bds_b3i: merging new changes, fixing D2 decoding bug

src/algorithms/PVT/adapters/CMakeLists.txt

@@ -32,6 +32,7 @@ add_library(pvt_adapters ${PVT_ADAPTER_SOURCES} ${PVT_ADAPTER_HEADERS})
 target_link_libraries(pvt_adapters
     PUBLIC
         pvt_gr_blocks
+        algorithms_libs_rtklib
         core_system_parameters
     PRIVATE
         gnss_sdr_flags

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -30,10 +30,17 @@
 
 
 #include "rtklib_pvt.h"
-#include "configuration_interface.h"
+#include "MATH_CONSTANTS.h"           // for D2R
-#include "gnss_sdr_flags.h"
+#include "configuration_interface.h"  // for ConfigurationInterface
-#include "pvt_conf.h"
+#include "galileo_almanac.h"          // for Galileo_Almanac
-#include <glog/logging.h>
+#include "galileo_ephemeris.h"        // for Galileo_Ephemeris
+#include "gnss_sdr_flags.h"           // for FLAGS_RINEX_version
+#include "gps_almanac.h"              // for Gps_Almanac
+#include "gps_ephemeris.h"            // for Gps_Ephemeris
+#include "pvt_conf.h"                 // for Pvt_Conf
+#include "rtklib_rtkpos.h"            // for rtkfree, rtkinit
+#include <glog/logging.h>             // for LOG
+#include <iostream>                   // for operator<<
 #if OLD_BOOST
 #include <boost/math/common_factor_rt.hpp>
 namespace bc = boost::math;
@@ -43,9 +50,6 @@ namespace bc = boost::integer;
 #endif
 
 
-using google::LogMessage;
-
-
 Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
     const std::string& role,
     unsigned int in_streams,
@@ -739,7 +743,7 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
     pvt_output_parameters.udp_port = configuration->property(role + ".monitor_udp_port", 1234);
 
     // make PVT object
-    pvt_ = rtklib_make_pvt_cc(in_streams_, pvt_output_parameters, rtk);
+    pvt_ = rtklib_make_pvt_gs(in_streams_, pvt_output_parameters, rtk);
     DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
     if (out_streams_ > 0)
         {

src/algorithms/PVT/adapters/rtklib_pvt.h

@@ -32,18 +32,21 @@
 #ifndef GNSS_SDR_RTKLIB_PVT_H_
 #define GNSS_SDR_RTKLIB_PVT_H_
 
-#include "galileo_almanac.h"
+#include "pvt_interface.h"           // for PvtInterface
-#include "galileo_ephemeris.h"
+#include "rtklib.h"                  // for rtk_t
-#include "gps_almanac.h"
+#include "rtklib_pvt_gs.h"           // for rtklib_pvt_gs_sptr
-#include "gps_ephemeris.h"
+#include <gnuradio/gr_complex.h>     // for gr_complex
-#include "pvt_interface.h"
+#include <gnuradio/runtime_types.h>  // for basic_block_sptr, top_block_sptr
-#include "rtklib.h"
+#include <cstddef>                   // for size_t
-#include "rtklib_pvt_cc.h"
+#include <ctime>                     // for time_t
-#include <map>
+#include <map>                       // for map
-#include <string>
+#include <string>                    // for string
-
 
 class ConfigurationInterface;
+class Galileo_Almanac;
+class Galileo_Ephemeris;
+class Gps_Almanac;
+class Gps_Ephemeris;
 
 /*!
  * \brief This class implements a PvtInterface for the RTKLIB PVT block
@@ -99,7 +102,7 @@ public:
         time_t* UTC_time) override;
 
 private:
-    rtklib_pvt_cc_sptr pvt_;
+    rtklib_pvt_gs_sptr pvt_;
     rtk_t rtk{};
     std::string role_;
     unsigned int in_streams_;

src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt

@@ -17,11 +17,11 @@
 #
 
 set(PVT_GR_BLOCKS_SOURCES
-    rtklib_pvt_cc.cc
+    rtklib_pvt_gs.cc
 )
 
 set(PVT_GR_BLOCKS_HEADERS
-    rtklib_pvt_cc.h
+    rtklib_pvt_gs.h
 )
 
 source_group(Headers FILES ${PVT_GR_BLOCKS_HEADERS})
@@ -30,12 +30,13 @@ add_library(pvt_gr_blocks ${PVT_GR_BLOCKS_SOURCES} ${PVT_GR_BLOCKS_HEADERS})
 
 target_link_libraries(pvt_gr_blocks
     PUBLIC
-        pvt_libs
+        algorithms_libs_rtklib
         core_system_parameters
         Boost::date_time
         Gnuradio::pmt
         Gnuradio::runtime
     PRIVATE
+        pvt_libs
         algorithms_libs
         Gflags::gflags
         Glog::glog

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -1,5 +1,5 @@
 /*!
- * \file rtklib_pvt_cc.cc
+ * \file rtklib_pvt_gs.cc
  * \brief Interface of a Position Velocity and Time computation block
  * \author Javier Arribas, 2017. jarribas(at)cttc.es
  *
@@ -28,24 +28,58 @@
  * -------------------------------------------------------------------------
  */
 
-#include "rtklib_pvt_cc.h"
+#include "rtklib_pvt_gs.h"
+#include "beidou_dnav_almanac.h"
+#include "beidou_dnav_ephemeris.h"
+#include "beidou_dnav_iono.h"
+#include "beidou_dnav_utc_model.h"
 #include "display.h"
+#include "galileo_almanac.h"
 #include "galileo_almanac_helper.h"
+#include "galileo_ephemeris.h"
+#include "galileo_iono.h"
+#include "galileo_utc_model.h"
+#include "geojson_printer.h"
+#include "glonass_gnav_almanac.h"
+#include "glonass_gnav_ephemeris.h"
+#include "glonass_gnav_utc_model.h"
 #include "gnss_sdr_create_directory.h"
+#include "gps_almanac.h"
+#include "gps_cnav_ephemeris.h"
+#include "gps_cnav_iono.h"
+#include "gps_cnav_utc_model.h"
+#include "gps_ephemeris.h"
+#include "gps_iono.h"
+#include "gps_utc_model.h"
+#include "gpx_printer.h"
+#include "kml_printer.h"
+#include "monitor_pvt.h"
+#include "monitor_pvt_udp_sink.h"
+#include "nmea_printer.h"
 #include "pvt_conf.h"
-#include <boost/archive/xml_iarchive.hpp>
+#include "rinex_printer.h"
-#include <boost/archive/xml_oarchive.hpp>
+#include "rtcm_printer.h"
-#include <boost/exception/all.hpp>
+#include "rtklib_solver.h"
+#include <boost/any.hpp>                   // for any_cast, any
+#include <boost/archive/xml_iarchive.hpp>  // for xml_iarchive
+#include <boost/archive/xml_oarchive.hpp>  // for xml_oarchive
+#include <boost/bind/bind.hpp>             // for bind_t, bind
+#include <boost/exception/diagnostic_information.hpp>
+#include <boost/exception/exception.hpp>
 #include <boost/filesystem/path.hpp>
 #include <boost/serialization/map.hpp>
-#include <glog/logging.h>
+#include <boost/serialization/nvp.hpp>  // for nvp, make_nvp
-#include <gnuradio/gr_complex.h>
+#include <boost/system/error_code.hpp>  // for error_code
-#include <gnuradio/io_signature.h>
+#include <glog/logging.h>               // for LOG
-#include <algorithm>
+#include <gnuradio/io_signature.h>      // for io_signature
-#include <exception>
+#include <pmt/pmt_sugar.h>              // for mp
-#include <fstream>
+#include <algorithm>                    // for sort, unique
-#include <iostream>
+#include <exception>                    // for exception
-#include <stdexcept>
+#include <fstream>                      // for ofstream
+#include <iostream>                     // for operator<<
+#include <stdexcept>                    // for length_error
+#include <sys/ipc.h>                    // for IPC_CREAT
+#include <sys/msg.h>                    // for msgctl
 #if OLD_BOOST
 #include <boost/math/common_factor_rt.hpp>
 namespace bc = boost::math;
@@ -54,22 +88,20 @@ namespace bc = boost::math;
 namespace bc = boost::integer;
 #endif
 
-using google::LogMessage;
 
-
+rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
-rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
     const Pvt_Conf& conf_,
     const rtk_t& rtk)
 {
-    return rtklib_pvt_cc_sptr(new rtklib_pvt_cc(nchannels,
+    return rtklib_pvt_gs_sptr(new rtklib_pvt_gs(nchannels,
         conf_,
         rtk));
 }
 
 
-rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
+rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
     const Pvt_Conf& conf_,
-    const rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc",
+    const rtk_t& rtk) : gr::sync_block("rtklib_pvt_gs",
                             gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
                             gr::io_signature::make(0, 0, 0))
 {
@@ -118,7 +150,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
 
     // GPS Ephemeris data message port in
     this->message_port_register_in(pmt::mp("telemetry"));
-    this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&rtklib_pvt_cc::msg_handler_telemetry, this, _1));
+    this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&rtklib_pvt_gs::msg_handler_telemetry, this, _1));
 
     // initialize kml_printer
     std::string kml_dump_filename;
@@ -151,7 +183,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
     // initialize geojson_printer
     std::string geojson_dump_filename;
     geojson_dump_filename = d_dump_filename;
-
     d_geojson_output_enabled = conf_.geojson_output_enabled;
     if (d_geojson_output_enabled)
         {
@@ -336,7 +367,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
 }
 
 
-rtklib_pvt_cc::~rtklib_pvt_cc()
+rtklib_pvt_gs::~rtklib_pvt_gs()
 {
     msgctl(sysv_msqid, IPC_RMID, nullptr);
     try
@@ -883,7 +914,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
 }
 
 
-void rtklib_pvt_cc::msg_handler_telemetry(const pmt::pmt_t& msg)
+void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
 {
     try
         {
@@ -1097,43 +1128,43 @@ void rtklib_pvt_cc::msg_handler_telemetry(const pmt::pmt_t& msg)
 }
 
 
-std::map<int, Gps_Ephemeris> rtklib_pvt_cc::get_gps_ephemeris_map() const
+std::map<int, Gps_Ephemeris> rtklib_pvt_gs::get_gps_ephemeris_map() const
 {
     return d_pvt_solver->gps_ephemeris_map;
 }
 
 
-std::map<int, Gps_Almanac> rtklib_pvt_cc::get_gps_almanac_map() const
+std::map<int, Gps_Almanac> rtklib_pvt_gs::get_gps_almanac_map() const
 {
     return d_pvt_solver->gps_almanac_map;
 }
 
 
-std::map<int, Galileo_Ephemeris> rtklib_pvt_cc::get_galileo_ephemeris_map() const
+std::map<int, Galileo_Ephemeris> rtklib_pvt_gs::get_galileo_ephemeris_map() const
 {
     return d_pvt_solver->galileo_ephemeris_map;
 }
 
 
-std::map<int, Galileo_Almanac> rtklib_pvt_cc::get_galileo_almanac_map() const
+std::map<int, Galileo_Almanac> rtklib_pvt_gs::get_galileo_almanac_map() const
 {
     return d_pvt_solver->galileo_almanac_map;
 }
 
 
-std::map<int, Beidou_Dnav_Ephemeris> rtklib_pvt_cc::get_beidou_dnav_ephemeris_map() const
+std::map<int, Beidou_Dnav_Ephemeris> rtklib_pvt_gs::get_beidou_dnav_ephemeris_map() const
 {
     return d_pvt_solver->beidou_dnav_ephemeris_map;
 }
 
 
-std::map<int, Beidou_Dnav_Almanac> rtklib_pvt_cc::get_beidou_dnav_almanac_map() const
+std::map<int, Beidou_Dnav_Almanac> rtklib_pvt_gs::get_beidou_dnav_almanac_map() const
 {
     return d_pvt_solver->beidou_dnav_almanac_map;
 }
 
 
-void rtklib_pvt_cc::clear_ephemeris()
+void rtklib_pvt_gs::clear_ephemeris()
 {
     d_pvt_solver->gps_ephemeris_map.clear();
     d_pvt_solver->gps_almanac_map.clear();
@@ -1144,13 +1175,13 @@ void rtklib_pvt_cc::clear_ephemeris()
 }
 
 
-bool rtklib_pvt_cc::observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b)
+bool rtklib_pvt_gs::observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b)
 {
     return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
 }
 
 
-bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
+bool rtklib_pvt_gs::send_sys_v_ttff_msg(ttff_msgbuf ttff)
 {
     // Fill Sys V message structures
     int msgsend_size;
@@ -1166,7 +1197,7 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
 }
 
 
-bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string& file_name)
+bool rtklib_pvt_gs::save_gnss_synchro_map_xml(const std::string& file_name)
 {
     if (gnss_observables_map.empty() == false)
         {
@@ -1191,7 +1222,7 @@ bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string& file_name)
 }
 
 
-bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string& file_name)
+bool rtklib_pvt_gs::load_gnss_synchro_map_xml(const std::string& file_name)
 {
     // load from xml (boost serialize)
     std::ifstream ifs;
@@ -1212,7 +1243,7 @@ bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string& file_name)
 }
 
 
-std::vector<std::string> rtklib_pvt_cc::split_string(const std::string& s, char delim) const
+std::vector<std::string> rtklib_pvt_gs::split_string(const std::string& s, char delim) const
 {
     std::vector<std::string> v;
     std::stringstream ss(s);
@@ -1227,7 +1258,7 @@ std::vector<std::string> rtklib_pvt_cc::split_string(const std::string& s, char
 }
 
 
-bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
+bool rtklib_pvt_gs::get_latest_PVT(double* longitude_deg,
     double* latitude_deg,
     double* height_m,
     double* ground_speed_kmh,
@@ -1250,7 +1281,7 @@ bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
 }
 
 
-int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items,
+int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_items,
     gr_vector_void_star& output_items __attribute__((unused)))
 {
     for (int32_t epoch = 0; epoch < noutput_items; epoch++)

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h

@@ -1,5 +1,5 @@
 /*!
- * \file rtklib_pvt_cc.h
+ * \file rtklib_pvt_gs.h
  * \brief Interface of a Position Velocity and Time computation block
  * \author Javier Arribas, 2017. jarribas(at)cttc.es
  *
@@ -28,56 +28,61 @@
  * -------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_RTKLIB_PVT_CC_H
+#ifndef GNSS_SDR_RTKLIB_PVT_GS_H
-#define GNSS_SDR_RTKLIB_PVT_CC_H
+#define GNSS_SDR_RTKLIB_PVT_GS_H
 
-#include "beidou_dnav_almanac.h"
-#include "beidou_dnav_ephemeris.h"
-#include "galileo_almanac.h"
-#include "galileo_ephemeris.h"
-#include "geojson_printer.h"
 #include "gnss_synchro.h"
-#include "gps_almanac.h"
+#include "rtklib.h"
-#include "gps_ephemeris.h"
-#include "gpx_printer.h"
-#include "kml_printer.h"
-#include "monitor_pvt_udp_sink.h"
-#include "nmea_printer.h"
-#include "pvt_conf.h"
-#include "rinex_printer.h"
-#include "rtcm_printer.h"
-#include "rtklib_solver.h"
 #include <boost/date_time/gregorian/gregorian.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
-#include <gnuradio/sync_block.h>
+#include <boost/shared_ptr.hpp>   // for boost::shared_ptr
-#include <pmt/pmt.h>
+#include <gnuradio/sync_block.h>  // for sync_block
-#include <chrono>
+#include <gnuradio/types.h>       // for gr_vector_const_void_star
-#include <cstdint>
+#include <pmt/pmt.h>              // for pmt_t
-#include <map>
+#include <chrono>                 // for system_clock
-#include <memory>
+#include <cstdint>                // for int32_t
-#include <string>
+#include <ctime>                  // for time_t
-#include <sys/ipc.h>
+#include <map>                    // for map
-#include <sys/msg.h>
+#include <memory>                 // for shared_ptr, unique_ptr
-#include <sys/types.h>
+#include <string>                 // for string
-#include <utility>
+#include <sys/types.h>            // for key_t
-#include <vector>
+#include <utility>                // for pair
+#include <vector>                 // for vector
 
+class Beidou_Dnav_Almanac;
+class Beidou_Dnav_Ephemeris;
+class Galileo_Almanac;
+class Galileo_Ephemeris;
+class GeoJSON_Printer;
+class Gps_Almanac;
+class Gps_Ephemeris;
+class Gpx_Printer;
+class Kml_Printer;
+class Monitor_Pvt_Udp_Sink;
+class Nmea_Printer;
+class Pvt_Conf;
+class Rinex_Printer;
+class Rtcm_Printer;
+class Rtklib_Solver;
+class rtklib_pvt_gs;
 
-class rtklib_pvt_cc;
+using rtklib_pvt_gs_sptr = boost::shared_ptr<rtklib_pvt_gs>;
 
-using rtklib_pvt_cc_sptr = boost::shared_ptr<rtklib_pvt_cc>;
+rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
-
-rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
     const Pvt_Conf& conf_,
     const rtk_t& rtk);
 
 /*!
  * \brief This class implements a block that computes the PVT solution using the RTKLIB integrated library
  */
-class rtklib_pvt_cc : public gr::sync_block
+class rtklib_pvt_gs : public gr::sync_block
 {
 private:
-    friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
+    friend rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
+        const Pvt_Conf& conf_,
+        const rtk_t& rtk);
+
+    rtklib_pvt_gs(uint32_t nchannels,
         const Pvt_Conf& conf_,
         const rtk_t& rtk);
 
@@ -135,7 +140,7 @@ private:
     int sysv_msqid;
     typedef struct
     {
-        long mtype;  //required by sys v message
+        long mtype;  // NOLINT(google-runtime-int) required by SysV queue messaging
         double ttff;
     } ttff_msgbuf;
     bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
@@ -158,31 +163,40 @@ private:
     std::vector<std::string> split_string(const std::string& s, char delim) const;
 
 public:
-    rtklib_pvt_cc(uint32_t nchannels,
+    ~rtklib_pvt_gs();  //!< Default destructor
-        const Pvt_Conf& conf_,
-        const rtk_t& rtk);
-
-    ~rtklib_pvt_cc();  //!< Default destructor
 
     /*!
      * \brief Get latest set of GPS ephemeris from PVT block
-     *
      */
     std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
 
+    /*!
+     * \brief Get latest set of GPS almanac from PVT block
+     */
     std::map<int, Gps_Almanac> get_gps_almanac_map() const;
 
+    /*!
+     * \brief Get latest set of Galileo ephemeris from PVT block
+     */
     std::map<int, Galileo_Ephemeris> get_galileo_ephemeris_map() const;
 
+    /*!
+     * \brief Get latest set of Galileo almanac from PVT block
+     */
     std::map<int, Galileo_Almanac> get_galileo_almanac_map() const;
 
+    /*!
+     * \brief Get latest set of BeiDou DNAV ephemeris from PVT block
+     */
     std::map<int, Beidou_Dnav_Ephemeris> get_beidou_dnav_ephemeris_map() const;
 
+    /*!
+     * \brief Get latest set of BeiDou DNAV almanac from PVT block
+     */
     std::map<int, Beidou_Dnav_Almanac> get_beidou_dnav_almanac_map() const;
 
     /*!
      * \brief Clear all ephemeris information and the almanacs for GPS and Galileo
-     *
      */
     void clear_ephemeris();
 

src/algorithms/PVT/libs/CMakeLists.txt

@@ -26,6 +26,7 @@ set(PVT_LIB_SOURCES
     rinex_printer.cc
     nmea_printer.cc
     rtcm_printer.cc
+    rtcm.cc
     geojson_printer.cc
     rtklib_solver.cc
     pvt_conf.cc
@@ -41,6 +42,7 @@ set(PVT_LIB_HEADERS
     rinex_printer.h
     nmea_printer.h
     rtcm_printer.h
+    rtcm.h
     geojson_printer.h
     rtklib_solver.h
     pvt_conf.h
@@ -59,10 +61,10 @@ target_link_libraries(pvt_libs
     PUBLIC
         Armadillo::armadillo
         Boost::date_time
-        algorithms_libs
         algorithms_libs_rtklib
         core_system_parameters
     PRIVATE
+        algorithms_libs
         Boost::filesystem
         Boost::system
         Gflags::gflags
@@ -72,13 +74,20 @@ target_link_libraries(pvt_libs
 
 target_include_directories(pvt_libs
     PUBLIC
-        ${CMAKE_SOURCE_DIR}/src/algorithms/libs
-        ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
         ${CMAKE_SOURCE_DIR}/src/core/receiver
 )
 
 target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
 
+if(OS_IS_MACOSX)
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")  # not AppleClang
+        target_compile_definitions(pvt_libs
+            PUBLIC
+                -DBOOST_ASIO_HAS_STD_STRING_VIEW
+        )
+    endif()
+endif()
+
 if(ENABLE_CLANG_TIDY)
     if(CLANG_TIDY_EXE)
         set_target_properties(pvt_libs

src/algorithms/PVT/libs/gpx_printer.cc

@@ -39,8 +39,6 @@
 #include <exception>
 #include <sstream>
 
-using google::LogMessage;
-
 
 Gpx_Printer::Gpx_Printer(const std::string& base_path)
 {

src/algorithms/PVT/libs/gpx_printer.h

@@ -33,7 +33,6 @@
 #ifndef GNSS_SDR_GPX_PRINTER_H_
 #define GNSS_SDR_GPX_PRINTER_H_
 
-#include "pvt_solution.h"
 #include "rtklib_solver.h"
 #include <fstream>
 #include <memory>

src/algorithms/PVT/libs/hybrid_ls_pvt.cc

@@ -38,8 +38,6 @@
 #include <utility>
 
 
-using google::LogMessage;
-
 Hybrid_Ls_Pvt::Hybrid_Ls_Pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file) : Ls_Pvt()
 {
     // init empty ephemeris for all the available GNSS channels

src/algorithms/PVT/libs/kml_printer.cc

@@ -39,8 +39,6 @@
 #include <exception>
 #include <sstream>
 
-using google::LogMessage;
-
 
 Kml_Printer::Kml_Printer(const std::string& base_path)
 {

src/algorithms/PVT/libs/kml_printer.h

@@ -33,7 +33,6 @@
 #ifndef GNSS_SDR_KML_PRINTER_H_
 #define GNSS_SDR_KML_PRINTER_H_
 
-#include "pvt_solution.h"
 #include "rtklib_solver.h"
 #include <fstream>
 #include <memory>

src/algorithms/PVT/libs/ls_pvt.cc

@@ -33,13 +33,9 @@
 #include "GPS_L1_CA.h"
 #include "geofunctions.h"
 #include <glog/logging.h>
-#include <exception>
 #include <stdexcept>
 
 
-using google::LogMessage;
-
-
 Ls_Pvt::Ls_Pvt() : Pvt_Solution()
 {
 }

src/algorithms/PVT/libs/nmea_printer.cc

@@ -46,9 +46,6 @@
 #include <termios.h>
 
 
-using google::LogMessage;
-
-
 Nmea_Printer::Nmea_Printer(const std::string& filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_devname, const std::string& base_path)
 {
     nmea_base_path = base_path;

src/algorithms/PVT/libs/pvt_conf.h

@@ -31,7 +31,6 @@
 #ifndef GNSS_SDR_PVT_CONF_H_
 #define GNSS_SDR_PVT_CONF_H_
 
-#include <cstddef>
 #include <cstdint>
 #include <map>
 #include <string>

src/algorithms/PVT/libs/pvt_solution.cc

@@ -33,10 +33,6 @@
 #include "GPS_L1_CA.h"
 #include "geofunctions.h"
 #include <glog/logging.h>
-#include <exception>
-
-
-using google::LogMessage;
 
 
 Pvt_Solution::Pvt_Solution()
@@ -57,6 +53,7 @@ Pvt_Solution::Pvt_Solution()
     d_rx_dt_s = 0.0;
 }
 
+
 arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec &X_sat)
 {
     /*

src/algorithms/PVT/libs/rinex_printer.cc

@@ -48,9 +48,6 @@
 #include <vector>
 
 
-using google::LogMessage;
-
-
 Rinex_Printer::Rinex_Printer(int32_t conf_version, const std::string& base_path)
 {
     std::string base_rinex_path = base_path;

src/algorithms/PVT/libs/rtcm.cc

@@ -40,9 +40,6 @@
 #include <cmath>      // for std::fmod
 #include <cstdlib>    // for strtol
 #include <sstream>    // for std::stringstream
-#include <thread>
-
-using google::LogMessage;
 
 
 Rtcm::Rtcm(uint16_t port)
@@ -3366,6 +3363,7 @@ std::map<std::string, int> Rtcm::gps_signal_map = [] {
     gps_signal_map_["5I"] = 22;
     gps_signal_map_["5Q"] = 23;
     gps_signal_map_["5X"] = 24;
+    gps_signal_map_["L5"] = 24;  // Workaround. TODO: check if it was I or Q
     return gps_signal_map_;
 }();
 

src/algorithms/PVT/libs/rtcm.h

@@ -43,7 +43,9 @@
 #include <boost/date_time/posix_time/posix_time.hpp>
 #include <glog/logging.h>
 #include <bitset>
+#include <cstddef>  // for size_t
 #include <cstdint>
+#include <cstring>  // for memcpy
 #include <deque>
 #include <map>
 #include <memory>

src/algorithms/PVT/libs/rtcm_printer.cc

@@ -45,9 +45,6 @@
 #include <utility>
 
 
-using google::LogMessage;
-
-
 Rtcm_Printer::Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, const std::string& rtcm_dump_devname, bool time_tag_name, const std::string& base_path)
 {
     boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -57,6 +57,7 @@
 #include "GPS_L1_CA.h"
 #include "Galileo_E1.h"
 #include "rtklib_conversions.h"
+#include "rtklib_rtkpos.h"
 #include "rtklib_solution.h"
 #include <glog/logging.h>
 #include <matio.h>
@@ -64,8 +65,6 @@
 #include <utility>
 
 
-using google::LogMessage;
-
 Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk)
 {
     // init empty ephemeris for all the available GNSS channels
@@ -481,11 +480,13 @@ double Rtklib_Solver::get_vdop() const
     return dop_[3];
 }
 
+
 Monitor_Pvt Rtklib_Solver::get_monitor_pvt() const
 {
     return monitor_pvt;
 }
 
+
 bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_map, bool flag_averaging)
 {
     std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;

src/algorithms/PVT/libs/rtklib_solver.h

@@ -55,16 +55,28 @@
 #define GNSS_SDR_RTKLIB_SOLVER_H_
 
 
-#include "beidou_dnav_navigation_message.h"
+#include "beidou_dnav_almanac.h"
+#include "beidou_dnav_ephemeris.h"
+#include "beidou_dnav_iono.h"
+#include "beidou_dnav_utc_model.h"
 #include "galileo_almanac.h"
-#include "galileo_navigation_message.h"
+#include "galileo_ephemeris.h"
-#include "glonass_gnav_navigation_message.h"
+#include "galileo_iono.h"
+#include "galileo_utc_model.h"
+#include "glonass_gnav_almanac.h"
+#include "glonass_gnav_ephemeris.h"
+#include "glonass_gnav_utc_model.h"
 #include "gnss_synchro.h"
-#include "gps_cnav_navigation_message.h"
+#include "gps_almanac.h"
-#include "gps_navigation_message.h"
+#include "gps_cnav_ephemeris.h"
+#include "gps_cnav_iono.h"
+#include "gps_cnav_utc_model.h"
+#include "gps_ephemeris.h"
+#include "gps_iono.h"
+#include "gps_utc_model.h"
 #include "monitor_pvt.h"
 #include "pvt_solution.h"
-#include "rtklib_rtkpos.h"
+#include "rtklib.h"
 #include <array>
 #include <fstream>
 #include <map>
@@ -89,12 +101,13 @@ private:
     Monitor_Pvt monitor_pvt;
 
 public:
-    sol_t pvt_sol;
-    ssat_t pvt_ssat[MAXSAT];
     Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t& rtk);
     ~Rtklib_Solver();
 
     bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
+
+    sol_t pvt_sol;
+    ssat_t pvt_ssat[MAXSAT];
     double get_hdop() const;
     double get_vdop() const;
     double get_pdop() const;

src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc

@@ -41,8 +41,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
 BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc

@@ -37,8 +37,6 @@
 #include <boost/math/distributions/exponential.hpp>
 #include <glog/logging.h>
 
-using google::LogMessage;
-
 
 GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
     ConfigurationInterface* configuration,

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc

@@ -39,9 +39,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
-
 GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc

@@ -37,9 +37,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
-
 GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc

@@ -37,8 +37,6 @@
 #include <boost/math/distributions/exponential.hpp>
 #include <glog/logging.h>
 
-using google::LogMessage;
-
 
 GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition(
     ConfigurationInterface* configuration,

src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc

@@ -37,8 +37,6 @@
 #include <boost/math/distributions/exponential.hpp>
 #include <glog/logging.h>
 
-using google::LogMessage;
-
 
 GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition(
     ConfigurationInterface* configuration,

src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc

@@ -37,8 +37,6 @@
 #include <boost/math/distributions/exponential.hpp>
 #include <glog/logging.h>
 
-using google::LogMessage;
-
 
 GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
     ConfigurationInterface* configuration,

src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc

@@ -43,8 +43,6 @@
 #include <boost/math/distributions/exponential.hpp>
 #include <glog/logging.h>
 
-using google::LogMessage;
-
 
 GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
     ConfigurationInterface* configuration,

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc

@@ -39,9 +39,6 @@
 #include <volk_gnsssdr/volk_gnsssdr_complex.h>
 
 
-using google::LogMessage;
-
-
 GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
     const std::string& role,
     unsigned int in_streams,

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc

@@ -39,9 +39,6 @@
 #include <volk_gnsssdr/volk_gnsssdr_complex.h>
 
 
-using google::LogMessage;
-
-
 GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
     const std::string& role,
     unsigned int in_streams,

src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc

@@ -41,9 +41,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
-
 GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc

@@ -40,9 +40,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
-
 GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc

@@ -43,9 +43,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
-
 GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc

@@ -40,8 +40,6 @@
 #include "gps_sdr_signal_processing.h"
 #include <glog/logging.h>
 
-using google::LogMessage;
-
 
 GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
     ConfigurationInterface* configuration,

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc

@@ -44,8 +44,6 @@
 
 #define NUM_PRNs 32
 
-using google::LogMessage;
-
 
 GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
     ConfigurationInterface* configuration,

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc

@@ -40,9 +40,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
-
 GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc

@@ -38,9 +38,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
-
 GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc

@@ -39,9 +39,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
-
 GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc

@@ -38,9 +38,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
-
 GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc

@@ -41,9 +41,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
-
 GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc

@@ -41,8 +41,6 @@
 
 #define NUM_PRNs 32
 
-using google::LogMessage;
-
 
 GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
     ConfigurationInterface* configuration,
@@ -85,6 +83,10 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
     //acq_parameters.samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
     acq_parameters.samples_per_code = nsamples_total;
 
+    acq_parameters.downsampling_factor = configuration_->property(role + ".downsampling_factor", 1.0);
+    acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 14);
+    acq_parameters.excludelimit = static_cast<uint32_t>(std::round(static_cast<double>(fs_in_) / GPS_L2_M_CODE_RATE_HZ));
+
     // compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
     // a channel is assigned)
     auto* fft_if = new gr::fft::fft_complex(vector_length, true);  // Direct FFT
@@ -220,6 +222,7 @@ void GpsL2MPcpsAcquisitionFpga::reset()
     acquisition_fpga_->set_active(true);
 }
 
+
 void GpsL2MPcpsAcquisitionFpga::set_state(int state)
 {
     acquisition_fpga_->set_state(state);

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc

@@ -41,9 +41,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
-
 GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
     ConfigurationInterface* configuration,
     const std::string& role,

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc

@@ -42,8 +42,6 @@
 
 #define NUM_PRNs 32
 
-using google::LogMessage;
-
 
 GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
     ConfigurationInterface* configuration,

src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc

@@ -44,7 +44,6 @@
 #include <sstream>
 #include <utility>
 
-using google::LogMessage;
 
 galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
     unsigned int sampled_ms,

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc

@@ -38,7 +38,6 @@
 #include <sstream>
 #include <utility>
 
-using google::LogMessage;
 
 galileo_pcps_8ms_acquisition_cc_sptr galileo_pcps_8ms_make_acquisition_cc(
     uint32_t sampled_ms,

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -45,8 +45,6 @@
 #include <cstring>
 
 
-using google::LogMessage;
-
 pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_)
 {
     return pcps_acquisition_sptr(new pcps_acquisition(conf_));

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc

@@ -44,8 +44,6 @@
 #include <sstream>
 
 
-using google::LogMessage;
-
 pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(const Acq_Conf &conf_)
 {
     return pcps_acquisition_fine_doppler_cc_sptr(

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc

@@ -39,7 +39,6 @@
 
 #define AQ_DOWNSAMPLING_DELAY 40  // delay due to the downsampling filter in the acquisition
 
-using google::LogMessage;
 
 pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
 {
@@ -63,6 +62,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
     d_num_doppler_bins = 0U;
     d_threshold = 0.0;
     d_doppler_step = 0U;
+    d_doppler_index = 0U;
     d_test_statistics = 0.0;
     d_channel = 0U;
     d_gnss_synchro = nullptr;

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc

@@ -44,7 +44,6 @@
 
 extern Concurrent_Map<Gps_Acq_Assist> global_gps_acq_assist_map;
 
-using google::LogMessage;
 
 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,

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc

@@ -44,7 +44,6 @@
 #include <sstream>
 #include <utility>
 
-using google::LogMessage;
 
 pcps_cccwsr_acquisition_cc_sptr pcps_cccwsr_make_acquisition_cc(
     uint32_t sampled_ms,

src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc

@@ -64,8 +64,6 @@
 #include <utility>
 
 
-using google::LogMessage;
-
 pcps_opencl_acquisition_cc_sptr pcps_make_opencl_acquisition_cc(
     uint32_t sampled_ms, uint32_t max_dwells,
     uint32_t doppler_max, int64_t fs_in,

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc

@@ -40,8 +40,6 @@
 #include <utility>
 
 
-using google::LogMessage;
-
 pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
     uint32_t folding_factor,
     uint32_t sampled_ms,

src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc

@@ -58,7 +58,6 @@
 #include <sstream>
 #include <utility>
 
-using google::LogMessage;
 
 pcps_tong_acquisition_cc_sptr pcps_tong_make_acquisition_cc(
     uint32_t sampled_ms,

src/algorithms/channel/adapters/CMakeLists.txt

@@ -30,6 +30,7 @@ target_link_libraries(channel_adapters
     PUBLIC
         Gnuradio::runtime
         channel_libs
+        core_system_parameters
     PRIVATE
         Gflags::gflags
         Glog::glog

src/algorithms/channel/adapters/channel.cc

@@ -30,12 +30,16 @@
  */
 
 #include "channel.h"
+#include "acquisition_interface.h"
+#include "channel_fsm.h"
 #include "configuration_interface.h"
 #include "gnss_sdr_flags.h"
+#include "telemetry_decoder_interface.h"
+#include "tracking_interface.h"
 #include <glog/logging.h>
-#include <cstdint>
+#include <cstring>  // for memcpy
+#include <utility>
 
-using google::LogMessage;
 
 // Constructor
 Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
@@ -158,16 +162,19 @@ gr::basic_block_sptr Channel::get_left_block()
     return nullptr;
 }
 
+
 gr::basic_block_sptr Channel::get_left_block_trk()
 {
     return trk_->get_left_block();
 }
 
+
 gr::basic_block_sptr Channel::get_left_block_acq()
 {
     return acq_->get_left_block();
 }
 
+
 gr::basic_block_sptr Channel::get_right_block()
 {
     return nav_->get_right_block();
@@ -198,10 +205,10 @@ void Channel::stop_channel()
             LOG(WARNING) << "Invalid channel event";
             return;
         }
-    DLOG(INFO)
+    DLOG(INFO) << "Channel stop_channel()";
-        << "Channel stop_channel()";
 }
 
+
 void Channel::start_acquisition()
 {
     std::lock_guard<std::mutex> lk(mx);

src/algorithms/channel/adapters/channel.h

@@ -35,12 +35,14 @@
 #ifndef GNSS_SDR_CHANNEL_H_
 #define GNSS_SDR_CHANNEL_H_
 
-#include "channel_fsm.h"
 #include "channel_interface.h"
 #include "channel_msg_receiver_cc.h"
+#include "gnss_signal.h"
 #include "gnss_synchro.h"
 #include <gnuradio/block.h>
 #include <gnuradio/msg_queue.h>
+#include <cstddef>
+#include <cstdint>
 #include <memory>
 #include <mutex>
 #include <string>
@@ -49,6 +51,7 @@ class ConfigurationInterface;
 class AcquisitionInterface;
 class TrackingInterface;
 class TelemetryDecoderInterface;
+class ChannelFsm;
 
 /*!
  * \brief This class represents a GNSS channel. It wraps an AcquisitionInterface,

src/algorithms/channel/libs/CMakeLists.txt

@@ -36,8 +36,10 @@ add_library(channel_libs ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
 target_link_libraries(channel_libs
     PUBLIC
         Gnuradio::runtime
+        Gnuradio::pmt
         core_system_parameters
     PRIVATE
+        Boost::boost
         Gflags::gflags
         Glog::glog
         core_receiver

src/algorithms/channel/libs/channel_fsm.cc

@@ -32,8 +32,7 @@
 #include "channel_fsm.h"
 #include "control_message_factory.h"
 #include <glog/logging.h>
-
+#include <utility>
-using google::LogMessage;
 
 ChannelFsm::ChannelFsm()
 {
@@ -74,6 +73,7 @@ bool ChannelFsm::Event_stop_channel()
     return true;
 }
 
+
 bool ChannelFsm::Event_start_acquisition()
 {
     std::lock_guard<std::mutex> lk(mx);

src/algorithms/channel/libs/channel_fsm.h

@@ -33,7 +33,6 @@
 #define GNSS_SDR_CHANNEL_FSM_H
 
 #include "acquisition_interface.h"
-#include "telemetry_decoder_interface.h"
 #include "tracking_interface.h"
 #include <gnuradio/msg_queue.h>
 #include <cstdint>
@@ -79,4 +78,4 @@ private:
     std::mutex mx;
 };
 
-#endif /*GNSS_SDR_CHANNEL_FSM_H*/
+#endif // GNSS_SDR_CHANNEL_FSM_H

src/algorithms/channel/libs/channel_msg_receiver_cc.cc

@@ -30,12 +30,13 @@
 
 
 #include "channel_msg_receiver_cc.h"
+#include <boost/any.hpp>
+#include <boost/bind.hpp>
 #include <glog/logging.h>
 #include <gnuradio/gr_complex.h>
 #include <gnuradio/io_signature.h>
 #include <cstdint>
-
+#include <utility>
-using google::LogMessage;
 
 
 channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat)
@@ -44,6 +45,19 @@ channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<Channe
 }
 
 
+channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat) : gr::block("channel_msg_receiver_cc", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1));
+
+    d_channel_fsm = std::move(channel_fsm);
+    d_repeat = repeat;
+}
+
+
+channel_msg_receiver_cc::~channel_msg_receiver_cc() = default;
+
+
 void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
 {
     bool result = false;
@@ -82,16 +96,3 @@ void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
             LOG(WARNING) << "msg_handler_telemetry invalid event";
         }
 }
-
-
-channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat) : gr::block("channel_msg_receiver_cc", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
-{
-    this->message_port_register_in(pmt::mp("events"));
-    this->set_msg_handler(pmt::mp("events"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1));
-
-    d_channel_fsm = std::move(channel_fsm);
-    d_repeat = repeat;
-}
-
-
-channel_msg_receiver_cc::~channel_msg_receiver_cc() = default;

src/algorithms/channel/libs/channel_msg_receiver_cc.h

@@ -33,6 +33,8 @@
 
 #include "channel_fsm.h"
 #include <gnuradio/block.h>
+#include <pmt/pmt.h>
+#include <memory>
 
 class channel_msg_receiver_cc;
 

src/algorithms/conditioner/adapters/array_signal_conditioner.cc

@@ -30,12 +30,11 @@
  */
 
 #include "array_signal_conditioner.h"
+#include "configuration_interface.h"
 #include <glog/logging.h>
 #include <utility>
 
 
-using google::LogMessage;
-
 // Constructor
 ArraySignalConditioner::ArraySignalConditioner(ConfigurationInterface *configuration,
     std::shared_ptr<GNSSBlockInterface> data_type_adapt,

src/algorithms/conditioner/adapters/array_signal_conditioner.h

@@ -34,14 +34,14 @@
 
 
 #include "gnss_block_interface.h"
-#include <gnuradio/msg_queue.h>
+#include <gnuradio/block.h>
+#include <cstddef>
+#include <memory>
 #include <string>
 
 
 class ConfigurationInterface;
-class AcquisitionInterface;
+
-class TrackingInterface;
-class TelemetryDecoderInterface;
 
 /*!
  * \brief This class wraps blocks to change data_type_adapter, input_filter and resampler

src/algorithms/conditioner/adapters/signal_conditioner.cc

@@ -30,12 +30,11 @@
  */
 
 #include "signal_conditioner.h"
+#include "configuration_interface.h"
 #include <glog/logging.h>
 #include <utility>
 
 
-using google::LogMessage;
-
 // Constructor
 SignalConditioner::SignalConditioner(ConfigurationInterface *configuration,
     std::shared_ptr<GNSSBlockInterface> data_type_adapt,

src/algorithms/conditioner/adapters/signal_conditioner.h

@@ -33,12 +33,12 @@
 #define GNSS_SDR_SIGNAL_CONDITIONER_H_
 
 #include "gnss_block_interface.h"
+#include <gnuradio/block.h>
+#include <cstddef>
+#include <memory>
 #include <string>
 
 class ConfigurationInterface;
-class AcquisitionInterface;
-class TrackingInterface;
-class TelemetryDecoderInterface;
 
 /*!
  * \brief This class wraps blocks to change data_type_adapter, input_filter and resampler

src/algorithms/data_type_adapter/adapters/byte_to_short.cc

@@ -35,8 +35,6 @@
 #include <utility>
 
 
-using google::LogMessage;
-
 ByteToShort::ByteToShort(ConfigurationInterface* configuration, std::string role,
     unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(std::move(role)), in_streams_(in_streams), out_streams_(out_streams)
 {

src/algorithms/data_type_adapter/adapters/ibyte_to_cbyte.cc

@@ -34,7 +34,6 @@
 #include <glog/logging.h>
 #include <volk/volk.h>
 
-using google::LogMessage;
 
 IbyteToCbyte::IbyteToCbyte(ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)

src/algorithms/data_type_adapter/adapters/ibyte_to_complex.cc

@@ -32,7 +32,6 @@
 #include "configuration_interface.h"
 #include <glog/logging.h>
 
-using google::LogMessage;
 
 IbyteToComplex::IbyteToComplex(ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)

src/algorithms/data_type_adapter/adapters/ibyte_to_cshort.cc

@@ -35,8 +35,6 @@
 #include <volk/volk.h>
 
 
-using google::LogMessage;
-
 IbyteToCshort::IbyteToCshort(ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
 {

src/algorithms/data_type_adapter/adapters/ishort_to_complex.cc

@@ -32,7 +32,6 @@
 #include "configuration_interface.h"
 #include <glog/logging.h>
 
-using google::LogMessage;
 
 IshortToComplex::IshortToComplex(ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)

src/algorithms/data_type_adapter/adapters/ishort_to_cshort.cc

@@ -34,7 +34,6 @@
 #include <glog/logging.h>
 #include <volk/volk.h>
 
-using google::LogMessage;
 
 IshortToCshort::IshortToCshort(ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)

src/algorithms/input_filter/adapters/beamformer_filter.cc

@@ -35,8 +35,6 @@
 #include <gnuradio/blocks/file_sink.h>
 
 
-using google::LogMessage;
-
 BeamformerFilter::BeamformerFilter(
     ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_stream, unsigned int out_stream) : role_(role), in_stream_(in_stream), out_stream_(out_stream)

src/algorithms/input_filter/adapters/fir_filter.cc

@@ -37,8 +37,6 @@
 #include <utility>
 
 
-using google::LogMessage;
-
 FirFilter::FirFilter(ConfigurationInterface* configuration, std::string role,
     unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(std::move(role)), in_streams_(in_streams), out_streams_(out_streams)
 {

src/algorithms/input_filter/adapters/freq_xlating_fir_filter.cc

@@ -38,7 +38,6 @@
 #include <volk/volk.h>
 #include <utility>
 
-using google::LogMessage;
 
 FreqXlatingFirFilter::FreqXlatingFirFilter(ConfigurationInterface* configuration, std::string role,
     unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(std::move(role)), in_streams_(in_streams), out_streams_(out_streams)

src/algorithms/input_filter/adapters/notch_filter.cc

@@ -36,8 +36,6 @@
 #include <glog/logging.h>
 
 
-using google::LogMessage;
-
 NotchFilter::NotchFilter(ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
 {

src/algorithms/input_filter/adapters/notch_filter_lite.cc

@@ -36,7 +36,6 @@
 #include <glog/logging.h>
 #include <cmath>
 
-using google::LogMessage;
 
 NotchFilterLite::NotchFilterLite(ConfigurationInterface* configuration, const std::string& role,
     unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)

src/algorithms/input_filter/adapters/pulse_blanking_filter.cc

@@ -37,7 +37,6 @@
 #include <utility>
 #include <vector>
 
-using google::LogMessage;
 
 PulseBlankingFilter::PulseBlankingFilter(ConfigurationInterface* configuration, std::string role,
     unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(std::move(role)), in_streams_(in_streams), out_streams_(out_streams)

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];
         }
-
+    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 <gnuradio/gr_complex.h>
-#include <complex>
+#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)
 {