bds_b3i: merging new changes, fixing D2 decoding bug

src/algorithms/libs/CMakeLists.txt

@@ -41,7 +41,6 @@ set(GNSS_SPLIBS_SOURCES
     conjugate_ic.cc
     gnss_sdr_create_directory.cc
     geofunctions.cc
-    rtcm.cc
 )
 
 set(GNSS_SPLIBS_HEADERS
@@ -68,7 +67,6 @@ set(GNSS_SPLIBS_HEADERS
     gnss_sdr_create_directory.h
     gnss_circular_deque.h
     geofunctions.h
-    rtcm.h
 )
 
 if(ENABLE_FPGA)
@@ -116,20 +114,18 @@ target_link_libraries(algorithms_libs
         Gflags::gflags
         Gnuradio::runtime
         Gnuradio::blocks
-        Volk::volk ${ORC_LIBRARIES}
-        Volkgnsssdr::volkgnsssdr
-        core_system_parameters
         ${OPT_LIBRARIES}
     PRIVATE
+        core_system_parameters
+        Volk::volk ${ORC_LIBRARIES}
+        Volkgnsssdr::volkgnsssdr
         Boost::filesystem
-        Gflags::gflags
         Glog::glog
 )
 
 target_include_directories(algorithms_libs
     PUBLIC
         ${CMAKE_SOURCE_DIR}/src/core/interfaces
-        ${CMAKE_SOURCE_DIR}/src/core/receiver
 )
 
 target_compile_definitions(algorithms_libs
@@ -141,15 +137,6 @@ set_property(TARGET algorithms_libs
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
 )
 
-if(OS_IS_MACOSX)
-    if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")  # not AppleClang
-        target_compile_definitions(algorithms_libs
-            PUBLIC
-                -DBOOST_ASIO_HAS_STD_STRING_VIEW
-        )
-    endif()
-endif()
-
 if(ENABLE_CLANG_TIDY)
     if(CLANG_TIDY_EXE)
         set_target_properties(algorithms_libs

src/algorithms/libs/byte_x2_to_complex_byte.cc

@@ -31,7 +31,10 @@
 
 #include "byte_x2_to_complex_byte.h"
 #include <gnuradio/io_signature.h>
-#include <volk/volk.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <algorithm>  // for max
+#include <complex>    // for complex
+#include <cstdint>    // for int8_t
 
 
 byte_x2_to_complex_byte_sptr make_byte_x2_to_complex_byte()
@@ -44,7 +47,7 @@ byte_x2_to_complex_byte::byte_x2_to_complex_byte() : sync_block("byte_x2_to_comp
                                                          gr::io_signature::make(2, 2, sizeof(int8_t)),    // int8_t, defined in stdint.h and included in volk.h (signed char)
                                                          gr::io_signature::make(1, 1, sizeof(lv_8sc_t)))  // lv_8sc_t is a Volk's typedef for std::complex<signed char>
 {
-    const int alignment_multiple = volk_get_alignment() / sizeof(lv_8sc_t);
+    const int alignment_multiple = volk_gnsssdr_get_alignment() / sizeof(lv_8sc_t);
     set_alignment(std::max(1, alignment_multiple));
 }
 

src/algorithms/libs/byte_x2_to_complex_byte.h

@@ -34,6 +34,7 @@
 
 #include <boost/shared_ptr.hpp>
 #include <gnuradio/sync_block.h>
+#include <gnuradio/types.h>  // for gr_vector_const_void_star
 
 class byte_x2_to_complex_byte;
 
@@ -49,10 +50,9 @@ class byte_x2_to_complex_byte : public gr::sync_block
 {
 private:
     friend byte_x2_to_complex_byte_sptr make_byte_x2_to_complex_byte();
-
-public:
     byte_x2_to_complex_byte();
 
+public:
     int work(int noutput_items,
         gr_vector_const_void_star &input_items,
         gr_vector_void_star &output_items);

src/algorithms/libs/complex_byte_to_float_x2.cc

@@ -32,6 +32,7 @@
 #include "complex_byte_to_float_x2.h"
 #include <gnuradio/io_signature.h>
 #include <volk/volk.h>
+#include <algorithm>  // for max
 
 
 complex_byte_to_float_x2_sptr make_complex_byte_to_float_x2()

src/algorithms/libs/complex_byte_to_float_x2.h

@@ -34,6 +34,7 @@
 
 #include <boost/shared_ptr.hpp>
 #include <gnuradio/sync_block.h>
+#include <gnuradio/types.h>  // for gr_vector_const_void_star
 
 class complex_byte_to_float_x2;
 
@@ -49,10 +50,9 @@ class complex_byte_to_float_x2 : public gr::sync_block
 {
 private:
     friend complex_byte_to_float_x2_sptr make_complex_byte_to_float_x2();
-
-public:
     complex_byte_to_float_x2();
-
+    
+public:
     int work(int noutput_items,
         gr_vector_const_void_star &input_items,
         gr_vector_void_star &output_items);

src/algorithms/libs/complex_float_to_complex_byte.cc

@@ -32,7 +32,7 @@
 #include "complex_float_to_complex_byte.h"
 #include <gnuradio/io_signature.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
-
+#include <algorithm>  // for max
 
 complex_float_to_complex_byte_sptr make_complex_float_to_complex_byte()
 {

src/algorithms/libs/complex_float_to_complex_byte.h

@@ -33,6 +33,8 @@
 
 #include <boost/shared_ptr.hpp>
 #include <gnuradio/sync_block.h>
+#include <gnuradio/types.h>  // for gr_vector_const_void_star
+
 
 class complex_float_to_complex_byte;
 
@@ -47,10 +49,9 @@ class complex_float_to_complex_byte : public gr::sync_block
 {
 private:
     friend complex_float_to_complex_byte_sptr make_complex_float_to_complex_byte();
-
-public:
     complex_float_to_complex_byte();
-
+    
+public:
     int work(int noutput_items,
         gr_vector_const_void_star &input_items,
         gr_vector_void_star &output_items);

src/algorithms/libs/conjugate_cc.cc

@@ -31,6 +31,7 @@
 #include "conjugate_cc.h"
 #include <gnuradio/io_signature.h>
 #include <volk/volk.h>
+#include <algorithm>  // for max
 
 
 conjugate_cc_sptr make_conjugate_cc()

src/algorithms/libs/conjugate_cc.h

@@ -33,6 +33,7 @@
 
 #include <boost/shared_ptr.hpp>
 #include <gnuradio/sync_block.h>
+#include <gnuradio/types.h>  // for gr_vector_const_void_star
 
 class conjugate_cc;
 
@@ -48,10 +49,9 @@ class conjugate_cc : public gr::sync_block
 {
 private:
     friend conjugate_cc_sptr make_conjugate_cc();
-
-public:
     conjugate_cc();
-
+    
+public:
     int work(int noutput_items,
         gr_vector_const_void_star &input_items,
         gr_vector_void_star &output_items);

src/algorithms/libs/conjugate_ic.cc

@@ -31,6 +31,7 @@
 #include "conjugate_ic.h"
 #include <gnuradio/io_signature.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
+#include <algorithm>  // for max
 
 
 conjugate_ic_sptr make_conjugate_ic()

src/algorithms/libs/conjugate_ic.h

@@ -33,6 +33,7 @@
 
 #include <boost/shared_ptr.hpp>
 #include <gnuradio/sync_block.h>
+#include <gnuradio/types.h>  // for gr_vector_const_void_star
 
 class conjugate_ic;
 
@@ -48,10 +49,9 @@ class conjugate_ic : public gr::sync_block
 {
 private:
     friend conjugate_ic_sptr make_conjugate_ic();
-
-public:
     conjugate_ic();
 
+public:
     int work(int noutput_items,
         gr_vector_const_void_star &input_items,
         gr_vector_void_star &output_items);

src/algorithms/libs/conjugate_sc.cc

@@ -31,7 +31,7 @@
 #include "conjugate_sc.h"
 #include <gnuradio/io_signature.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
-
+#include <algorithm>  // for max
 
 conjugate_sc_sptr make_conjugate_sc()
 {

src/algorithms/libs/conjugate_sc.h

@@ -33,6 +33,7 @@
 
 #include <boost/shared_ptr.hpp>
 #include <gnuradio/sync_block.h>
+#include <gnuradio/types.h>  // for gr_vector_const_void_star
 
 class conjugate_sc;
 
@@ -48,10 +49,9 @@ class conjugate_sc : public gr::sync_block
 {
 private:
     friend conjugate_sc_sptr make_conjugate_sc();
-
-public:
     conjugate_sc();
-
+    
+public:
     int work(int noutput_items,
         gr_vector_const_void_star &input_items,
         gr_vector_void_star &output_items);

src/algorithms/libs/cshort_to_float_x2.cc

@@ -32,6 +32,7 @@
 #include "cshort_to_float_x2.h"
 #include <gnuradio/io_signature.h>
 #include <volk/volk.h>
+#include <algorithm>  // for max
 
 
 cshort_to_float_x2_sptr make_cshort_to_float_x2()

src/algorithms/libs/cshort_to_float_x2.h

@@ -34,6 +34,7 @@
 
 #include <boost/shared_ptr.hpp>
 #include <gnuradio/sync_block.h>
+#include <gnuradio/types.h>  // for gr_vector_const_void_star
 
 class cshort_to_float_x2;
 
@@ -49,10 +50,9 @@ class cshort_to_float_x2 : public gr::sync_block
 {
 private:
     friend cshort_to_float_x2_sptr make_cshort_to_float_x2();
-
-public:
     cshort_to_float_x2();
 
+public:
     int work(int noutput_items,
         gr_vector_const_void_star &input_items,
         gr_vector_void_star &output_items);

src/algorithms/libs/galileo_e5_signal_processing.cc

@@ -131,6 +131,12 @@ void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Sig
         {
             _dest[(i + delay) % _samplesPerCode] = _code[i];
         }
-
-    delete[] _code;
+    if (_fs != _codeFreqBasis)
+        {
+            free(_code);
+        }
+    else
+        {
+            delete[] _code;
+        }
 }

src/algorithms/libs/gnss_sdr_fpga_sample_counter.cc

@@ -40,7 +40,6 @@
 #include <string>
 #include <sys/mman.h>  // libraries used by the GIPO
 
-using google::LogMessage;
 
 #define PAGE_SIZE 0x10000             // default page size for the multicorrelator memory map
 #define TEST_REG_SANITY_CHECK 0x55AA  // value to check the presence of the test register (to detect the hw)

src/algorithms/libs/pass_through.cc

@@ -33,10 +33,11 @@
 #include "pass_through.h"
 #include "configuration_interface.h"
 #include <glog/logging.h>
-#include <volk/volk.h>
-#include <complex>
+#include <gnuradio/gr_complex.h>
+#include <volk/volk_complex.h>
+#include <cstdint>  // for int8_t
+#include <ostream>  // for operator<<
 
-using google::LogMessage;
 
 Pass_Through::Pass_Through(ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams,

src/algorithms/libs/pass_through.h

@@ -38,7 +38,8 @@
 #include "conjugate_sc.h"
 #include "gnss_block_interface.h"
 #include <gnuradio/blocks/copy.h>
-#include <gnuradio/hier_block2.h>
+#include <gnuradio/runtime_types.h>
+#include <cstddef>
 #include <string>
 
 

src/algorithms/libs/rtklib/CMakeLists.txt

@@ -66,9 +66,8 @@ source_group(Headers FILES ${RTKLIB_LIB_HEADERS})
 add_library(algorithms_libs_rtklib ${RTKLIB_LIB_SOURCES} ${RTKLIB_LIB_HEADERS})
 
 target_link_libraries(algorithms_libs_rtklib
-    PUBLIC
-        core_system_parameters
     PRIVATE
+        core_system_parameters
         Gflags::gflags
         Glog::glog
 )

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -29,7 +29,20 @@
  */
 
 #include "rtklib_conversions.h"
+#include "MATH_CONSTANTS.h"          // for PI, PI_2
+#include "beidou_dnav_ephemeris.h"   // for Beidou_Dnav_Ephemeris
+#include "galileo_almanac.h"         // for Galileo_Almanac
+#include "galileo_ephemeris.h"       // for Galileo_Ephemeris
+#include "glonass_gnav_ephemeris.h"  // for Glonass_Gnav_Ephemeris
+#include "glonass_gnav_utc_model.h"  // for Glonass_Gnav_Utc_Model
+#include "gnss_obs_codes.h"          // for CODE_L1C, CODE_L2S, CODE_L5X
+#include "gnss_synchro.h"            // for Gnss_Synchro
+#include "gps_almanac.h"             // for Gps_Almanac
+#include "gps_cnav_ephemeris.h"      // for Gps_CNAV_Ephemeris
+#include "gps_ephemeris.h"           // for Gps_Ephemeris
 #include "rtklib_rtkcmn.h"
+#include <cmath>
+#include <cstdint>
 
 obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro, int week, int band)
 {

src/algorithms/libs/rtklib/rtklib_conversions.h

@@ -31,17 +31,18 @@
 #ifndef GNSS_SDR_RTKLIB_CONVERSIONS_H_
 #define GNSS_SDR_RTKLIB_CONVERSIONS_H_
 
-#include "beidou_dnav_ephemeris.h"
-#include "galileo_almanac.h"
-#include "galileo_ephemeris.h"
-#include "glonass_gnav_ephemeris.h"
-#include "glonass_gnav_utc_model.h"
-#include "gnss_synchro.h"
-#include "gps_almanac.h"
-#include "gps_cnav_ephemeris.h"
-#include "gps_ephemeris.h"
 #include "rtklib.h"
 
+class Beidou_Dnav_Ephemeris;
+class Galileo_Almanac;
+class Galileo_Ephemeris;
+class Glonass_Gnav_Ephemeris;
+class Glonass_Gnav_Utc_Model;
+class Gnss_Synchro;
+class Gps_Almanac;
+class Gps_CNAV_Ephemeris;
+class Gps_Ephemeris;
+
 eph_t eph_to_rtklib(const Galileo_Ephemeris& gal_eph);
 eph_t eph_to_rtklib(const Gps_Ephemeris& gps_eph);
 eph_t eph_to_rtklib(const Gps_CNAV_Ephemeris& gps_cnav_eph);

src/algorithms/libs/short_x2_to_cshort.cc

@@ -31,8 +31,9 @@
 
 #include "short_x2_to_cshort.h"
 #include <gnuradio/io_signature.h>
-#include <volk/volk.h>
-
+#include <volk_gnsssdr/volk_gnsssdr.h>
+#include <algorithm>  // for max
+#include <complex>    // for complex
 
 short_x2_to_cshort_sptr make_short_x2_to_cshort()
 {
@@ -44,7 +45,7 @@ short_x2_to_cshort::short_x2_to_cshort() : sync_block("short_x2_to_cshort",
                                                gr::io_signature::make(2, 2, sizeof(int16_t)),
                                                gr::io_signature::make(1, 1, sizeof(lv_16sc_t)))
 {
-    const int alignment_multiple = volk_get_alignment() / sizeof(lv_16sc_t);
+    const int alignment_multiple = volk_gnsssdr_get_alignment() / sizeof(lv_16sc_t);
     set_alignment(std::max(1, alignment_multiple));
 }
 
@@ -61,7 +62,6 @@ int short_x2_to_cshort::work(int noutput_items,
     int16_t imag_part;
     for (int number = 0; number < noutput_items; number++)
         {
-            // lv_cmake(r, i) defined at volk/volk_complex.h
             real_part = *in0++;
             imag_part = *in1++;
             *out++ = lv_cmake(real_part, imag_part);

src/algorithms/libs/short_x2_to_cshort.h

@@ -34,6 +34,7 @@
 
 #include <boost/shared_ptr.hpp>
 #include <gnuradio/sync_block.h>
+#include <gnuradio/types.h>  // for gr_vector_const_void_star
 
 class short_x2_to_cshort;
 
@@ -48,10 +49,9 @@ class short_x2_to_cshort : public gr::sync_block
 {
 private:
     friend short_x2_to_cshort_sptr make_short_x2_to_cshort();
-
-public:
     short_x2_to_cshort();
 
+public:
     int work(int noutput_items,
         gr_vector_const_void_star &input_items,
         gr_vector_void_star &output_items);