p.first - j]);
-                        {
-                            value += 1;  // insert the bit
-                        }
                 }
         }
     return value;
@@ -112,16 +104,12 @@ uint8_t Galileo_Inav_Message::read_octet_unsigned(const std::bitset<GALILEO_DATA
 uint64_t Galileo_Inav_Message::read_page_type_unsigned(const std::bitset<GALILEO_PAGE_TYPE_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
     uint64_t value = 0ULL;
-    const int32_t num_of_slices = parameter.size();
+    for (const auto& p : parameter)
-    for (int32_t i = 0; i < num_of_slices; i++)
         {
-            for (int32_t j = 0; j < parameter[i].second; j++)
+            for (int j = 0; j < p.second; j++)
                 {
-                    value <<= 1U;  // shift left
+                    value <<= 1;  // shift left
-                    if (static_cast<int>(bits[GALILEO_PAGE_TYPE_BITS - parameter[i].first - j]) == 1)
+                    value |= static_cast<uint64_t>(bits[GALILEO_PAGE_TYPE_BITS - p.first - j]);
-                        {
-                            value += 1ULL;  // insert the bit
-                        }
                 }
         }
     return value;
@@ -130,29 +118,12 @@ uint64_t Galileo_Inav_Message::read_page_type_unsigned(const std::bitset<GALILEO
 
 int64_t Galileo_Inav_Message::read_navigation_signed(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
-    int64_t value = 0LL;
+    int64_t value = (bits[GALILEO_DATA_JK_BITS - parameter[0].first] == 1) ? -1LL : 0LL;
-    const int32_t num_of_slices = parameter.size();
+    for (const auto& p : parameter)
-
-    // read the MSB and perform the sign extension
-    if (static_cast<int>(bits[GALILEO_DATA_JK_BITS - parameter[0].first]) == 1)
         {
-            value ^= 0xFFFFFFFFFFFFFFFFLL;  // 64 bits variable
+            for (int32_t j = 0; j < p.second; j++)
-        }
-    else
                 {
-            value &= 0LL;
+                    value = (value << 1) | static_cast<int64_t>(bits[GALILEO_DATA_JK_BITS - p.first - j]);
-        }
-
-    for (int32_t i = 0; i < num_of_slices; i++)
-        {
-            for (int32_t j = 0; j < parameter[i].second; j++)
-                {
-                    value *= 2;                   // shift left the signed integer
-                    value &= 0xFFFFFFFFFFFFFFFE;  // reset the corresponding bit (for the 64 bits variable)
-                    if (static_cast<int>(bits[GALILEO_DATA_JK_BITS - parameter[i].first - j]) == 1)
-                        {
-                            value += 1LL;  // insert the bit
-                        }
                 }
         }
     return value;
@@ -161,15 +132,7 @@ int64_t Galileo_Inav_Message::read_navigation_signed(const std::bitset<GALILEO_D
 
 bool Galileo_Inav_Message::read_navigation_bool(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
-    bool value;
+    bool value = bits[GALILEO_DATA_JK_BITS - parameter[0].first];
-    if (static_cast<int>(bits[GALILEO_DATA_JK_BITS - parameter[0].first]) == 1)
-        {
-            value = true;
-        }
-    else
-        {
-            value = false;
-        }
     return value;
 }
 

src/core/system_parameters/glonass_gnav_navigation_message.cc

@@ -156,16 +156,7 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
 
 bool Glonass_Gnav_Navigation_Message::read_navigation_bool(const std::bitset<GLONASS_GNAV_STRING_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
-    bool value;
+    bool value = bits[GLONASS_GNAV_STRING_BITS - parameter[0].first];
-
-    if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
-        {
-            value = true;
-        }
-    else
-        {
-            value = false;
-        }
     return value;
 }
 
@@ -173,16 +164,11 @@ bool Glonass_Gnav_Navigation_Message::read_navigation_bool(const std::bitset<GLO
 uint64_t Glonass_Gnav_Navigation_Message::read_navigation_unsigned(const std::bitset<GLONASS_GNAV_STRING_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
     uint64_t value = 0ULL;
-    const int32_t num_of_slices = parameter.size();
+    for (const auto& p : parameter)
-    for (int32_t i = 0; i < num_of_slices; i++)
         {
-            for (int32_t j = 0; j < parameter[i].second; j++)
+            for (int32_t j = 0; j < p.second; j++)
                 {
-                    value <<= 1ULL;  // shift left
+                    value = (value << 1U) | static_cast<uint64_t>(bits[GLONASS_GNAV_STRING_BITS - p.first - j]);
-                    if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
-                        {
-                            value += 1ULL;  // insert the bit
-                        }
                 }
         }
     return value;
@@ -192,26 +178,14 @@ uint64_t Glonass_Gnav_Navigation_Message::read_navigation_unsigned(const std::bi
 int64_t Glonass_Gnav_Navigation_Message::read_navigation_signed(const std::bitset<GLONASS_GNAV_STRING_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
     int64_t value = 0LL;
-    int64_t sign = 0LL;
+    int64_t sign = (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1) ? -1LL : 1LL;
-    const int32_t num_of_slices = parameter.size();
+
-    // read the MSB and perform the sign extension
+    // const int32_t num_of_slices = parameter.size();
-    if (bits[GLONASS_GNAV_STRING_BITS - parameter[0].first] == 1)
+    for (const auto& p : parameter)
         {
-            sign = -1LL;
+            for (int32_t j = 1; j < p.second; j++)
-        }
-    else
                 {
-            sign = 1LL;
+                    value = (value << 1) + bits[GLONASS_GNAV_STRING_BITS - p.first - j];
-        }
-    for (int32_t i = 0; i < num_of_slices; i++)
-        {
-            for (int32_t j = 1; j < parameter[i].second; j++)
-                {
-                    value <<= 1;  // shift left
-                    if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
-                        {
-                            value += 1LL;  // insert the bit
-                        }
                 }
         }
     return (sign * value);

src/core/system_parameters/gps_cnav_navigation_message.cc

@@ -36,16 +36,7 @@ Gps_CNAV_Navigation_Message::Gps_CNAV_Navigation_Message()
 
 bool Gps_CNAV_Navigation_Message::read_navigation_bool(const std::bitset<GPS_CNAV_DATA_PAGE_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
-    bool value;
+    bool value = bits[GPS_CNAV_DATA_PAGE_BITS - parameter[0].first];
-
-    if (static_cast<int>(bits[GPS_CNAV_DATA_PAGE_BITS - parameter[0].first]) == 1)
-        {
-            value = true;
-        }
-    else
-        {
-            value = false;
-        }
     return value;
 }
 
@@ -53,16 +44,11 @@ bool Gps_CNAV_Navigation_Message::read_navigation_bool(const std::bitset<GPS_CNA
 uint64_t Gps_CNAV_Navigation_Message::read_navigation_unsigned(const std::bitset<GPS_CNAV_DATA_PAGE_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
     uint64_t value = 0ULL;
-    const int32_t num_of_slices = parameter.size();
+    for (const auto& p : parameter)
-    for (int32_t i = 0; i < num_of_slices; i++)
         {
-            for (int32_t j = 0; j < parameter[i].second; j++)
+            for (int32_t j = 0; j < p.second; j++)
                 {
-                    value <<= 1ULL;  // shift left
+                    value = (value << 1) | static_cast<uint64_t>(bits[GPS_CNAV_DATA_PAGE_BITS - p.first - j]);
-                    if (static_cast<int>(bits[GPS_CNAV_DATA_PAGE_BITS - parameter[i].first - j]) == 1)
-                        {
-                            value += 1ULL;  // insert the bit
-                        }
                 }
         }
     return value;
@@ -71,29 +57,12 @@ uint64_t Gps_CNAV_Navigation_Message::read_navigation_unsigned(const std::bitset
 
 int64_t Gps_CNAV_Navigation_Message::read_navigation_signed(const std::bitset<GPS_CNAV_DATA_PAGE_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
-    int64_t value = 0LL;
+    int64_t value = (bits[GPS_CNAV_DATA_PAGE_BITS - parameter[0].first] == 1) ? -1LL : 0LL;
-    const int32_t num_of_slices = parameter.size();
+    for (const auto& p : parameter)
-
-    // read the MSB and perform the sign extension
-    if (static_cast<int>(bits[GPS_CNAV_DATA_PAGE_BITS - parameter[0].first]) == 1)
         {
-            value ^= 0xFFFFFFFFFFFFFFFFLL;  // 64 bits variable
+            for (int32_t j = 0; j < p.second; j++)
-        }
-    else
                 {
-            value &= 0LL;
+                    value = (value << 1) | static_cast<int64_t>(bits[GPS_CNAV_DATA_PAGE_BITS - p.first - j]);
-        }
-
-    for (int32_t i = 0; i < num_of_slices; i++)
-        {
-            for (int32_t j = 0; j < parameter[i].second; j++)
-                {
-                    value *= 2;                     // shift left the signed integer
-                    value &= 0xFFFFFFFFFFFFFFFELL;  // reset the corresponding bit (for the 64 bits variable)
-                    if (static_cast<int>(bits[GPS_CNAV_DATA_PAGE_BITS - parameter[i].first - j]) == 1)
-                        {
-                            value += 1LL;  // insert the bit
-                        }
                 }
         }
     return value;

src/core/system_parameters/gps_navigation_message.cc

@@ -32,9 +32,6 @@ Gps_Navigation_Message::Gps_Navigation_Message()
     for (uint32_t i = 1; i < 33; i++)
         {
             satelliteBlock[i] = gnss_sat.what_block(_system, i);
-        }
-    for (int32_t i = 1; i < 33; i++)
-        {
             almanacHealth[i] = 0;
         }
 }
@@ -46,66 +43,35 @@ void Gps_Navigation_Message::print_gps_word_bytes(uint32_t GPS_word) const
 }
 
 
-bool Gps_Navigation_Message::read_navigation_bool(const std::bitset<GPS_SUBFRAME_BITS>& bits, const std::vector<std::pair<int32_t, int32_t> /*unused*/>& parameter) const
+bool Gps_Navigation_Message::read_navigation_bool(const std::bitset<GPS_SUBFRAME_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
-    bool value;
+    bool value = bits[GPS_SUBFRAME_BITS - parameter[0].first];
-
-    if (static_cast<int>(bits[GPS_SUBFRAME_BITS - parameter[0].first]) == 1)
-        {
-            value = true;
-        }
-    else
-        {
-            value = false;
-        }
     return value;
 }
 
 
-uint64_t Gps_Navigation_Message::read_navigation_unsigned(const std::bitset<GPS_SUBFRAME_BITS>& bits, const std::vector<std::pair<int32_t, int32_t> /*unused*/>& parameter) const
+uint64_t Gps_Navigation_Message::read_navigation_unsigned(const std::bitset<GPS_SUBFRAME_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
     uint64_t value = 0ULL;
-    const int32_t num_of_slices = parameter.size();
+    for (const auto& p : parameter)
-    for (int32_t i = 0; i < num_of_slices; i++)
         {
-            for (int32_t j = 0; j < parameter[i].second; j++)
+            for (int32_t j = 0; j < p.second; ++j)
                 {
-                    value <<= 1;  // shift left
+                    value = (value << 1) | (bits.test(GPS_SUBFRAME_BITS - p.first - j) ? 1 : 0);
-                    if (static_cast<int>(bits[GPS_SUBFRAME_BITS - parameter[i].first - j]) == 1)
-                        {
-                            value += 1ULL;  // insert the bit
-                        }
                 }
         }
     return value;
 }
 
 
-int64_t Gps_Navigation_Message::read_navigation_signed(const std::bitset<GPS_SUBFRAME_BITS>& bits, const std::vector<std::pair<int32_t, int32_t> /*unused*/>& parameter) const
+int64_t Gps_Navigation_Message::read_navigation_signed(const std::bitset<GPS_SUBFRAME_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
-    int64_t value = 0LL;
+    int64_t value = (bits[GPS_SUBFRAME_BITS - parameter[0].first] == 1) ? -1LL : 0LL;
-    const int32_t num_of_slices = parameter.size();
+    for (const auto& p : parameter)
-
-    // read the MSB and perform the sign extension
-    if (static_cast<int>(bits[GPS_SUBFRAME_BITS - parameter[0].first]) == 1)
         {
-            value ^= 0xFFFFFFFFFFFFFFFFLL;  // 64 bits variable
+            for (int32_t j = 0; j < p.second; j++)
-        }
-    else
                 {
-            value &= 0LL;
+                    value = (value << 1) | static_cast<int64_t>(bits[GPS_SUBFRAME_BITS - p.first - j]);
-        }
-
-    for (int32_t i = 0; i < num_of_slices; i++)
-        {
-            for (int32_t j = 0; j < parameter[i].second; j++)
-                {
-                    value *= 2;                     // shift left the signed integer
-                    value &= 0xFFFFFFFFFFFFFFFELL;  // reset the corresponding bit (for the 64 bits variable)
-                    if (static_cast<int>(bits[GPS_SUBFRAME_BITS - parameter[i].first - j]) == 1)
-                        {
-                            value += 1LL;  // insert the bit
-                        }
                 }
         }
     return value;
@@ -351,7 +317,7 @@ int32_t Gps_Navigation_Message::subframe_decoder(const char* subframe)
 
         default:
             break;
-        }  // switch subframeID ...
+        }  // switch subframeID
 
     return subframe_ID;
 }

src/tests/benchmarks/CMakeLists.txt

@@ -25,6 +25,11 @@ if(NOT benchmark_FOUND)
         "--build" "${GNSSSDR_BINARY_DIR}/benchmark-${GNSSSDR_BENCHMARK_LOCAL_VERSION}"
         "--config" $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>$<$<CONFIG:NoOptWithASM>:Debug>$<$<CONFIG:Coverage>:Debug>$<$<CONFIG:O2WithASM>:RelWithDebInfo>$<$<CONFIG:O3WithASM>:RelWithDebInfo>$<$<CONFIG:ASAN>:Debug>
     )
+    if(CMAKE_GENERATOR STREQUAL Xcode)
+        set(VOLK_GNSSSDR_BUILD_COMMAND "xcodebuild"
+            "-configuration" $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>$<$<CONFIG:NoOptWithASM>:Debug>$<$<CONFIG:Coverage>:Debug>$<$<CONFIG:O2WithASM>:RelWithDebInfo>$<$<CONFIG:O3WithASM>:RelWithDebInfo>$<$<CONFIG:ASAN>:Debug>
+        )
+    endif()
 
     if((CMAKE_VERSION VERSION_GREATER 3.12.0) AND NOT (CMAKE_GENERATOR STREQUAL Xcode))
         set(BENCHMARK_PARALLEL_BUILD "--parallel 2")