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

AUTHORS

@@ -51,6 +51,7 @@ David Pubill            david.pubill@cttc.cat            Contributor
 Fran Fabra              fabra@ice.csic.es                Contributor
 Gabriel Araujo          gabriel.araujo.5000@gmail.com    Contributor
 Gerald LaMountain       gerald@gece.neu.edu              Contributor
+Josh Schindehette       jschindehette@geontech.com       Contributor
 Leonardo Tonetto        tonetto.dev@gmail.com            Contributor
 Mara Branzanti          mara.branzanti@gmail.com         Contributor
 Marc Molina             marc.molina.pena@gmail.com       Contributor

CMakeLists.txt

@@ -326,7 +326,7 @@ set(GNSSSDR_ARMADILLO_LOCAL_VERSION "9.900.x")
 set(GNSSSDR_GTEST_LOCAL_VERSION "1.10.0")
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
 set(GNSSSDR_GPSTK_LOCAL_VERSION "3.0.0")
-set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.17")
+set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.18")
 set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.10")
 set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.13.0")
 set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.5.1")
@@ -2097,7 +2097,7 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
                 ExternalProject_Add(matio-${GNSSSDR_MATIO_LOCAL_VERSION}
                     PREFIX ${CMAKE_BINARY_DIR}/matio
                     GIT_REPOSITORY https://github.com/tbeu/matio
-                    GIT_TAG 596cb3ce71038958812bd6cf9b141f12ce155ac6 # Workaround until Matio 1.5.18 v${GNSSSDR_MATIO_LOCAL_VERSION}
+                    GIT_TAG v${GNSSSDR_MATIO_LOCAL_VERSION}
                     SOURCE_DIR ${CMAKE_BINARY_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
                     UPDATE_COMMAND ${CMAKE_BINARY_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/autogen.sh
                     CONFIGURE_COMMAND ${CMAKE_BINARY_DIR}/thirdparty/matio/matio-${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>
@@ -2678,16 +2678,14 @@ if(DEFINED ENV{CUDA_GPU_ACCEL})
 endif()
 
 if(ENABLE_CUDA)
+    set(CMAKE_CUDA_STANDARD 14)
+    set(CMAKE_CUDA_EXTENSIONS ON)
     if(CMAKE_VERSION VERSION_GREATER 3.11)
         include(CheckLanguage)
         check_language(CUDA)
         if(CMAKE_CUDA_COMPILER)
             enable_language(CUDA)
             set(CUDA_FOUND TRUE)
-            if(NOT DEFINED CMAKE_CUDA_STANDARD)
-                set(CMAKE_CUDA_STANDARD 11)
-                set(CMAKE_CUDA_STANDARD_REQUIRED ON)
-            endif()
         else()
             set(ENABLE_CUDA OFF)
         endif()
@@ -2695,11 +2693,19 @@ if(ENABLE_CUDA)
         find_package(CUDA REQUIRED)
         set_package_properties(CUDA PROPERTIES
             URL "https://developer.nvidia.com/cuda-downloads"
-            DESCRIPTION "Library for parallel programming in Nvidia GPUs"
             PURPOSE "Used in some processing block implementations."
             TYPE REQUIRED
         )
-        if(NOT CUDA_FOUND)
+        if(CUDA_FOUND)
+            set_package_properties(CUDA PROPERTIES
+                DESCRIPTION "Library for parallel programming in Nvidia GPUs (found: v${CUDA_VERSION_STRING})"
+            )
+            set(CMAKE_CUDA_COMPILER_ID "NVIDIA")  # only for reporting purposes
+            set(CMAKE_CUDA_COMPILER_VERSION ${CUDA_VERSION_STRING})  # only for reporting purposes
+        else()
+            set_package_properties(CUDA PROPERTIES
+                DESCRIPTION "Library for parallel programming in Nvidia GPUs"
+            )
             set(ENABLE_CUDA OFF)
         endif()
     endif()
@@ -2709,7 +2715,6 @@ if(ENABLE_CUDA)
     message(STATUS " You can disable it with 'cmake -DENABLE_CUDA=OFF ..'")
 else()
     message(STATUS "NVIDIA CUDA GPU Acceleration will be not enabled.")
-    message(STATUS " Enable it with 'cmake -DENABLE_CUDA=ON ..' to add support for GPU-based acceleration using CUDA.")
 endif()
 
 
@@ -2997,7 +3002,9 @@ if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
         add_compile_options(-Wno-missing-field-initializers)
     endif()
     if(CMAKE_CROSSCOMPILING OR NOT ENABLE_PACKAGING)
-        add_compile_options(-Wno-psabi)
+        if(NOT ENABLE_CUDA)
+            add_compile_options(-Wno-psabi)
+        endif()
     endif()
     if(IS_ARM)
         if((CMAKE_CXX_COMPILER_VERSION VERSION_GREATER "7.1.0") AND (CMAKE_VERSION VERSION_GREATER "3.1"))
@@ -3031,7 +3038,9 @@ if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
                 add_compile_options(-mtune=native)
             endif()
         else()
-            add_compile_options(-march=native)
+            if(NOT ENABLE_CUDA)
+                add_compile_options(-march=native)
+            endif()
         endif()
     endif()
 endif()
@@ -3157,6 +3166,9 @@ endif()
 message(STATUS "CMake version: ${CMAKE_VERSION}")
 message(STATUS "The CXX compiler identification is ${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER_VERSION}. Standard: C++${CMAKE_CXX_STANDARD}.")
 message(STATUS "The C compiler identification is ${CMAKE_C_COMPILER_ID} ${CMAKE_C_COMPILER_VERSION}. Standard: C${CMAKE_C_STANDARD}.")
+if(CUDA_FOUND)
+    message(STATUS "The CUDA compiler identification is ${CMAKE_CUDA_COMPILER_ID} ${CMAKE_CUDA_COMPILER_VERSION}. Standard: C++${CMAKE_CUDA_STANDARD}.")
+endif()
 message(STATUS "")
 file(REMOVE ${CMAKE_BINARY_DIR}/features.log)
 file(WRITE ${CMAKE_BINARY_DIR}/features.log "**********************************\n")

cmake/Modules/SetupPython.cmake

@@ -49,7 +49,7 @@ endmacro()
 # or finds the interpreter via the built-in cmake module.
 ########################################################################
 
-if(CMAKE_VERSION VERSION_LESS 3.12)
+if(CMAKE_VERSION VERSION_LESS 3.12 OR CMAKE_CROSSCOMPILING)
     if(PYTHON_EXECUTABLE)
         message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
         string(FIND "${PYTHON_EXECUTABLE}" "python3" IS_PYTHON3)

conf/gnss-sdr_GPS_L1_monitor.conf

@@ -0,0 +1,89 @@
+; This is a GNSS-SDR configuration file
+; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
+; SPDX-License-Identifier: GPL-3.0-or-later
+; SPDX-FileCopyrightText: (C) 2010-2020  (see AUTHORS file for a list of contributors)
+
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+GNSS-SDR.internal_fs_sps=2000000
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource.implementation=File_Signal_Source
+SignalSource.filename=/tmp/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
+SignalSource.item_type=ishort
+SignalSource.sampling_frequency=4000000
+SignalSource.freq=1575420000
+SignalSource.samples=0
+SignalSource.enable_throttle_control=true
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner.implementation=Signal_Conditioner
+
+;######### DATA_TYPE_ADAPTER CONFIG ############
+DataTypeAdapter.implementation=Ishort_To_Complex
+
+;######### INPUT_FILTER CONFIG ############
+InputFilter.implementation=Pass_Through
+InputFilter.item_type=gr_complex
+
+;######### RESAMPLER CONFIG ############
+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=3
+Channels.in_acquisition=1
+Channel.signal=1C
+Channel0.satellite=1
+Channel1.satellite=11
+Channel2.satellite=17
+
+;######### 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=Hybrid_Observables
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.averaging_depth=100
+PVT.flag_averaging=true
+PVT.output_rate_ms=10
+PVT.display_rate_ms=500
+PVT.enable_monitor=true
+PVT.monitor_client_addresses=127.0.0.1
+PVT.monitor_udp_port=1234
+
+;######### MONITOR CONFIG ############
+Monitor.enable_monitor=true
+Monitor.decimation_factor=1
+Monitor.client_addresses=127.0.0.1
+Monitor.udp_port=1233
+
+;######### ACQUISITION MONITOR CONFIG ############
+AcquisitionMonitor.enable_monitor=true
+AcquisitionMonitor.decimation_factor=1
+AcquisitionMonitor.client_addresses=127.0.0.1
+AcquisitionMonitor.udp_port=1231
+
+;######### TRACKING MONITOR CONFIG ############
+TrackingMonitor.enable_monitor=true
+TrackingMonitor.decimation_factor=1
+TrackingMonitor.client_addresses=127.0.0.1
+TrackingMonitor.udp_port=1232

conf/gnss-sdr_GPS_L1_udp_with_monitor.conf

@@ -0,0 +1,82 @@
+; This is a GNSS-SDR configuration file
+; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
+; SPDX-License-Identifier: GPL-3.0-or-later
+; SPDX-FileCopyrightText: (C) 2010-2020  (see AUTHORS file for a list of contributors)
+
+[GNSS-SDR]
+
+;######### GLOBAL OPTIONS ##################
+;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [Sps]
+GNSS-SDR.internal_fs_sps=4000000
+
+;######### SIGNAL_SOURCE CONFIG ############
+SignalSource.implementation=Custom_UDP_Signal_Source
+SignalSource.item_type=gr_complex
+SignalSource.origin_address=127.0.0.1
+SignalSource.capture_device=lo
+SignalSource.port=1230
+;SignalSource.payload_bytes=1472 # Not used! Size is retrieved from UDP Packet
+SignalSource.sample_type=cfloat
+SignalSource.IQ_swap=true
+SignalSource.RF_channels=1
+SignalSource.channels_in_udp=1
+SignalSource.dump=false
+SignalSource.dump_filename=./signal_source.dat
+
+;######### SIGNAL_CONDITIONER CONFIG ############
+SignalConditioner.implementation=Pass_Through
+
+;######### CHANNELS GLOBAL CONFIG ############
+Channels_1C.count=3
+Channels.in_acquisition=1
+Channel.signal=1C
+Channel0.satellite=1
+Channel1.satellite=11
+Channel2.satellite=17
+
+;######### 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=Hybrid_Observables
+
+;######### PVT CONFIG ############
+PVT.implementation=RTKLIB_PVT
+PVT.averaging_depth=100
+PVT.flag_averaging=true
+PVT.output_rate_ms=10
+PVT.display_rate_ms=500
+PVT.enable_monitor=true
+PVT.monitor_client_addresses=127.0.0.1
+PVT.monitor_udp_port=1234
+
+;######### MONITOR CONFIG ############
+Monitor.enable_monitor=true
+Monitor.decimation_factor=1
+Monitor.client_addresses=127.0.0.1
+Monitor.udp_port=1233
+
+;######### ACQUISITION MONITOR CONFIG ############
+AcquisitionMonitor.enable_monitor=true
+AcquisitionMonitor.decimation_factor=1
+AcquisitionMonitor.client_addresses=127.0.0.1
+AcquisitionMonitor.udp_port=1231
+
+;######### TRACKING MONITOR CONFIG ############
+TrackingMonitor.enable_monitor=true
+TrackingMonitor.decimation_factor=1
+TrackingMonitor.client_addresses=127.0.0.1
+TrackingMonitor.udp_port=1232

docs/changelog.md

@@ -41,6 +41,8 @@ SPDX-FileCopyrightText: 2011-2020 Carles Fernandez-Prades <carles.fernandez@cttc
   extra dependency is needed. This change is transparent to the user, since
   everything is managed by the CMake scripts.
 
+- Fix building with `-DENABLE_CUDA=ON` for blocks implemented with CUDA.
+
 ### Improvements in Usability:
 
 - Fixed a bug when enabling pseudorange carrier smoothing in other bands than
@@ -51,7 +53,14 @@ SPDX-FileCopyrightText: 2011-2020 Carles Fernandez-Prades <carles.fernandez@cttc
   v0.0.13. This change recovers the old behavior.
 - Fixed the termination of the receiver with `q` + `[Enter]` keys when using the
   `Osmosdr_Signal_Source` implementation of the `SignalSource` block.
+- The `Labsat_Signal_Source` implementation of the `SignalSource` block now can
+  be throttled with the new parameters `SignalSource.enable_throttle_control`
+  and `SignalSource.throttle_frequency_sps`, thus allowing the emulation of
+  real-time operation.
 - Improved General Block diagram, both in content and in image resolution.
+- The `Custom_UDP_Signal_Source` implementation now accepts
+  `SignalSource.sample_type=cfloat`, in addition to the existing 4 and 8-bit
+  length sample types.
 
 &nbsp;
 
@@ -147,6 +156,7 @@ SPDX-FileCopyrightText: 2011-2020 Carles Fernandez-Prades <carles.fernandez@cttc
   processed (e.g., `GNSS-SDR.Galileo_banned_prns=14,18` since Galileo E14 and
   E18 satellites are not usable for PVT). Satellites on those lists will never
   be assigned to a processing channel.
+- Added acquisition and tracking monitors, with configuration examples.
 - Added a Matlab script to quantize the input signal with a given number of bits
   per sample.
 - Fixed the building option `-DENABLE_LOG=OFF`, which strips internal logging

src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc

@@ -85,12 +85,14 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
 
     code_ = std::vector<std::complex<float>>(vector_length_);
 
+    bool enable_monitor_output = configuration->property("AcquisitionMonitor.enable_monitor", false);
+
     if (item_type_ == "gr_complex")
         {
             item_size_ = sizeof(gr_complex);
             acquisition_cc_ = galileo_pcps_8ms_make_acquisition_cc(sampled_ms_, max_dwells_,
                 doppler_max_, fs_in_, samples_per_ms, code_length_,
-                dump_, dump_filename_);
+                dump_, dump_filename_, enable_monitor_output);
             stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
             DLOG(INFO) << "stream_to_vector("
                        << stream_to_vector_->unique_id() << ")";

src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc

@@ -78,12 +78,14 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
     code_data_ = std::vector<std::complex<float>>(vector_length_);
     code_pilot_ = std::vector<std::complex<float>>(vector_length_);
 
+    bool enable_monitor_output = configuration_->property("AcquisitionMonitor.enable_monitor", false);
+
     if (item_type_ == "gr_complex")
         {
             item_size_ = sizeof(gr_complex);
             acquisition_cc_ = pcps_cccwsr_make_acquisition_cc(sampled_ms_, max_dwells_,
                 doppler_max_, fs_in_, samples_per_ms, code_length_,
-                dump_, dump_filename_);
+                dump_, dump_filename_, enable_monitor_output);
             stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
             DLOG(INFO) << "stream_to_vector("
                        << stream_to_vector_->unique_id() << ")";

src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc

@@ -111,6 +111,8 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
     dump_filename_ = configuration_->property(role + ".dump_filename",
         default_dump_filename);
 
+    bool enable_monitor_output = configuration_->property("AcquisitionMonitor.enable_monitor", false);
+
     code_ = std::vector<std::complex<float>>(code_length_);
     LOG(INFO) << "Vector Length: " << vector_length_
               << ", Samples per ms: " << samples_per_ms
@@ -123,7 +125,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
             acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
                 sampled_ms_, max_dwells_, doppler_max_, fs_in_,
                 samples_per_ms, code_length_, bit_transition_flag_,
-                dump_, dump_filename_);
+                dump_, dump_filename_, enable_monitor_output);
             stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_,
                 vector_length_);
             DLOG(INFO) << "stream_to_vector_quicksync("

src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc

@@ -77,6 +77,8 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
     dump_filename_ = configuration_->property(role + ".dump_filename",
         default_dump_filename);
 
+    bool enable_monitor_output = configuration_->property("AcquisitionMonitor.enable_monitor", false);
+
     // -- Find number of samples per spreading code (4 ms)  -----------------
 
     code_length_ = static_cast<unsigned int>(round(
@@ -93,7 +95,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
             item_size_ = sizeof(gr_complex);
             acquisition_cc_ = pcps_tong_make_acquisition_cc(sampled_ms_, doppler_max_,
                 fs_in_, samples_per_ms, code_length_, tong_init_val_,
-                tong_max_val_, tong_max_dwells_, dump_, dump_filename_);
+                tong_max_val_, tong_max_dwells_, dump_, dump_filename_, enable_monitor_output);
 
             stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
             DLOG(INFO) << "stream_to_vector("

src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc

@@ -94,6 +94,8 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
     codeQ_ = std::vector<std::complex<float>>(vector_length_);
     both_signal_components = false;
 
+    bool enable_monitor_output = configuration->property("AcquisitionMonitor.enable_monitor", false);
+
     std::string sig_ = configuration_->property("Channel.signal", std::string("5X"));
     if (sig_.at(0) == '5' && sig_.at(1) == 'X')
         {
@@ -104,7 +106,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
             item_size_ = sizeof(gr_complex);
             acquisition_cc_ = galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(sampled_ms_, max_dwells_,
                 doppler_max_, fs_in_, code_length_, code_length_, bit_transition_flag_,
-                dump_, dump_filename_, both_signal_components, CAF_window_hz_, Zero_padding);
+                dump_, dump_filename_, both_signal_components, CAF_window_hz_, Zero_padding, enable_monitor_output);
         }
     else
         {

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc

@@ -55,6 +55,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
     sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
     max_dwells_ = configuration->property(role + ".max_dwells", 1);
     dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
+    bool enable_monitor_output = configuration->property("AcquisitionMonitor.enable_monitor", false);
 
     // --- Find number of samples per spreading code -------------------------
     vector_length_ = static_cast<unsigned int>(round(fs_in_ / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS)));
@@ -66,7 +67,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
             item_size_ = sizeof(gr_complex);
             acquisition_cc_ = pcps_make_assisted_acquisition_cc(max_dwells_, sampled_ms_,
                 doppler_max_, doppler_min_, fs_in_, vector_length_,
-                dump_, dump_filename_);
+                dump_, dump_filename_, enable_monitor_output);
         }
     else
         {

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc

@@ -100,6 +100,8 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
 
     dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
 
+    bool enable_monitor_output = configuration_->property("AcquisitionMonitor.enable_monitor", false);
+
     int samples_per_ms = round(code_length_);
     code_ = std::vector<std::complex<float>>(code_length_);
     /* Object relevant information for debugging */
@@ -116,7 +118,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
             acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
                 sampled_ms_, max_dwells_, doppler_max_, fs_in_,
                 samples_per_ms, code_length_, bit_transition_flag_,
-                dump_, dump_filename_);
+                dump_, dump_filename_, enable_monitor_output);
 
             stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_,
                 code_length_ * folding_factor_);

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc

@@ -67,6 +67,8 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
 
     dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
 
+    bool enable_monitor_output = configuration_->property("AcquisitionMonitor.enable_monitor", false);
+
     // -- Find number of samples per spreading code -------------------------
     code_length_ = static_cast<unsigned int>(round(fs_in_ / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS)));
 
@@ -79,7 +81,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
             item_size_ = sizeof(gr_complex);
             acquisition_cc_ = pcps_tong_make_acquisition_cc(sampled_ms_, doppler_max_, fs_in_,
                 code_length_, code_length_, tong_init_val_, tong_max_val_, tong_max_dwells_,
-                dump_, dump_filename_);
+                dump_, dump_filename_, enable_monitor_output);
 
             stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
 

src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc

@@ -46,11 +46,12 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make
     const std::string &dump_filename,
     bool both_signal_components_,
     int CAF_window_hz_,
-    int Zero_padding_)
+    int Zero_padding_,
+    bool enable_monitor_output)
 {
     return galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr(
         new galileo_e5a_noncoherentIQ_acquisition_caf_cc(sampled_ms, max_dwells, doppler_max, fs_in, samples_per_ms,
-            samples_per_code, bit_transition_flag, dump, dump_filename, both_signal_components_, CAF_window_hz_, Zero_padding_));
+            samples_per_code, bit_transition_flag, dump, dump_filename, both_signal_components_, CAF_window_hz_, Zero_padding_, enable_monitor_output));
 }
 
 
@@ -66,9 +67,10 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
     const std::string &dump_filename,
     bool both_signal_components_,
     int CAF_window_hz_,
-    int Zero_padding_) : gr::block("galileo_e5a_noncoherentIQ_acquisition_caf_cc",
+    int Zero_padding_,
-                             gr::io_signature::make(1, 1, sizeof(gr_complex)),
+    bool enable_monitor_output) : gr::block("galileo_e5a_noncoherentIQ_acquisition_caf_cc",
-                             gr::io_signature::make(0, 0, sizeof(gr_complex)))
+                                  gr::io_signature::make(1, 1, sizeof(gr_complex)),
+                                  gr::io_signature::make(0, 1, sizeof(Gnss_Synchro)))
 {
     this->message_port_register_out(pmt::mp("events"));
     d_sample_counter = 0ULL;  // SAMPLE COUNTER
@@ -96,6 +98,7 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
     d_buffer_count = 0;
     d_both_signal_components = both_signal_components_;
     d_CAF_window_hz = CAF_window_hz_;
+    d_enable_monitor_output = enable_monitor_output;
 
     d_inbuffer.reserve(d_fft_size);
     d_fft_code_I_A.reserve(d_fft_size);
@@ -285,7 +288,7 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_state(int state)
 
 int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items __attribute__((unused)),
     gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
-    gr_vector_void_star &output_items __attribute__((unused)))
+    gr_vector_void_star &output_items)
 {
     /*
      * By J.Arribas, L.Esteve, M.Molina and M.Sales
@@ -300,6 +303,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
      */
 
     int acquisition_message = -1;  // 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
+    int return_value = 0;  // 0=Produces no Gnss_Synchro objects
     /* States: 0 Stop Channel
      *         1 Load the buffer until it reaches fft_size
      *         2 Acquisition algorithm
@@ -726,6 +730,17 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
                 this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
                 d_sample_counter += static_cast<uint64_t>(ninput_items[0]);  // sample counter
                 consume_each(ninput_items[0]);
+
+                // Copy and push current Gnss_Synchro to monitor queue
+                if (d_enable_monitor_output)
+                    {
+                        auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
+                        Gnss_Synchro current_synchro_data = Gnss_Synchro();
+                        current_synchro_data = *d_gnss_synchro;
+                        *out[0] = current_synchro_data;
+                        return_value = 1;  // Number of Gnss_Synchro objects produced
+                    }
+
                 break;
             }
         case 4:
@@ -752,5 +767,5 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
             }
         }
 
-    return 0;
+    return return_value;
 }

src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h

@@ -60,7 +60,8 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make
     const std::string& dump_filename,
     bool both_signal_components_,
     int CAF_window_hz_,
-    int Zero_padding_);
+    int Zero_padding_,
+    bool enable_monitor_output);
 
 /*!
  * \brief This class implements a Parallel Code Phase Search Acquisition.
@@ -186,7 +187,8 @@ private:
         const std::string& dump_filename,
         bool both_signal_components_,
         int CAF_window_hz_,
-        int Zero_padding_);
+        int Zero_padding_,
+        bool enable_monitor_output);
 
     galileo_e5a_noncoherentIQ_acquisition_caf_cc(
         unsigned int sampled_ms,
@@ -198,7 +200,8 @@ private:
         const std::string& dump_filename,
         bool both_signal_components_,
         int CAF_window_hz_,
-        int Zero_padding_);
+        int Zero_padding_,
+        bool enable_monitor_output);
 
     void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
         int doppler_offset);
@@ -260,6 +263,7 @@ private:
     bool d_active;
     bool d_dump;
     bool d_both_signal_components;
+    bool d_enable_monitor_output;
 };
 
 #endif  // GNSS_SDR_GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_CC_H

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc

@@ -37,11 +37,13 @@ galileo_pcps_8ms_acquisition_cc_sptr galileo_pcps_8ms_make_acquisition_cc(
     int64_t fs_in,
     int32_t samples_per_ms,
     int32_t samples_per_code,
-    bool dump, const std::string &dump_filename)
+    bool dump,
+    const std::string &dump_filename,
+    bool enable_monitor_output)
 {
     return galileo_pcps_8ms_acquisition_cc_sptr(
         new galileo_pcps_8ms_acquisition_cc(sampled_ms, max_dwells, doppler_max, fs_in, samples_per_ms,
-            samples_per_code, dump, dump_filename));
+            samples_per_code, dump, dump_filename, enable_monitor_output));
 }
 
 
@@ -53,9 +55,10 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
     int32_t samples_per_ms,
     int32_t samples_per_code,
     bool dump,
-    const std::string &dump_filename) : gr::block("galileo_pcps_8ms_acquisition_cc",
+    const std::string &dump_filename,
-                                            gr::io_signature::make(1, 1, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)),
+    bool enable_monitor_output) : gr::block("galileo_pcps_8ms_acquisition_cc",
-                                            gr::io_signature::make(0, 0, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)))
+                                  gr::io_signature::make(1, 1, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)),
+                                  gr::io_signature::make(0, 1, sizeof(Gnss_Synchro)))
 {
     this->message_port_register_out(pmt::mp("events"));
     d_sample_counter = 0ULL;  // SAMPLE COUNTER
@@ -87,6 +90,8 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
     d_dump = dump;
     d_dump_filename = dump_filename;
 
+    d_enable_monitor_output = enable_monitor_output;
+
     d_doppler_resolution = 0;
     d_threshold = 0;
     d_doppler_step = 0;
@@ -199,7 +204,7 @@ void galileo_pcps_8ms_acquisition_cc::set_state(int32_t state)
 
 int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
     gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
-    gr_vector_void_star &output_items __attribute__((unused)))
+    gr_vector_void_star &output_items)
 {
     int32_t acquisition_message = -1;  // 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
 
@@ -380,6 +385,16 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
                 acquisition_message = 1;
                 this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
 
+                // Copy and push current Gnss_Synchro to monitor queue
+                if (d_enable_monitor_output)
+                    {
+                        auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
+                        Gnss_Synchro current_synchro_data = Gnss_Synchro();
+                        current_synchro_data = *d_gnss_synchro;
+                        *out[0] = current_synchro_data;
+                        noutput_items = 1;  // Number of Gnss_Synchro objects produced
+                    }
+
                 break;
             }
 

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h

@@ -52,7 +52,8 @@ galileo_pcps_8ms_make_acquisition_cc(uint32_t sampled_ms,
     int32_t samples_per_ms,
     int32_t samples_per_code,
     bool dump,
-    const std::string& dump_filename);
+    const std::string& dump_filename,
+    bool enable_monitor_output);
 
 /*!
  * \brief This class implements a Parallel Code Phase Search Acquisition for
@@ -174,7 +175,8 @@ private:
         int32_t samples_per_ms,
         int32_t samples_per_code,
         bool dump,
-        const std::string& dump_filename);
+        const std::string& dump_filename,
+        bool enable_monitor_output);
 
     galileo_pcps_8ms_acquisition_cc(
         uint32_t sampled_ms,
@@ -184,7 +186,8 @@ private:
         int32_t samples_per_ms,
         int32_t samples_per_code,
         bool dump,
-        const std::string& dump_filename);
+        const std::string& dump_filename,
+        bool enable_monitor_output);
 
     void calculate_magnitudes(
         gr_complex* fft_begin,
@@ -230,6 +233,7 @@ private:
 
     bool d_active;
     bool d_dump;
+    bool d_enable_monitor_output;
 };
 
 #endif  // GNSS_SDR_PCPS_8MS_ACQUISITION_CC_H

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -71,7 +71,7 @@ pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_)
 
 pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acquisition",
                                                                 gr::io_signature::make(1, 1, conf_.it_size),
-                                                                gr::io_signature::make(0, 0, conf_.it_size))
+                                                                gr::io_signature::make(0, 1, sizeof(Gnss_Synchro)))
 {
     this->message_port_register_out(pmt::mp("events"));
 
@@ -385,6 +385,14 @@ void pcps_acquisition::send_positive_acquisition()
         {
             this->message_port_pub(pmt::mp("events"), pmt::from_long(1));
         }
+
+    // Copy and push current Gnss_Synchro to monitor queue
+    if (d_acq_parameters.enable_monitor_output)
+        {
+            Gnss_Synchro current_synchro_data = Gnss_Synchro();
+            current_synchro_data = *d_gnss_synchro;
+            d_monitor_queue.push(current_synchro_data);
+        }
 }
 
 
@@ -903,7 +911,7 @@ void pcps_acquisition::calculate_threshold()
 int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
     gr_vector_int& ninput_items,
     gr_vector_const_void_star& input_items,
-    gr_vector_void_star& output_items __attribute__((unused)))
+    gr_vector_void_star& output_items)
 {
     /*
      * By J.Arribas, L.Esteve and M.Molina
@@ -1010,5 +1018,22 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
                 break;
             }
         }
+
+    // Send outputs to the monitor
+    if (d_acq_parameters.enable_monitor_output)
+        {
+            auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
+            if (!d_monitor_queue.empty())
+                {
+                    int num_gnss_synchro_objects = d_monitor_queue.size();
+                    for (int i = 0; i < num_gnss_synchro_objects; ++i) {
+                        Gnss_Synchro current_synchro_data = d_monitor_queue.front();
+                        d_monitor_queue.pop();
+                        *out[i] = current_synchro_data;
+                    }
+                    return num_gnss_synchro_objects;
+                }
+        }
+
     return 0;
 }

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h

@@ -59,6 +59,7 @@
 #include <complex>
 #include <cstdint>
 #include <memory>
+#include <queue>
 #include <string>
 #include <utility>
 
@@ -284,6 +285,8 @@ private:
     bool d_step_two;
     bool d_use_CFAR_algorithm_flag;
     bool d_dump;
+
+    std::queue<Gnss_Synchro> d_monitor_queue;
 };
 
 #endif  // GNSS_SDR_PCPS_ACQUISITION_H

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc

@@ -63,7 +63,7 @@ pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(cons
 pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Conf &conf_)
     : gr::block("pcps_acquisition_fine_doppler_cc",
           gr::io_signature::make(1, 1, sizeof(gr_complex)),
-          gr::io_signature::make(0, 0, sizeof(gr_complex)))
+          gr::io_signature::make(0, 1, sizeof(Gnss_Synchro)))
 {
     this->message_port_register_out(pmt::mp("events"));
     acq_parameters = conf_;
@@ -482,7 +482,7 @@ void pcps_acquisition_fine_doppler_cc::set_state(int state)
 
 int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
     gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items,
-    gr_vector_void_star &output_items __attribute__((unused)))
+    gr_vector_void_star &output_items)
 {
     /*!
      * TODO:     High sensitivity acquisition algorithm:
@@ -498,6 +498,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
      *             S5. Negative_Acq: Send message and stop acq -> S0
      */
 
+    int return_value = 0;  // Number of Gnss_Syncro objects produced
     int samples_remaining;
     switch (d_state)
         {
@@ -585,6 +586,15 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
                     d_sample_counter += static_cast<uint64_t>(noutput_items);  // sample counter
                     consume_each(noutput_items);
                 }
+            // Copy and push current Gnss_Synchro to monitor queue
+            if (acq_parameters.enable_monitor_output)
+                {
+                    auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
+                    Gnss_Synchro current_synchro_data = Gnss_Synchro();
+                    current_synchro_data = *d_gnss_synchro;
+                    *out[0] = current_synchro_data;
+                    return_value = 1;  // Number of Gnss_Synchro objects produced
+                }
             break;
         case 5:  // Negative_Acq
             DLOG(INFO) << "negative acquisition";
@@ -619,7 +629,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
                 }
             break;
         }
-    return 0;
+    return return_value;
 }
 
 void pcps_acquisition_fine_doppler_cc::dump_results(int effective_fft_size)

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc

@@ -180,7 +180,7 @@ void pcps_acquisition_fpga::acquisition_core(uint32_t num_doppler_bins, uint32_t
         &d_doppler_index,
         &total_block_exp);
 
-    const auto doppler = static_cast<int32_t>(doppler_min) + doppler_step * (d_doppler_index - 1);
+    const int32_t doppler = static_cast<int32_t>(doppler_min) + doppler_step * (d_doppler_index - 1);
 
     if (total_block_exp > d_total_block_exp)
         {
@@ -268,7 +268,7 @@ void pcps_acquisition_fpga::set_active(bool active)
 
                     while (num_second_acq < d_max_num_acqs)
                         {
-                            acquisition_core(d_num_doppler_bins_step2, d_doppler_step2, d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * d_doppler_step2 + d_doppler_center);
+                            acquisition_core(d_num_doppler_bins_step2, d_doppler_step2, d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * d_doppler_step2);
                             if (d_test_statistics > d_threshold)
                                 {
                                     d_active = false;

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc

@@ -40,20 +40,20 @@ extern Concurrent_Map<Gps_Acq_Assist> global_gps_acq_assist_map;
 pcps_assisted_acquisition_cc_sptr pcps_make_assisted_acquisition_cc(
     int32_t max_dwells, uint32_t sampled_ms, int32_t doppler_max, int32_t doppler_min,
     int64_t fs_in, int32_t samples_per_ms, bool dump,
-    const std::string &dump_filename)
+    const std::string &dump_filename, bool enable_monitor_output)
 {
     return pcps_assisted_acquisition_cc_sptr(
         new pcps_assisted_acquisition_cc(max_dwells, sampled_ms, doppler_max, doppler_min,
-            fs_in, samples_per_ms, dump, dump_filename));
+            fs_in, samples_per_ms, dump, dump_filename, enable_monitor_output));
 }
 
 
 pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
     int32_t max_dwells, uint32_t sampled_ms, int32_t doppler_max, int32_t doppler_min,
-    int64_t fs_in, int32_t samples_per_ms, bool dump,
+    int64_t fs_in, int32_t samples_per_ms, bool dump, const std::string &dump_filename,
-    const std::string &dump_filename) : gr::block("pcps_assisted_acquisition_cc",
+    bool enable_monitor_output) : gr::block("pcps_assisted_acquisition_cc",
-                                            gr::io_signature::make(1, 1, sizeof(gr_complex)),
+                                  gr::io_signature::make(1, 1, sizeof(gr_complex)),
-                                            gr::io_signature::make(0, 0, sizeof(gr_complex)))
+                                  gr::io_signature::make(0, 1, sizeof(Gnss_Synchro)))
 {
     this->message_port_register_out(pmt::mp("events"));
     d_sample_counter = 0ULL;  // SAMPLE COUNTER
@@ -81,6 +81,8 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
     // For dumping samples into a file
     d_dump = dump;
     d_dump_filename = dump_filename;
+    
+    d_enable_monitor_output = enable_monitor_output;
 
     d_doppler_resolution = 0;
     d_threshold = 0;
@@ -334,7 +336,7 @@ int32_t pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_cons
 
 int pcps_assisted_acquisition_cc::general_work(int noutput_items,
     gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
-    gr_vector_void_star &output_items __attribute__((unused)))
+    gr_vector_void_star &output_items)
 {
     /*!
      * TODO:     High sensitivity acquisition algorithm:
@@ -428,6 +430,15 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
             d_sample_counter += static_cast<uint64_t>(ninput_items[0]);  // sample counter
             consume_each(ninput_items[0]);
             d_state = 0;
+            // Copy and push current Gnss_Synchro to monitor queue
+            if (d_enable_monitor_output)
+                {
+                    auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
+                    Gnss_Synchro current_synchro_data = Gnss_Synchro();
+                    current_synchro_data = *d_gnss_synchro;
+                    *out[0] = current_synchro_data;
+                    noutput_items = 1;  // Number of Gnss_Synchro objects produced
+                }
             break;
         case 6:  // Negative_Acq
             DLOG(INFO) << "negative acquisition";

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h

@@ -67,7 +67,9 @@ pcps_assisted_acquisition_cc_sptr pcps_make_assisted_acquisition_cc(
     int32_t doppler_min,
     int64_t fs_in,
     int32_t samples_per_ms,
-    bool dump, const std::string& dump_filename);
+    bool dump,
+    const std::string& dump_filename,
+    bool enable_monitor_output);
 
 /*!
  * \brief This class implements a Parallel Code Phase Search Acquisition.
@@ -183,12 +185,12 @@ private:
     pcps_make_assisted_acquisition_cc(int32_t max_dwells, uint32_t sampled_ms,
         int32_t doppler_max, int32_t doppler_min, int64_t fs_in,
         int32_t samples_per_ms, bool dump,
-        const std::string& dump_filename);
+        const std::string& dump_filename, bool enable_monitor_output);
 
     pcps_assisted_acquisition_cc(int32_t max_dwells, uint32_t sampled_ms,
         int32_t doppler_max, int32_t doppler_min, int64_t fs_in,
         int32_t samples_per_ms, bool dump,
-        const std::string& dump_filename);
+        const std::string& dump_filename, bool enable_monitor_output);
 
     void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
         int32_t doppler_offset);
@@ -242,6 +244,7 @@ private:
     bool d_active;
     bool d_disable_assist;
     bool d_dump;
+    bool d_enable_monitor_output;
 };
 
 #endif  // GNSS_SDR_PCPS_ASSISTED_ACQUISITION_CC_H

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc

@@ -42,11 +42,13 @@ pcps_cccwsr_acquisition_cc_sptr pcps_cccwsr_make_acquisition_cc(
     int64_t fs_in,
     int32_t samples_per_ms,
     int32_t samples_per_code,
-    bool dump, const std::string &dump_filename)
+    bool dump,
+    const std::string &dump_filename,
+    bool enable_monitor_output)
 {
     return pcps_cccwsr_acquisition_cc_sptr(
         new pcps_cccwsr_acquisition_cc(sampled_ms, max_dwells, doppler_max, fs_in,
-            samples_per_ms, samples_per_code, dump, dump_filename));
+            samples_per_ms, samples_per_code, dump, dump_filename, enable_monitor_output));
 }
 
 
@@ -58,9 +60,10 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
     int32_t samples_per_ms,
     int32_t samples_per_code,
     bool dump,
-    const std::string &dump_filename) : gr::block("pcps_cccwsr_acquisition_cc",
+    const std::string &dump_filename,
-                                            gr::io_signature::make(1, 1, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)),
+    bool enable_monitor_output) : gr::block("pcps_cccwsr_acquisition_cc",
-                                            gr::io_signature::make(0, 0, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)))
+                                  gr::io_signature::make(1, 1, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)),
+                                  gr::io_signature::make(0, 1, sizeof(Gnss_Synchro)))
 {
     this->message_port_register_out(pmt::mp("events"));
     d_sample_counter = 0ULL;  // SAMPLE COUNTER
@@ -96,6 +99,8 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
     d_dump = dump;
     d_dump_filename = dump_filename;
 
+    d_enable_monitor_output = enable_monitor_output;
+
     d_doppler_resolution = 0;
     d_threshold = 0;
     d_doppler_step = 0;
@@ -208,7 +213,7 @@ void pcps_cccwsr_acquisition_cc::set_state(int32_t state)
 
 int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
     gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
-    gr_vector_void_star &output_items __attribute__((unused)))
+    gr_vector_void_star &output_items)
 {
     int32_t acquisition_message = -1;  // 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
 
@@ -400,6 +405,16 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
                 acquisition_message = 1;
                 this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
 
+                // Copy and push current Gnss_Synchro to monitor queue
+                if (d_enable_monitor_output)
+                    {
+                        auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
+                        Gnss_Synchro current_synchro_data = Gnss_Synchro();
+                        current_synchro_data = *d_gnss_synchro;
+                        *out[0] = current_synchro_data;
+                        noutput_items = 1;  // Number of Gnss_Synchro objects produced
+                    }
+
                 break;
             }
 

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h

@@ -58,7 +58,8 @@ pcps_cccwsr_acquisition_cc_sptr pcps_cccwsr_make_acquisition_cc(
     int32_t samples_per_ms,
     int32_t samples_per_code,
     bool dump,
-    const std::string& dump_filename);
+    const std::string& dump_filename,
+    bool enable_monitor_output);
 
 /*!
  * \brief This class implements a Parallel Code Phase Search Acquisition with
@@ -176,12 +177,12 @@ private:
     pcps_cccwsr_make_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
         uint32_t doppler_max, int64_t fs_in,
         int32_t samples_per_ms, int32_t samples_per_code,
-        bool dump, const std::string& dump_filename);
+        bool dump, const std::string& dump_filename, bool enable_monitor_output);
 
     pcps_cccwsr_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
         uint32_t doppler_max, int64_t fs_in,
         int32_t samples_per_ms, int32_t samples_per_code,
-        bool dump, const std::string& dump_filename);
+        bool dump, const std::string& dump_filename, bool enable_monitor_output);
 
     void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
         int32_t doppler_offset);
@@ -231,6 +232,7 @@ private:
 
     bool d_active;
     bool d_dump;
+    bool d_enable_monitor_output;
 };
 
 #endif  // GNSS_SDR_PCPS_CCCWSR_ACQUISITION_CC_H

src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc

@@ -61,11 +61,12 @@ pcps_opencl_acquisition_cc_sptr pcps_make_opencl_acquisition_cc(
     int samples_per_ms, int samples_per_code,
     bool bit_transition_flag,
     bool dump,
-    const std::string &dump_filename)
+    const std::string &dump_filename,
+    bool enable_monitor_output)
 {
     return pcps_opencl_acquisition_cc_sptr(
         new pcps_opencl_acquisition_cc(sampled_ms, max_dwells, doppler_max, fs_in, samples_per_ms,
-            samples_per_code, bit_transition_flag, dump, dump_filename));
+            samples_per_code, bit_transition_flag, dump, dump_filename, enable_monitor_output));
 }
 
 
@@ -78,9 +79,10 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
     int samples_per_code,
     bool bit_transition_flag,
     bool dump,
-    const std::string &dump_filename) : gr::block("pcps_opencl_acquisition_cc",
+    const std::string &dump_filename,
-                                            gr::io_signature::make(1, 1, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)),
+    bool enable_monitor_output) : gr::block("pcps_opencl_acquisition_cc",
-                                            gr::io_signature::make(0, 0, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)))
+                                  gr::io_signature::make(1, 1, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)),
+                                  gr::io_signature::make(0, 1, sizeof(Gnss_Synchro)))
 {
     this->message_port_register_out(pmt::mp("events"));
     d_sample_counter = 0ULL;  // SAMPLE COUNTER
@@ -122,6 +124,8 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
     // For dumping samples into a file
     d_dump = dump;
     d_dump_filename = dump_filename;
+
+    d_enable_monitor_output = enable_monitor_output;
 }
 
 
@@ -658,7 +662,7 @@ void pcps_opencl_acquisition_cc::set_state(int state)
 
 int pcps_opencl_acquisition_cc::general_work(int noutput_items,
     gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
-    gr_vector_void_star &output_items __attribute__((unused)))
+    gr_vector_void_star &output_items)
 {
     int acquisition_message = -1;  // 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
     switch (d_state)
@@ -761,6 +765,16 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
                 acquisition_message = 1;
                 this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
 
+                // Copy and push current Gnss_Synchro to monitor queue
+                if (d_enable_monitor_output)
+                    {
+                        auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
+                        Gnss_Synchro current_synchro_data = Gnss_Synchro();
+                        current_synchro_data = *d_gnss_synchro;
+                        *out[0] = current_synchro_data;
+                        noutput_items = 1;  // Number of Gnss_Synchro objects produced
+                    }
+
                 break;
             }
 

src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h

@@ -75,7 +75,8 @@ pcps_opencl_acquisition_cc_sptr pcps_make_opencl_acquisition_cc(
     int samples_per_code,
     bool bit_transition_flag,
     bool dump,
-    const std::string& dump_filename);
+    const std::string& dump_filename,
+    bool enable_monitor_output);
 
 /*!
  * \brief This class implements a Parallel Code Phase Search Acquisition.
@@ -210,14 +211,16 @@ private:
         int samples_per_ms, int samples_per_code,
         bool bit_transition_flag,
         bool dump,
-        const std::string& dump_filename);
+        const std::string& dump_filename,
+        bool enable_monitor_output);
 
     pcps_opencl_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
         uint32_t doppler_max, int64_t fs_in,
         int samples_per_ms, int samples_per_code,
         bool bit_transition_flag,
         bool dump,
-        const std::string& dump_filename);
+        const std::string& dump_filename,
+        bool enable_monitor_output);
 
     void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
         int doppler_offset);
@@ -290,6 +293,7 @@ private:
     bool d_active;
     bool d_core_working;
     bool d_dump;
+    bool d_enable_monitor_output;
 };
 
 #endif

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc

@@ -40,7 +40,8 @@ pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
     int32_t samples_per_code,
     bool bit_transition_flag,
     bool dump,
-    const std::string& dump_filename)
+    const std::string& dump_filename,
+    bool enable_monitor_output)
 {
     return pcps_quicksync_acquisition_cc_sptr(
         new pcps_quicksync_acquisition_cc(
@@ -49,7 +50,8 @@ pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
             fs_in, samples_per_ms,
             samples_per_code,
             bit_transition_flag,
-            dump, dump_filename));
+            dump, dump_filename,
+            enable_monitor_output));
 }
 
 
@@ -60,9 +62,10 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
     int32_t samples_per_ms, int32_t samples_per_code,
     bool bit_transition_flag,
     bool dump,
-    const std::string& dump_filename) : gr::block("pcps_quicksync_acquisition_cc",
+    const std::string& dump_filename,
-                                            gr::io_signature::make(1, 1, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)),
+    bool enable_monitor_output) : gr::block("pcps_quicksync_acquisition_cc",
-                                            gr::io_signature::make(0, 0, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)))
+                                  gr::io_signature::make(1, 1, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)),
+                                  gr::io_signature::make(0, 1, sizeof(Gnss_Synchro)))
 {
     this->message_port_register_out(pmt::mp("events"));
     d_sample_counter = 0ULL;  // SAMPLE COUNTER
@@ -104,6 +107,8 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
     d_dump = dump;
     d_dump_filename = dump_filename;
 
+    d_enable_monitor_output = enable_monitor_output;
+
     d_code_folded = std::vector<gr_complex>(d_fft_size, lv_cmake(0.0F, 0.0F));
     d_signal_folded.reserve(d_fft_size);
     d_noise_floor_power = 0;
@@ -228,7 +233,7 @@ void pcps_quicksync_acquisition_cc::set_state(int32_t state)
 
 int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
     gr_vector_int& ninput_items, gr_vector_const_void_star& input_items,
-    gr_vector_void_star& output_items __attribute__((unused)))
+    gr_vector_void_star& output_items)
 {
     /*
      * By J.Arribas, L.Esteve and M.Molina
@@ -507,6 +512,17 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
                 acquisition_message = 1;
                 this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
                 // DLOG(INFO) << "END CASE 2";
+
+                // Copy and push current Gnss_Synchro to monitor queue
+                if (d_enable_monitor_output)
+                    {
+                        auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
+                        Gnss_Synchro current_synchro_data = Gnss_Synchro();
+                        current_synchro_data = *d_gnss_synchro;
+                        *out[0] = current_synchro_data;
+                        noutput_items = 1;  // Number of Gnss_Synchro objects produced
+                    }
+
                 break;
             }
 

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h

@@ -76,7 +76,8 @@ pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
     int32_t samples_per_code,
     bool bit_transition_flag,
     bool dump,
-    const std::string& dump_filename);
+    const std::string& dump_filename,
+    bool enable_monitor_output);
 
 /*!
  * \brief This class implements a Parallel Code Phase Search Acquisition with
@@ -199,7 +200,8 @@ private:
         int32_t samples_per_ms, int32_t samples_per_code,
         bool bit_transition_flag,
         bool dump,
-        const std::string& dump_filename);
+        const std::string& dump_filename,
+        bool enable_monitor_output);
 
     pcps_quicksync_acquisition_cc(uint32_t folding_factor,
         uint32_t sampled_ms, uint32_t max_dwells,
@@ -207,7 +209,8 @@ private:
         int32_t samples_per_ms, int32_t samples_per_code,
         bool bit_transition_flag,
         bool dump,
-        const std::string& dump_filename);
+        const std::string& dump_filename,
+        bool enable_monitor_output);
 
     void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
         int32_t doppler_offset);
@@ -261,6 +264,7 @@ private:
     bool d_bit_transition_flag;
     bool d_active;
     bool d_dump;
+    bool d_enable_monitor_output;
 };
 
 #endif  // GNSS_SDR_PCPS_QUICKSYNC_ACQUISITION_CC_H

src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc

@@ -58,11 +58,13 @@ pcps_tong_acquisition_cc_sptr pcps_tong_make_acquisition_cc(
     uint32_t tong_init_val,
     uint32_t tong_max_val,
     uint32_t tong_max_dwells,
-    bool dump, const std::string &dump_filename)
+    bool dump,
+    const std::string &dump_filename,
+    bool enable_monitor_output)
 {
     return pcps_tong_acquisition_cc_sptr(
         new pcps_tong_acquisition_cc(sampled_ms, doppler_max, fs_in, samples_per_ms, samples_per_code,
-            tong_init_val, tong_max_val, tong_max_dwells, dump, dump_filename));
+            tong_init_val, tong_max_val, tong_max_dwells, dump, dump_filename, enable_monitor_output));
 }
 
 
@@ -76,9 +78,10 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
     uint32_t tong_max_val,
     uint32_t tong_max_dwells,
     bool dump,
-    const std::string &dump_filename) : gr::block("pcps_tong_acquisition_cc",
+    const std::string &dump_filename,
-                                            gr::io_signature::make(1, 1, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)),
+    bool enable_monitor_output) : gr::block("pcps_tong_acquisition_cc",
-                                            gr::io_signature::make(0, 0, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)))
+                                  gr::io_signature::make(1, 1, static_cast<int>(sizeof(gr_complex) * sampled_ms * samples_per_ms)),
+                                  gr::io_signature::make(0, 1, sizeof(Gnss_Synchro)))
 {
     this->message_port_register_out(pmt::mp("events"));
     d_sample_counter = 0ULL;  // SAMPLE COUNTER
@@ -112,6 +115,8 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
     d_dump = dump;
     d_dump_filename = dump_filename;
 
+    d_enable_monitor_output = enable_monitor_output;
+
     d_doppler_resolution = 0;
     d_threshold = 0;
     d_doppler_step = 0;
@@ -224,7 +229,7 @@ void pcps_tong_acquisition_cc::set_state(int32_t state)
 
 int pcps_tong_acquisition_cc::general_work(int noutput_items,
     gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
-    gr_vector_void_star &output_items __attribute__((unused)))
+    gr_vector_void_star &output_items)
 {
     int32_t acquisition_message = -1;  // 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
 
@@ -401,6 +406,16 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
                 acquisition_message = 1;
                 this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
 
+                // Copy and push current Gnss_Synchro to monitor queue
+                if (d_enable_monitor_output)
+                    {
+                        auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
+                        Gnss_Synchro current_synchro_data = Gnss_Synchro();
+                        current_synchro_data = *d_gnss_synchro;
+                        *out[0] = current_synchro_data;
+                        noutput_items = 1;  // Number of Gnss_Synchro objects produced
+                    }
+
                 break;
             }
 

src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h

@@ -73,7 +73,8 @@ pcps_tong_acquisition_cc_sptr pcps_tong_make_acquisition_cc(
     uint32_t tong_max_val,
     uint32_t tong_max_dwells,
     bool dump,
-    const std::string& dump_filename);
+    const std::string& dump_filename,
+    bool enable_monitor_output);
 
 /*!
  * \brief This class implements a Parallel Code Phase Search Acquisition with
@@ -191,13 +192,13 @@ private:
         int64_t fs_in, int32_t samples_per_ms,
         int32_t samples_per_code, uint32_t tong_init_val,
         uint32_t tong_max_val, uint32_t tong_max_dwells,
-        bool dump, const std::string& dump_filename);
+        bool dump, const std::string& dump_filename, bool enable_monitor_output);
 
     pcps_tong_acquisition_cc(uint32_t sampled_ms, uint32_t doppler_max,
         int64_t fs_in, int32_t samples_per_ms,
         int32_t samples_per_code, uint32_t tong_init_val,
         uint32_t tong_max_val, uint32_t tong_max_dwells,
-        bool dump, const std::string& dump_filename);
+        bool dump, const std::string& dump_filename, bool enable_monitor_output);
 
     void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
         int32_t doppler_offset);
@@ -246,6 +247,7 @@ private:
 
     bool d_active;
     bool d_dump;
+    bool d_enable_monitor_output;
 };
 
 #endif  // GNSS_SDR_PCPS_TONG_ACQUISITION_CC_H

src/algorithms/acquisition/libs/acq_conf.cc

@@ -56,6 +56,7 @@ Acq_Conf::Acq_Conf()
     resampler_ratio = 1.0;
     resampled_fs = 0LL;
     resampler_latency_samples = 0U;
+    enable_monitor_output = false;
 }
 
 
@@ -121,6 +122,8 @@ void Acq_Conf::SetFromConfiguration(const ConfigurationInterface *configuration,
             use_CFAR_algorithm_flag = false;
         }
 
+    enable_monitor_output = configuration->property("AcquisitionMonitor.enable_monitor", false);
+
     SetDerivedParams();
 }
 

src/algorithms/acquisition/libs/acq_conf.h

@@ -67,6 +67,7 @@ public:
     bool blocking_on_standby;  // enable it only for unit testing to avoid sample consume on idle status
     bool make_2_steps;
     bool use_automatic_resampler;
+    bool enable_monitor_output;
 
 private:
     void SetDerivedParams();

src/algorithms/channel/adapters/channel.cc

@@ -174,6 +174,10 @@ gr::basic_block_sptr Channel::get_left_block_trk()
     return trk_->get_left_block();
 }
 
+gr::basic_block_sptr Channel::get_right_block_trk()
+{
+    return trk_->get_right_block();
+}
 
 gr::basic_block_sptr Channel::get_left_block_acq()
 {
@@ -184,6 +188,10 @@ gr::basic_block_sptr Channel::get_left_block_acq()
     return acq_->get_left_block();
 }
 
+gr::basic_block_sptr Channel::get_right_block_acq()
+{
+    return acq_->get_right_block();
+}
 
 gr::basic_block_sptr Channel::get_right_block()
 {

src/algorithms/channel/adapters/channel.h

@@ -68,9 +68,11 @@ public:
     void connect(gr::top_block_sptr top_block) override;  //!< Connects the tracking block to the top_block and to the telemetry
     void disconnect(gr::top_block_sptr top_block) override;
     gr::basic_block_sptr get_left_block() override;
-    gr::basic_block_sptr get_left_block_trk() override;  //!< Gets the GNU Radio tracking block input pointer
+    gr::basic_block_sptr get_left_block_trk() override;   //!< Gets the GNU Radio tracking block input pointer
-    gr::basic_block_sptr get_left_block_acq() override;  //!< Gets the GNU Radio acquisition block input pointer
+    gr::basic_block_sptr get_right_block_trk() override;  //!< Gets the GNU Radio tracking block output pointer
-    gr::basic_block_sptr get_right_block() override;     //!< Gets the GNU Radio channel block output pointer
+    gr::basic_block_sptr get_left_block_acq() override;   //!< Gets the GNU Radio acquisition block input pointer
+    gr::basic_block_sptr get_right_block_acq() override;  //!< Gets the GNU Radio acquisition block output pointer
+    gr::basic_block_sptr get_right_block() override;      //!< Gets the GNU Radio channel block output pointer
 
     inline std::string role() override { return role_; }
     inline std::string implementation() override { return std::string("Channel"); }  //!< Returns "Channel"

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake

@@ -55,7 +55,7 @@ endmacro()
 set(VOLK_PYTHON_MIN_VERSION "2.7")
 set(VOLK_PYTHON3_MIN_VERSION "3.4")
 
-if(CMAKE_VERSION VERSION_LESS 3.12)
+if(CMAKE_VERSION VERSION_LESS 3.12 OR CMAKE_CROSSCOMPILING)
     if(PYTHON_EXECUTABLE)
         message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
         find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)

src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cc.h

@@ -5,11 +5,11 @@
  *        gr_complex input and gr_complex output
  * \author Luis Esteve, 2011. luis(at)epsilon-formacion.com
  *
- * This block takes in a signal stream and performs direct
+ * This block takes in a signal stream and performs direct resampling.
- * resampling.
+ * The theory behind this block can be found in Chapter 7.5 of the following
- * The theory behind this block can be found in Chapter 7.5 of
+ * book:
- * the following book.
+ * R. Lyons, Undestanding Digital Signal Processing, 3rd ed., Pearson Education,
- *
+ * 2010.
  *
  * -----------------------------------------------------------------------------
  *

src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc

@@ -148,8 +148,6 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
                 {
                     freq_band = "L1L2";
                 }
-
-            thread_file_to_dma = std::thread([&] { run_DMA_process(freq_band, filename_rx1, filename_rx2); });
         }
     if (switch_position == 2)  // Real-time via AD9361
         {
@@ -368,6 +366,11 @@ Ad9361FpgaSignalSource::~Ad9361FpgaSignalSource()
         }
 }
 
+void Ad9361FpgaSignalSource::start()
+{
+    thread_file_to_dma = std::thread([&] { run_DMA_process(freq_band, filename_rx1, filename_rx2); });
+}
+
 
 void Ad9361FpgaSignalSource::run_DMA_process(const std::string &FreqBand, const std::string &Filename1, const std::string &Filename2)
 {
@@ -589,6 +592,11 @@ void Ad9361FpgaSignalSource::run_DMA_process(const std::string &FreqBand, const
             lock.unlock();
         }
 
+    if (close(tx_fd) < 0)
+        {
+            std::cerr << "Error closing loop device " << '\n';
+        }
+
     try
         {
             infile1.close();
@@ -604,7 +612,7 @@ void Ad9361FpgaSignalSource::run_DMA_process(const std::string &FreqBand, const
 }
 
 
-void Ad9361FpgaSignalSource::run_dynamic_bit_selection_process(void)
+void Ad9361FpgaSignalSource::run_dynamic_bit_selection_process()
 {
     bool dynamic_bit_selection_active = true;
 

src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h

@@ -43,6 +43,8 @@ public:
 
     ~Ad9361FpgaSignalSource();
 
+    void start();
+
     inline std::string role() override
     {
         return role_;
@@ -74,7 +76,7 @@ private:
         const std::string &Filename1,
         const std::string &Filename2);
 
-    void run_dynamic_bit_selection_process(void);
+    void run_dynamic_bit_selection_process();
 
     std::thread thread_file_to_dma;
     std::thread thread_dynamic_bit_selection;
@@ -95,6 +97,9 @@ private:
     std::string filename_rx2;
     std::string freq_band;
 
+    std::mutex dma_mutex;
+    std::mutex dynamic_bit_selection_mutex;
+
     double rf_gain_rx1_;
     double rf_gain_rx2_;
     uint64_t freq_;  // frequency of local oscillator
@@ -125,9 +130,6 @@ private:
     bool enable_DMA_;
     bool enable_dynamic_bit_selection_;
     bool rf_shutdown_;
-
-    std::mutex dma_mutex;
-    std::mutex dynamic_bit_selection_mutex;
 };
 
 #endif  // GNSS_SDR_AD9361_FPGA_SIGNAL_SOURCE_H

src/algorithms/signal_source/adapters/labsat_signal_source.cc

@@ -34,6 +34,11 @@ LabsatSignalSource::LabsatSignalSource(const ConfigurationInterface* configurati
     dump_ = configuration->property(role + ".dump", false);
     dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file);
 
+    enable_throttle_control_ = configuration->property(role + ".enable_throttle_control", false);
+
+    const int64_t sampling_frequency_deprecated = configuration->property(role + ".sampling_frequency", static_cast<int64_t>(16368000));
+    const int64_t throttle_frequency_sps = configuration->property(role + ".throttle_frequency_sps", static_cast<int64_t>(sampling_frequency_deprecated));
+
     const int channel_selector = configuration->property(role + ".selected_channel", 1);
 
     const std::string default_filename("./example_capture.LS3");
@@ -54,12 +59,15 @@ LabsatSignalSource::LabsatSignalSource(const ConfigurationInterface* configurati
     if (dump_)
         {
             DLOG(INFO) << "Dumping output into file " << dump_filename_;
+            DLOG(INFO) << "file_sink(" << file_sink_->unique_id() << ")";
             file_sink_ = gr::blocks::file_sink::make(item_size_, dump_filename_.c_str());
         }
-    if (dump_)
+
+    if (enable_throttle_control_)
         {
-            DLOG(INFO) << "file_sink(" << file_sink_->unique_id() << ")";
+            throttle_ = gr::blocks::throttle::make(item_size_, throttle_frequency_sps);
         }
+
     if (in_stream_ > 0)
         {
             LOG(ERROR) << "A signal source does not have an input stream";
@@ -73,23 +81,50 @@ LabsatSignalSource::LabsatSignalSource(const ConfigurationInterface* configurati
 
 void LabsatSignalSource::connect(gr::top_block_sptr top_block)
 {
-    if (dump_)
+    if (enable_throttle_control_ == true)
         {
-            top_block->connect(labsat23_source_, 0, file_sink_, 0);
+            top_block->connect(labsat23_source_, 0, throttle_, 0);
-            DLOG(INFO) << "connected labsat23_source_ to file sink";
+            DLOG(INFO) << "connected labsat23_source_ to throttle";
+            if (dump_)
+                {
+                    top_block->connect(labsat23_source_, 0, file_sink_, 0);
+                    DLOG(INFO) << "connected labsat23_source_to sink";
+                }
         }
     else
         {
-            DLOG(INFO) << "nothing to connect internally";
+            if (dump_)
+                {
+                    top_block->connect(labsat23_source_, 0, file_sink_, 0);
+                    DLOG(INFO) << "connected labsat23_source_ to sink";
+                }
+            else
+                {
+                    DLOG(INFO) << "nothing to connect internally";
+                }
         }
 }
 
 
 void LabsatSignalSource::disconnect(gr::top_block_sptr top_block)
 {
-    if (dump_)
+    if (enable_throttle_control_ == true)
         {
-            top_block->disconnect(labsat23_source_, 0, file_sink_, 0);
+            top_block->disconnect(labsat23_source_, 0, throttle_, 0);
+            DLOG(INFO) << "disconnected labsat23_source_ to throttle";
+            if (dump_)
+                {
+                    top_block->disconnect(labsat23_source_, 0, file_sink_, 0);
+                    DLOG(INFO) << "disconnected labsat23_source_ to sink";
+                }
+        }
+    else
+        {
+            if (dump_)
+                {
+                    top_block->disconnect(labsat23_source_, 0, file_sink_, 0);
+                    DLOG(INFO) << "disconnected labsat23_source_ to sink";
+                }
         }
 }
 
@@ -103,5 +138,9 @@ gr::basic_block_sptr LabsatSignalSource::get_left_block()
 
 gr::basic_block_sptr LabsatSignalSource::get_right_block()
 {
+    if (enable_throttle_control_ == true)
+        {
+            return throttle_;
+        }
     return labsat23_source_;
 }

src/algorithms/signal_source/adapters/labsat_signal_source.h

@@ -24,6 +24,7 @@
 #include "concurrent_queue.h"
 #include "gnss_block_interface.h"
 #include <gnuradio/blocks/file_sink.h>
+#include <gnuradio/blocks/throttle.h>
 #include <gnuradio/hier_block2.h>
 #include <pmt/pmt.h>
 #include <memory>
@@ -69,13 +70,19 @@ public:
 private:
     gr::block_sptr labsat23_source_;
     gr::blocks::file_sink::sptr file_sink_;
+    gr::blocks::throttle::sptr throttle_;
+
     std::string role_;
     std::string item_type_;
     std::string filename_;
     std::string dump_filename_;
+
+    size_t item_size_;
+
     unsigned int in_stream_;
     unsigned int out_stream_;
-    size_t item_size_;
+
+    bool enable_throttle_control_;
     bool dump_;
 };
 

src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc

@@ -118,6 +118,11 @@ Gr_Complex_Ip_Packet_Source::Gr_Complex_Ip_Packet_Source(std::string src_device,
             d_wire_sample_type = 2;
             d_bytes_per_sample = d_n_baseband_channels;
         }
+    else if (wire_sample_type == "cfloat")
+        {
+            d_wire_sample_type = 3;
+            d_bytes_per_sample = d_n_baseband_channels * 8;
+        }
     else
         {
             std::cout << "Unknown wire sample type\n";
@@ -319,9 +324,6 @@ void Gr_Complex_Ip_Packet_Source::my_pcap_loop_thread(pcap_t *pcap_handle)
 
 void Gr_Complex_Ip_Packet_Source::demux_samples(const gr_vector_void_star &output_items, int num_samples_readed)
 {
-    int8_t real;
-    int8_t imag;
-    uint8_t tmp_char2;
     for (int n = 0; n < num_samples_readed; n++)
         {
             switch (d_wire_sample_type)
@@ -329,6 +331,8 @@ void Gr_Complex_Ip_Packet_Source::demux_samples(const gr_vector_void_star &outpu
                 case 1:  // interleaved byte samples
                     for (auto &output_item : output_items)
                         {
+                            int8_t real;
+                            int8_t imag;
                             real = fifo_buff[fifo_read_ptr++];
                             imag = fifo_buff[fifo_read_ptr++];
                             if (d_IQ_swap)
@@ -344,6 +348,9 @@ void Gr_Complex_Ip_Packet_Source::demux_samples(const gr_vector_void_star &outpu
                 case 2:  // 4-bit samples
                     for (auto &output_item : output_items)
                         {
+                            int8_t real;
+                            int8_t imag;
+                            uint8_t tmp_char2;
                             tmp_char2 = fifo_buff[fifo_read_ptr] & 0x0F;
                             if (tmp_char2 >= 8)
                                 {
@@ -373,6 +380,25 @@ void Gr_Complex_Ip_Packet_Source::demux_samples(const gr_vector_void_star &outpu
                                 }
                         }
                     break;
+                case 3:  // interleaved float samples
+                    for (auto &output_item : output_items)
+                        {
+                            float real;
+                            float imag;
+                            memcpy(&real, &fifo_buff[fifo_read_ptr], sizeof(real));
+                            fifo_read_ptr += 4;  // Four bytes in float
+                            memcpy(&imag, &fifo_buff[fifo_read_ptr], sizeof(imag));
+                            fifo_read_ptr += 4;  // Four bytes in float
+                            if (d_IQ_swap)
+                                {
+                                    static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
+                                }
+                            else
+                                {
+                                    static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
+                                }
+                        }
+                    break;
                 default:
                     std::cout << "Unknown wire sample type\n";
                     exit(0);
@@ -407,6 +433,7 @@ int Gr_Complex_Ip_Packet_Source::work(int noutput_items,
         {
         case 1:  // complex byte samples
         case 2:  // complex 4 bits samples
+        case 3:  // complex float samples
             bytes_requested = noutput_items * d_bytes_per_sample;
             if (bytes_requested < fifo_items)
                 {

src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.h

@@ -62,8 +62,8 @@ private:
     static const uint32_t shift_out_bit_max = Num_bits_ADC - Num_bits_FPGA;       // maximum possible value for the bit selection
     // received signal power thresholds for the bit selection
     // the received signal power is estimated as the averaged squared absolute value of the received signal samples
-    static const uint32_t Power_Threshold_High = 15000;
+    static const uint32_t Power_Threshold_High = 9000;
-    static const uint32_t Power_Threshold_Low = 6000;
+    static const uint32_t Power_Threshold_Low = 3000;
 
     void close_devices(void);
 

src/algorithms/tracking/adapters/CMakeLists.txt

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

src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt

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

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

@@ -1664,6 +1664,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
     auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
     Gnss_Synchro current_synchro_data = Gnss_Synchro();
     current_synchro_data.Flag_valid_symbol_output = false;
+    bool loss_of_lock = false;
 
     if (d_pull_in_transitory == true)
         {
@@ -1745,6 +1746,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
                     {
                         clear_tracking_vars();
                         d_state = 0;  // loss-of-lock detected
+                        loss_of_lock = true;  // Set the flag so that the negative indication can be generated
+                        current_synchro_data = *d_acquisition_gnss_synchro;  // Fill in the Gnss_Synchro object with basic info
                     }
                 else
                     {
@@ -1904,6 +1907,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
                     {
                         clear_tracking_vars();
                         d_state = 0;  // loss-of-lock detected
+                        loss_of_lock = true;  // Set the flag so that the negative indication can be generated
+                        current_synchro_data = *d_acquisition_gnss_synchro;  // Fill in the Gnss_Synchro object with basic info
                     }
                 else
                     {
@@ -1951,10 +1956,11 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
         }
     consume_each(d_current_prn_length_samples);
     d_sample_counter += static_cast<uint64_t>(d_current_prn_length_samples);
-    if (current_synchro_data.Flag_valid_symbol_output)
+    if (current_synchro_data.Flag_valid_symbol_output || loss_of_lock)
         {
             current_synchro_data.fs = static_cast<int64_t>(d_trk_parameters.fs_in);
             current_synchro_data.Tracking_sample_counter = d_sample_counter;
+            current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
             *out[0] = current_synchro_data;
             return 1;
         }

src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc

@@ -283,6 +283,7 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri
     // process vars
     float carr_error_filt_hz = 0.0;
     float code_error_filt_chips = 0.0;
+    bool loss_of_lock = false;
 
     Tcp_Packet_Data tcp_data;
     // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
@@ -420,6 +421,7 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri
 
                             d_carrier_lock_fail_counter = 0;
                             d_enable_tracking = false;  // TODO: check if disabling tracking is consistent with the channel state machine
+                            loss_of_lock = true;
                         }
                 }
 
@@ -433,7 +435,7 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri
             current_synchro_data.Carrier_phase_rads = static_cast<double>(d_acc_carrier_phase_rad);
             current_synchro_data.Carrier_Doppler_hz = static_cast<double>(d_carrier_doppler_hz);
             current_synchro_data.CN0_dB_hz = static_cast<double>(d_CN0_SNV_dB_Hz);
-            current_synchro_data.Flag_valid_symbol_output = true;
+            current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
             current_synchro_data.correlation_length_ms = 4;
         }
     else
@@ -524,7 +526,7 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri
     consume_each(d_current_prn_length_samples);        // this is needed in gr::block derivates
     d_sample_counter += d_current_prn_length_samples;  // count for the processed samples
 
-    if (d_enable_tracking)
+    if (d_enable_tracking || loss_of_lock)
         {
             return 1;
         }

src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc

@@ -572,6 +572,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
     double code_error_filt_secs_Ti = 0.0;
     double CURRENT_INTEGRATION_TIME_S = 0.0;
     double CORRECTED_INTEGRATION_TIME_S = 0.0;
+    bool loss_of_lock = false;
 
     if (d_enable_tracking == true)
         {
@@ -780,6 +781,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
                                     this->message_port_pub(pmt::mp("events"), pmt::from_long(3));  // 3 -> loss of lock
                                     d_carrier_lock_fail_counter = 0;
                                     d_enable_tracking = false;  // TODO: check if disabling tracking is consistent with the channel state machine
+                                    loss_of_lock = true;
                                 }
                             check_carrier_phase_coherent_initialization();
                         }
@@ -791,7 +793,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
                     current_synchro_data.Carrier_phase_rads = TWO_PI * d_acc_carrier_phase_cycles;
                     current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
                     current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
-                    current_synchro_data.Flag_valid_symbol_output = true;
+                    current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
                     if (d_preamble_synchronized == true)
                         {
                             current_synchro_data.correlation_length_ms = d_extend_correlation_ms;

src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc

@@ -575,6 +575,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
     double code_error_filt_secs_Ti = 0.0;
     double CURRENT_INTEGRATION_TIME_S = 0.0;
     double CORRECTED_INTEGRATION_TIME_S = 0.0;
+    bool loss_of_lock = false;
 
     if (d_enable_tracking == true)
         {
@@ -781,6 +782,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
                                     this->message_port_pub(pmt::mp("events"), pmt::from_long(3));  // 3 -> loss of lock
                                     d_carrier_lock_fail_counter = 0;
                                     d_enable_tracking = false;  // TODO: check if disabling tracking is consistent with the channel state machine
+                                    loss_of_lock = true;
                                 }
                             check_carrier_phase_coherent_initialization();
                         }
@@ -793,7 +795,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
                     current_synchro_data.Carrier_phase_rads = TWO_PI * d_acc_carrier_phase_cycles;
                     current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
                     current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
-                    current_synchro_data.Flag_valid_symbol_output = true;
+                    current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
                     if (d_preamble_synchronized == true)
                         {
                             current_synchro_data.correlation_length_ms = d_extend_correlation_ms;

src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc

@@ -507,6 +507,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
     double carr_error_filt_hz = 0.0;
     double code_error_chips = 0.0;
     double code_error_filt_chips = 0.0;
+    bool loss_of_lock = false;
 
     // Block input data and block output stream pointers
     const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]);  // PRN start block alignment
@@ -628,6 +629,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
                             this->message_port_pub(pmt::mp("events"), pmt::from_long(3));  // 3 -> loss of lock
                             d_carrier_lock_fail_counter = 0;
                             d_enable_tracking = false;  // TODO: check if disabling tracking is consistent with the channel state machine
+                            loss_of_lock = true;
                         }
                     check_carrier_phase_coherent_initialization();
                 }
@@ -639,7 +641,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
             current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
             current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
             current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
-            current_synchro_data.Flag_valid_symbol_output = true;
+            current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
             current_synchro_data.correlation_length_ms = 1;
         }
     else

src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc

@@ -571,6 +571,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
     double code_error_filt_secs_Ti = 0.0;
     double CURRENT_INTEGRATION_TIME_S = 0.0;
     double CORRECTED_INTEGRATION_TIME_S = 0.0;
+    bool loss_of_lock = false;
 
     if (d_enable_tracking == true)
         {
@@ -779,6 +780,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
                                     this->message_port_pub(pmt::mp("events"), pmt::from_long(3));  // 3 -> loss of lock
                                     d_carrier_lock_fail_counter = 0;
                                     d_enable_tracking = false;  // TODO: check if disabling tracking is consistent with the channel state machine
+                                    loss_of_lock = true;
                                 }
                             check_carrier_phase_coherent_initialization();
                         }
@@ -790,7 +792,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
                     current_synchro_data.Carrier_phase_rads = TWO_PI * d_acc_carrier_phase_cycles;
                     current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
                     current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
-                    current_synchro_data.Flag_valid_symbol_output = true;
+                    current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
                     if (d_preamble_synchronized == true)
                         {
                             current_synchro_data.correlation_length_ms = d_extend_correlation_ms;

src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc

@@ -573,6 +573,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
     double code_error_filt_secs_Ti = 0.0;
     double CURRENT_INTEGRATION_TIME_S = 0.0;
     double CORRECTED_INTEGRATION_TIME_S = 0.0;
+    bool loss_of_lock = false;
 
     if (d_enable_tracking == true)
         {
@@ -779,6 +780,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
                                     this->message_port_pub(pmt::mp("events"), pmt::from_long(3));  // 3 -> loss of lock
                                     d_carrier_lock_fail_counter = 0;
                                     d_enable_tracking = false;  // TODO: check if disabling tracking is consistent with the channel state machine
+                                    loss_of_lock = true;
                                 }
                             check_carrier_phase_coherent_initialization();
                         }
@@ -791,7 +793,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
                     current_synchro_data.Carrier_phase_rads = TWO_PI * d_acc_carrier_phase_cycles;
                     current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
                     current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
-                    current_synchro_data.Flag_valid_symbol_output = true;
+                    current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
                     if (d_preamble_synchronized == true)
                         {
                             current_synchro_data.correlation_length_ms = d_extend_correlation_ms;

src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc

@@ -509,6 +509,7 @@ int Glonass_L2_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
     double carr_error_filt_hz = 0.0;
     double code_error_chips = 0.0;
     double code_error_filt_chips = 0.0;
+    bool loss_of_lock = false;
 
     // Block input data and block output stream pointers
     const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]);  // PRN start block alignment
@@ -630,6 +631,7 @@ int Glonass_L2_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
                             this->message_port_pub(pmt::mp("events"), pmt::from_long(3));  // 3 -> loss of lock
                             d_carrier_lock_fail_counter = 0;
                             d_enable_tracking = false;  // TODO: check if disabling tracking is consistent with the channel state machine
+                            loss_of_lock = true;
                         }
                     check_carrier_phase_coherent_initialization();
                 }
@@ -641,7 +643,7 @@ int Glonass_L2_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
             current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
             current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
             current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
-            current_synchro_data.Flag_valid_symbol_output = true;
+            current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
             current_synchro_data.correlation_length_ms = 1;
         }
     else

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc

@@ -177,7 +177,7 @@ void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::start_tracking()
     d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
     const double T_chip_mod_seconds = 1 / d_code_freq_chips;
     const double T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
-    T_prn_mod_samples T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
+    const double T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
 
     d_correlation_length_samples = round(T_prn_mod_samples);
 
@@ -328,6 +328,8 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
     double CORRECTED_INTEGRATION_TIME_S = 0.001;
     double dll_code_error_secs_Ti = 0.0;
     double carr_phase_error_secs_Ti = 0.0;
+    bool loss_of_lock = false;
+
     if (d_enable_tracking == true)
         {
             // Fill the acquisition data
@@ -446,6 +448,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
                             this->message_port_pub(pmt::mp("events"), pmt::from_long(3));  // 3 -> loss of lock
                             d_carrier_lock_fail_counter = 0;
                             d_enable_tracking = false;  // TODO: check if disabling tracking is consistent with the channel state machine
+                            loss_of_lock = true;
                         }
                     check_carrier_phase_coherent_initialization();
                 }
@@ -458,7 +461,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
             current_synchro_data.Carrier_phase_rads = TWO_PI * d_acc_carrier_phase_cycles;
             current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
             current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
-            current_synchro_data.Flag_valid_symbol_output = true;
+            current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
             current_synchro_data.correlation_length_ms = 1;
         }
     else
@@ -545,7 +548,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
     consume_each(d_correlation_length_samples);        // this is necessary in gr::block derivates
     d_sample_counter += d_correlation_length_samples;  // count for the processed samples
 
-    if (d_enable_tracking)
+    if (d_enable_tracking || loss_of_lock)
         {
             return 1;
         }

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h

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

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc

@@ -621,6 +621,7 @@ int Gps_L1_Ca_Kf_Tracking_cc::general_work(int noutput_items __attribute__((unus
     d_carr_phase_error_rad = 0.0;
     code_error_chips = 0.0;
     code_error_filt_chips = 0.0;
+    bool loss_of_lock = false;
 
     // Block input data and block output stream pointers
     const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]);
@@ -800,6 +801,7 @@ int Gps_L1_Ca_Kf_Tracking_cc::general_work(int noutput_items __attribute__((unus
                             this->message_port_pub(pmt::mp("events"), pmt::from_long(3));  // 3 -> loss of lock
                             d_carrier_lock_fail_counter = 0;
                             d_enable_tracking = false;
+                            loss_of_lock = true;
                         }
                 }
             // ########### Output the tracking data to navigation and PVT ##########
@@ -810,7 +812,7 @@ int Gps_L1_Ca_Kf_Tracking_cc::general_work(int noutput_items __attribute__((unus
             current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
             current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
             current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
-            current_synchro_data.Flag_valid_symbol_output = true;
+            current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
             current_synchro_data.correlation_length_ms = 1;
 
             kf_iter++;

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc

@@ -312,6 +312,7 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attrib
     float carr_error = 0.0;
     float code_error = 0.0;
     float code_nco = 0.0;
+    bool loss_of_lock = false;
 
     Tcp_Packet_Data tcp_data;
     // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
@@ -452,6 +453,7 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attrib
                             this->message_port_pub(pmt::mp("events"), pmt::from_long(3));  // 3 -> loss of lock
                             d_carrier_lock_fail_counter = 0;
                             d_enable_tracking = false;  // TODO: check if disabling tracking is consistent with the channel state machine
+                            loss_of_lock = true;
                         }
                 }
 
@@ -466,7 +468,7 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attrib
             current_synchro_data.Carrier_phase_rads = static_cast<double>(d_acc_carrier_phase_rad);
             current_synchro_data.Carrier_Doppler_hz = static_cast<double>(d_carrier_doppler_hz);
             current_synchro_data.CN0_dB_hz = static_cast<double>(d_CN0_SNV_dB_Hz);
-            current_synchro_data.Flag_valid_symbol_output = true;
+            current_synchro_data.Flag_valid_symbol_output = !loss_of_lock;
             current_synchro_data.correlation_length_ms = 1;
         }
     else
@@ -561,7 +563,7 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attrib
     d_sample_counter_seconds = d_sample_counter_seconds + (static_cast<double>(d_current_prn_length_samples) / static_cast<double>(d_fs_in));
     d_sample_counter += d_current_prn_length_samples;  // count for the processed samples
 
-    if (d_enable_tracking)
+    if (d_enable_tracking || loss_of_lock)
         {
             return 1;
         }

src/algorithms/tracking/libs/CMakeLists.txt

@@ -42,20 +42,14 @@ set(TRACKING_LIB_HEADERS
     exponential_smoother.h
 )
 
-set(OPT_TRACKING_LIBRARIES "")
-set(OPT_TRACKING_INCLUDES "")
 if(ENABLE_CUDA)
+    list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_30,code=sm_30; -O3; -use_fast_math -default-stream per-thread")
     if(CMAKE_VERSION VERSION_GREATER 3.11)
         set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} cuda_multicorrelator.cu)
         set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} cuda_multicorrelator.h)
     else()
-        list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_30,code=sm_30; -std=c++11;-O3; -use_fast_math -default-stream per-thread")
-        set(CUDA_PROPAGATE_HOST_FLAGS OFF)
         cuda_include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-        set(LIB_TYPE STATIC) #set the lib type
+        cuda_add_library(cuda_correlator_lib STATIC cuda_multicorrelator.h cuda_multicorrelator.cu)
-        cuda_add_library(CUDA_CORRELATOR_LIB ${LIB_TYPE} cuda_multicorrelator.h cuda_multicorrelator.cu)
-        set(OPT_TRACKING_LIBRARIES ${OPT_TRACKING_LIBRARIES} CUDA_CORRELATOR_LIB)
-        set(OPT_TRACKING_INCLUDES ${OPT_TRACKING_INCLUDES} ${CUDA_INCLUDE_DIRS})
     endif()
 endif()
 
@@ -94,20 +88,28 @@ target_link_libraries(tracking_libs
         Volkgnsssdr::volkgnsssdr
         core_system_parameters
         algorithms_libs
-        ${OPT_TRACKING_LIBRARIES}
     PRIVATE
         gnss_sdr_flags
         Glog::glog
 )
 
-if(NOT CMAKE_VERSION VERSION_GREATER 3.11)
+if(ENABLE_CUDA)
-    target_link_libraries(tracking_libs
+    if(CMAKE_VERSION VERSION_GREATER 3.11)
-        PUBLIC
+        target_include_directories(tracking_libs
-            ${OPT_TRACKING_LIBRARIES}
+            PUBLIC ${CMAKE_CUDA_TOOLKIT_INCLUDE_DIRECTORIES}
-    )
+        )
-    target_include_directories(tracking_libs
+    else()
-        PUBLIC
+        target_link_libraries(tracking_libs
-            ${OPT_TRACKING_INCLUDES}
+            PUBLIC ${CUDA_LIBRARIES}
+        )
+        target_include_directories(tracking_libs
+            PUBLIC ${CUDA_INCLUDE_DIRS}
+        )
+    endif()
+    set_target_properties(tracking_libs PROPERTIES
+        CUDA_SEPARABLE_COMPILATION ON
+        POSITION_INDEPENDENT_CODE ON
+        CUDA_RESOLVE_DEVICE_SYMBOLS ON
     )
 endif()
 

src/core/interfaces/channel_interface.h

@@ -41,7 +41,9 @@ class ChannelInterface : public GNSSBlockInterface
 {
 public:
     virtual gr::basic_block_sptr get_left_block_trk() = 0;
+    virtual gr::basic_block_sptr get_right_block_trk() = 0;
     virtual gr::basic_block_sptr get_left_block_acq() = 0;
+    virtual gr::basic_block_sptr get_right_block_acq() = 0;
     virtual gr::basic_block_sptr get_left_block() = 0;
     virtual gr::basic_block_sptr get_right_block() = 0;
     virtual Gnss_Signal get_signal() const = 0;

src/core/interfaces/gnss_block_interface.h

@@ -68,6 +68,11 @@ public:
             };           // avoid unused param warning
         return nullptr;  // added to support raw array access (non pure virtual to allow left unimplemented)= 0;
     }
+
+    /*!
+     * \brief Start the flow of samples if needed.
+     */
+    virtual void start(){};
 };
 
 #endif  // GNSS_SDR_GNSS_BLOCK_INTERFACE_H

src/core/monitor/gnss_synchro_monitor.cc

@@ -46,7 +46,7 @@ gnss_synchro_monitor::gnss_synchro_monitor(int n_channels,
     int decimation_factor,
     int udp_port,
     const std::vector<std::string>& udp_addresses,
-    bool enable_protobuf) : gr::sync_block("gnss_synchro_monitor",
+    bool enable_protobuf) : gr::block("gnss_synchro_monitor",
                                 gr::io_signature::make(n_channels, n_channels, sizeof(Gnss_Synchro)),
                                 gr::io_signature::make(0, 0, 0))
 {
@@ -54,28 +54,46 @@ gnss_synchro_monitor::gnss_synchro_monitor(int n_channels,
     d_nchannels = n_channels;
 
     udp_sink_ptr = std::make_unique<Gnss_Synchro_Udp_Sink>(udp_addresses, udp_port, enable_protobuf);
-
-    count = 0;
 }
 
-
+void gnss_synchro_monitor::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required)
-int gnss_synchro_monitor::work(int noutput_items, gr_vector_const_void_star& input_items,
-    gr_vector_void_star& output_items __attribute__((unused)))
 {
-    const auto** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]);  // Get the input buffer pointer
+    for (int32_t channel_index = 0; channel_index < d_nchannels; channel_index++)
-    for (int epoch = 0; epoch < noutput_items; epoch++)
         {
-            count++;
+            // Set the required number of inputs to 0 so that a lone input on any channel can be pushed to UDP
-            if (count >= d_decimation_factor)
+            ninput_items_required[channel_index] = 0;
-                {
-                    for (int i = 0; i < d_nchannels; i++)
-                        {
-                            std::vector<Gnss_Synchro> stocks;
-                            stocks.push_back(in[i][epoch]);
-                            udp_sink_ptr->write_gnss_synchro(stocks);
-                        }
-                    count = 0;
-                }
         }
-    return noutput_items;
+}
+
+int gnss_synchro_monitor::general_work(int noutput_items __attribute__((unused)), gr_vector_int& ninput_items,
+    gr_vector_const_void_star& input_items, gr_vector_void_star& output_items __attribute__((unused)))
+{
+    // Get the input buffer pointer
+    const auto** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]);
+
+    // Loop through each input stream channel
+    for (int channel_index = 0; channel_index < d_nchannels; channel_index++)
+        {
+            // Loop through each item in each input stream channel
+            int count = 0;
+            for (int item_index = 0; item_index < ninput_items[channel_index]; item_index++)
+                {
+                    // Use the count variable to limit how many items are sent per channel
+                    count++;
+                    if (count >= d_decimation_factor)
+                        {
+                            // Convert to a vector and write to the UDP sink
+                            std::vector<Gnss_Synchro> stocks;
+                            stocks.push_back(in[channel_index][item_index]);
+                            udp_sink_ptr->write_gnss_synchro(stocks);
+                            // Reset count variable
+                            count = 0;
+                        }
+                }
+            // Consume the number of items for the input stream channel
+            consume(channel_index, ninput_items[channel_index]);
+        }
+
+    // Not producing any outputs
+    return 0;
 }

src/core/monitor/gnss_synchro_monitor.h

@@ -24,8 +24,8 @@
 #define GNSS_SDR_GNSS_SYNCHRO_MONITOR_H
 
 #include "gnss_synchro_udp_sink.h"
+#include <gnuradio/block.h>
 #include <gnuradio/runtime_types.h>  // for gr_vector_void_star
-#include <gnuradio/sync_block.h>
 #include <memory>
 #include <string>
 #include <vector>
@@ -54,13 +54,13 @@ gnss_synchro_monitor_sptr gnss_synchro_make_monitor(int n_channels,
  * a data stream with the receiver internal parameters (Gnss_Synchro objects)
  * to local or remote clients over UDP.
  */
-class gnss_synchro_monitor : public gr::sync_block
+class gnss_synchro_monitor : public gr::block
 {
 public:
     ~gnss_synchro_monitor() = default;  //!< Default destructor
-
+    void forecast(int noutput_items, gr_vector_int& ninput_items_required);
-    int work(int noutput_items, gr_vector_const_void_star& input_items,
+    int general_work(int noutput_items, gr_vector_int& ninput_items,
-        gr_vector_void_star& output_items);
+        gr_vector_const_void_star& input_items, gr_vector_void_star& output_items);
 
 private:
     friend gnss_synchro_monitor_sptr gnss_synchro_make_monitor(int n_channels,
@@ -78,7 +78,6 @@ private:
     int d_nchannels;
     int d_decimation_factor;
     std::unique_ptr<Gnss_Synchro_Udp_Sink> udp_sink_ptr;
-    int count;
 };
 
 #endif

src/core/receiver/CMakeLists.txt

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

src/core/receiver/gnss_flowgraph.cc

@@ -110,6 +110,14 @@ void GNSSFlowgraph::start()
             return;
         }
 
+#ifdef ENABLE_FPGA
+    // start the DMA if the receiver is in post-processing mode
+    if (configuration_->property(sig_source_.at(0)->role() + ".switch_position", 0) == 0)
+        {
+            sig_source_.at(0)->start();
+        }
+#endif
+
     running_ = true;
 }
 
@@ -707,6 +715,44 @@ void GNSSFlowgraph::connect()
                     return;
                 }
         }
+
+    // GNSS SYNCHRO ACQUISITION MONITOR
+    if (enable_acquisition_monitor_)
+        {
+            try
+                {
+                    for (int i = 0; i < channels_count_; i++)
+                        {
+                            top_block_->connect(channels_.at(i)->get_right_block_acq(), 0, GnssSynchroAcquisitionMonitor_, i);
+                        }
+                }
+            catch (const std::exception& e)
+                {
+                    LOG(WARNING) << "Can't connect acquisition intermediate outputs to Monitor block";
+                    LOG(ERROR) << e.what();
+                    top_block_->disconnect_all();
+                    return;
+                }
+        }
+
+    // GNSS SYNCHRO TRACKING MONITOR
+    if (enable_tracking_monitor_)
+        {
+            try
+                {
+                    for (int i = 0; i < channels_count_; i++)
+                        {
+                            top_block_->connect(channels_.at(i)->get_right_block_trk(), 0, GnssSynchroTrackingMonitor_, i);
+                        }
+                }
+            catch (const std::exception& e)
+                {
+                    LOG(WARNING) << "Can't connect tracking outputs to Monitor block";
+                    LOG(ERROR) << e.what();
+                    top_block_->disconnect_all();
+                    return;
+                }
+        }
 #ifndef ENABLE_FPGA
     // Activate acquisition in enabled channels
     for (int i = 0; i < channels_count_; i++)
@@ -949,6 +995,14 @@ void GNSSFlowgraph::disconnect()
                         {
                             top_block_->disconnect(observables_->get_right_block(), i, GnssSynchroMonitor_, i);
                         }
+                    if (enable_acquisition_monitor_)
+                        {
+                            top_block_->disconnect(channels_.at(i)->get_right_block_acq(), 0, GnssSynchroAcquisitionMonitor_, i);
+                        }
+                    if (enable_tracking_monitor_)
+                        {
+                            top_block_->disconnect(channels_.at(i)->get_right_block_trk(), 0, GnssSynchroTrackingMonitor_, i);
+                        }
                     top_block_->msg_disconnect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
                 }
             top_block_->msg_disconnect(pvt_->get_left_block(), pmt::mp("pvt_to_observables"), observables_->get_right_block(), pmt::mp("pvt_to_observables"));
@@ -1587,23 +1641,71 @@ void GNSSFlowgraph::init()
      * Instantiate the receiver monitor block, if required
      */
     enable_monitor_ = configuration_->property("Monitor.enable_monitor", false);
-    bool enable_protobuf = configuration_->property("Monitor.enable_protobuf", true);
-    if (configuration_->property("PVT.enable_protobuf", false) == true)
-        {
-            enable_protobuf = true;
-        }
-    std::string address_string = configuration_->property("Monitor.client_addresses", std::string("127.0.0.1"));
-    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());
-
     if (enable_monitor_)
         {
+            // Retrieve monitor properties
+            bool enable_protobuf = configuration_->property("Monitor.enable_protobuf", true);
+            if (configuration_->property("PVT.enable_protobuf", false) == true)
+                {
+                    enable_protobuf = true;
+                }
+            std::string address_string = configuration_->property("Monitor.client_addresses", std::string("127.0.0.1"));
+            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());
+
+            // Instantiate monitor object
             GnssSynchroMonitor_ = gnss_synchro_make_monitor(channels_count_,
                 configuration_->property("Monitor.decimation_factor", 1),
                 configuration_->property("Monitor.udp_port", 1234),
                 udp_addr_vec, enable_protobuf);
         }
+
+    /*
+     * Instantiate the receiver acquisition monitor block, if required
+     */
+    enable_acquisition_monitor_ = configuration_->property("AcquisitionMonitor.enable_monitor", false);
+    if (enable_acquisition_monitor_)
+        {
+            // Retrieve monitor properties
+            bool enable_protobuf = configuration_->property("AcquisitionMonitor.enable_protobuf", true);
+            if (configuration_->property("PVT.enable_protobuf", false) == true)
+                {
+                    enable_protobuf = true;
+                }
+            std::string address_string = configuration_->property("AcquisitionMonitor.client_addresses", std::string("127.0.0.1"));
+            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());
+
+            GnssSynchroAcquisitionMonitor_ = gnss_synchro_make_monitor(channels_count_,
+                configuration_->property("AcquisitionMonitor.decimation_factor", 1),
+                configuration_->property("AcquisitionMonitor.udp_port", 1235),
+                udp_addr_vec, enable_protobuf);
+        }
+
+    /*
+     * Instantiate the receiver tracking monitor block, if required
+     */
+    enable_tracking_monitor_ = configuration_->property("TrackingMonitor.enable_monitor", false);
+    if (enable_tracking_monitor_)
+        {
+            // Retrieve monitor properties
+            bool enable_protobuf = configuration_->property("TrackingMonitor.enable_protobuf", true);
+            if (configuration_->property("PVT.enable_protobuf", false) == true)
+                {
+                    enable_protobuf = true;
+                }
+            std::string address_string = configuration_->property("TrackingMonitor.client_addresses", std::string("127.0.0.1"));
+            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());
+
+            GnssSynchroTrackingMonitor_ = gnss_synchro_make_monitor(channels_count_,
+                configuration_->property("TrackingMonitor.decimation_factor", 1),
+                configuration_->property("TrackingMonitor.udp_port", 1236),
+                udp_addr_vec, enable_protobuf);
+        }
 }
 
 

src/core/receiver/gnss_flowgraph.h

@@ -191,6 +191,8 @@ private:
     std::vector<gr::blocks::null_sink::sptr> null_sinks_;
 
     gr::basic_block_sptr GnssSynchroMonitor_;
+    gr::basic_block_sptr GnssSynchroAcquisitionMonitor_;
+    gr::basic_block_sptr GnssSynchroTrackingMonitor_;
     channel_status_msg_receiver_sptr channels_status_;  // class that receives and stores the current status of the receiver channels
     gnss_sdr_sample_counter_sptr ch_out_sample_counter_;
 #if ENABLE_FPGA
@@ -240,6 +242,8 @@ private:
     bool running_;
     bool multiband_;
     bool enable_monitor_;
+    bool enable_acquisition_monitor_;
+    bool enable_tracking_monitor_;
 };
 
 #endif  // GNSS_SDR_GNSS_FLOWGRAPH_H

src/main/CMakeLists.txt

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