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

.github/workflows/main.yml

@@ -42,7 +42,7 @@ jobs:
     steps:
     - uses: actions/checkout@v1
     - name: install dependencies
-      run: brew install llvm && ln -s /usr/local/opt/llvm/bin/clang-format /usr/local/bin
+      run: brew install clang-format && brew link clang-format
     - name: run clang-format
       run: find . -iname \*.h -o -iname \*.c -o -iname \*.cpp | xargs clang-format -style=file -i
     - name: check
@@ -54,7 +54,7 @@ jobs:
     steps:
     - uses: actions/checkout@v1
     - name: install dependencies
-      run: brew install llvm pkg-config hdf5 armadillo lapack gflags glog gnuradio libmatio log4cpp pugixml protobuf && ln -s /usr/local/opt/llvm/bin/clang-tidy /usr/local/bin && ln -s /usr/local/Cellar/llvm/10.*/bin/clang-apply-replacements /usr/local/bin && cp /usr/local/Cellar/llvm/10.*/share/clang/run-clang-tidy.py /usr/local/bin && pip3 install mako
+      run: brew install llvm pkg-config hdf5 armadillo lapack gflags glog gnuradio libmatio log4cpp pugixml protobuf && ln -s /usr/local/opt/llvm/bin/clang-tidy /usr/local/bin && ln -s /usr/local/Cellar/llvm/11.*/bin/clang-apply-replacements /usr/local/bin && cp /usr/local/Cellar/llvm/11.*/share/clang/run-clang-tidy.py /usr/local/bin && pip3 install mako
     - name: Prepare run
       run: cd build && cmake .. && make volk_gnsssdr_module gtest-1.10.0 core_monitor pvt_libs
     - name: run clang-tidy

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

@@ -117,6 +117,8 @@ if(CMAKE_VERSION VERSION_LESS 3.5.1)
     set(ENABLE_BENCHMARKS OFF)
 endif()
 
+option(ENABLE_EXTERNAL_MATHJAX "Use MathJax from an external CDN in HTML docs" ON)
+
 
 ################################################################################
 # GNSS-SDR version information
@@ -322,14 +324,15 @@ set(GNSSSDR_PROTOBUF_MIN_VERSION "3.0.0")
 ################################################################################
 set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.2")
 set(GNSSSDR_GLOG_LOCAL_VERSION "0.4.0")
-set(GNSSSDR_ARMADILLO_LOCAL_VERSION "9.900.x")
+set(GNSSSDR_ARMADILLO_LOCAL_VERSION "10.1.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 "1.5.18")
 set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.10")
 set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.13.0")
-set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.5.1")
+set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.5.2")
+set(GNSSSDR_MATHJAX_EXTERNAL_VERSION "2.7.7")
 
 if(CMAKE_VERSION VERSION_LESS "3.0.2")
     set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1")  # Fix for CentOS 7
@@ -1117,6 +1120,19 @@ if(NOT VOLKGNSSSDR_FOUND)
             )
         endif()
     endif()
+    include(GNUInstallDirs)
+    set(SUPPORTED_CPU_FEATURES_ARCH FALSE)
+    if(CMAKE_SYSTEM_PROCESSOR MATCHES "^mips")
+      set(SUPPORTED_CPU_FEATURES_ARCH TRUE)
+    elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^arm")
+      set(SUPPORTED_CPU_FEATURES_ARCH TRUE)
+    elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^aarch64")
+      set(SUPPORTED_CPU_FEATURES_ARCH TRUE)
+    elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86_64)|(AMD64|amd64)|(^i.86$)")
+      set(SUPPORTED_CPU_FEATURES_ARCH TRUE)
+    elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^(powerpc|ppc)")
+      set(SUPPORTED_CPU_FEATURES_ARCH TRUE)
+    endif()
     if(CMAKE_VERSION VERSION_LESS 3.2)
         ExternalProject_Add(volk_gnsssdr_module
             PREFIX ${CMAKE_BINARY_DIR}/volk_gnsssdr_module
@@ -1131,20 +1147,38 @@ if(NOT VOLKGNSSSDR_FOUND)
             INSTALL_DIR ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install
         )
     else()
-        ExternalProject_Add(volk_gnsssdr_module
+        if(SUPPORTED_CPU_FEATURES_ARCH)
-            PREFIX ${CMAKE_BINARY_DIR}/volk_gnsssdr_module
+            ExternalProject_Add(volk_gnsssdr_module
-            SOURCE_DIR ${CMAKE_SOURCE_DIR}/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr
+                PREFIX ${CMAKE_BINARY_DIR}/volk_gnsssdr_module
-            BINARY_DIR ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/build
+                SOURCE_DIR ${CMAKE_SOURCE_DIR}/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr
-            CMAKE_ARGS ${VOLK_GNSSSDR_CMAKE_ARGS}
+                BINARY_DIR ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/build
-                -DCMAKE_BUILD_TYPE=$<$<CONFIG:None>:None>$<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>$<$<CONFIG:NoOptWithASM>:NoOptWithASM>$<$<CONFIG:Coverage>:Coverage>$<$<CONFIG:O2WithASM>:O2WithASM>$<$<CONFIG:O3WithASM>:O3WithASM>$<$<CONFIG:ASAN>:ASAN>
+                CMAKE_ARGS ${VOLK_GNSSSDR_CMAKE_ARGS}
-            DOWNLOAD_COMMAND ""
+                    -DCMAKE_BUILD_TYPE=$<$<CONFIG:None>:None>$<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>$<$<CONFIG:NoOptWithASM>:NoOptWithASM>$<$<CONFIG:Coverage>:Coverage>$<$<CONFIG:O2WithASM>:O2WithASM>$<$<CONFIG:O3WithASM>:O3WithASM>$<$<CONFIG:ASAN>:ASAN>
-            UPDATE_COMMAND ""
+                DOWNLOAD_COMMAND ""
-            PATCH_COMMAND ""
+                UPDATE_COMMAND ""
-            BUILD_COMMAND ${VOLK_GNSSSDR_BUILD_COMMAND} volk_gnsssdr_profile
+                PATCH_COMMAND ""
-            BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}volk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}
+                BUILD_COMMAND ${VOLK_GNSSSDR_BUILD_COMMAND} volk_gnsssdr_profile
-                ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install/bin/volk_gnsssdr_profile
+                BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}volk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}
-            INSTALL_DIR ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install
+                    ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install/bin/volk_gnsssdr_profile
-        )
+                    ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install/${CMAKE_INSTALL_LIBDIR}/${CMAKE_FIND_LIBRARY_PREFIXES}cpu_features${CMAKE_STATIC_LIBRARY_SUFFIX}
+                INSTALL_DIR ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install
+            )
+        else()
+            ExternalProject_Add(volk_gnsssdr_module
+                PREFIX ${CMAKE_BINARY_DIR}/volk_gnsssdr_module
+                SOURCE_DIR ${CMAKE_SOURCE_DIR}/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr
+                BINARY_DIR ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/build
+                CMAKE_ARGS ${VOLK_GNSSSDR_CMAKE_ARGS}
+                    -DCMAKE_BUILD_TYPE=$<$<CONFIG:None>:None>$<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>$<$<CONFIG:NoOptWithASM>:NoOptWithASM>$<$<CONFIG:Coverage>:Coverage>$<$<CONFIG:O2WithASM>:O2WithASM>$<$<CONFIG:O3WithASM>:O3WithASM>$<$<CONFIG:ASAN>:ASAN>
+                DOWNLOAD_COMMAND ""
+                UPDATE_COMMAND ""
+                PATCH_COMMAND ""
+                BUILD_COMMAND ${VOLK_GNSSSDR_BUILD_COMMAND} volk_gnsssdr_profile
+                BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}volk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install/bin/volk_gnsssdr_profile
+                INSTALL_DIR ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install
+            )
+        endif()
     endif()
 
     if(NOT ORC_FOUND)
@@ -1168,6 +1202,11 @@ if(NOT VOLKGNSSSDR_FOUND)
             INTERFACE_INCLUDE_DIRECTORIES "${VOLK_GNSSSDR_INCLUDE_DIRS}"
             INTERFACE_LINK_LIBRARIES "${VOLK_GNSSSDR_LIBRARIES}"
         )
+        if(CMAKE_VERSION VERSION_GREATER 3.0 AND SUPPORTED_CPU_FEATURES_ARCH)
+            set_target_properties(Volkgnsssdr::volkgnsssdr PROPERTIES
+                INTERFACE_LINK_LIBRARIES ${CMAKE_BINARY_DIR}/volk_gnsssdr_module/install/${CMAKE_INSTALL_LIBDIR}/${CMAKE_FIND_LIBRARY_PREFIXES}cpu_features${CMAKE_STATIC_LIBRARY_SUFFIX}
+            )
+        endif()
     endif()
 
     if(CMAKE_VERSION VERSION_LESS 3.2)
@@ -2497,7 +2536,7 @@ endif()
 
 
 ################################################################################
-# Doxygen - http://www.doxygen.nl (OPTIONAL, used if found)
+# Doxygen - https://www.doxygen.nl (OPTIONAL, used if found)
 ################################################################################
 if(CMAKE_VERSION VERSION_LESS 3.6.9)
     find_package(Doxygen)
@@ -2505,7 +2544,7 @@ else()
     find_package(Doxygen OPTIONAL_COMPONENTS dot)
 endif()
 set_package_properties(Doxygen PROPERTIES
-    URL "http://www.doxygen.nl"
+    URL "https://www.doxygen.nl"
     PURPOSE "Used to generate code documentation by doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc'"
     TYPE OPTIONAL
 )
@@ -2526,13 +2565,28 @@ endif()
 set_package_properties(LATEX PROPERTIES
     URL "https://www.latex-project.org"
     DESCRIPTION "High-quality typesetting system"
-    PURPOSE "Used to generate a PDF manual by doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} pdfmanual'"
+    PURPOSE "Used to generate a PDF manual by doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} pdfmanual'."
     TYPE OPTIONAL
 )
+if(DEFINED MATHJAX2_ROOT)
+    set(ENABLE_EXTERNAL_MATHJAX OFF)
+endif()
+if(ENABLE_EXTERNAL_MATHJAX AND NOT DEFINED MATHJAX2_USE_ROOT)
+    set(MATHJAX2_USE_ROOT "https://cdnjs.cloudflare.com/ajax/libs/mathjax/${GNSSSDR_MATHJAX_EXTERNAL_VERSION}")
+endif()
+unset(MATHJAX2_FOUND CACHE)
+find_package(MATHJAX2)
+set_package_properties(MATHJAX2 PROPERTIES
+    URL "https://www.mathjax.org"
+    DESCRIPTION "Beautiful and accessible math in all browsers"
+    PURPOSE "Used to generate equations in HTML docs when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc'."
+    TYPE OPTIONAL
+)
+
 if(DOXYGEN_FOUND)
     message(STATUS "Doxygen found.")
     message(STATUS " You can build the documentation with '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc'.")
-    message(STATUS " When done, point your browser to ${CMAKE_BINARY_DIR}/html/index.html")
+    message(STATUS " When done, point your browser to ${CMAKE_BINARY_DIR}/docs/html/index.html")
     if(CMAKE_VERSION VERSION_LESS 3.9.6)
         if(DOXYGEN_DOT_FOUND)
             set(HAVE_DOT "YES")
@@ -2569,10 +2623,13 @@ if(DOXYGEN_FOUND)
     endif()
     if(PDFLATEX_COMPILER)
         set(GENERATE_PDF_DOCUMENTATION "YES")
-        set(GNSSSDR_USE_MATHJAX "NO")
     else()
         set(GENERATE_PDF_DOCUMENTATION "NO")
+    endif()
+    if(MATHJAX2_FOUND)
         set(GNSSSDR_USE_MATHJAX "YES")
+    else()
+        set(GNSSSDR_USE_MATHJAX "NO")
     endif()
     configure_file(${CMAKE_SOURCE_DIR}/docs/doxygen/Doxyfile.in
         ${CMAKE_BINARY_DIR}/docs/doxygen/Doxyfile
@@ -2613,7 +2670,7 @@ if(DOXYGEN_FOUND)
 else()
     message(STATUS " Doxygen has not been found in your system.")
     message(STATUS " You can get nice code documentation by using it!")
-    message(STATUS " Get it from http://www.doxygen.nl/download.html")
+    message(STATUS " Get it from https://www.doxygen.nl/download.html")
     if(${CMAKE_SYSTEM_NAME} MATCHES "Linux|kFreeBSD|GNU")
         if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
             message(STATUS " or simply by doing 'sudo yum install doxygen-latex'.")
@@ -2625,6 +2682,7 @@ else()
         message(STATUS " or simply by doing 'sudo port install doxygen +docs', if you are using Macports,")
         message(STATUS " or 'brew cask install mactex', then restart Terminal and do 'brew install graphviz doxygen', if you use Homebrew.")
     endif()
+    set(ENABLE_EXTERNAL_MATHJAX OFF)
 endif()
 
 
@@ -3141,6 +3199,7 @@ add_feature_info(ENABLE_OWN_GPSTK ENABLE_OWN_GPSTK "Forces the downloading and b
 add_feature_info(ENABLE_GNSS_SIM_INSTALL ENABLE_GNSS_SIM_INSTALL "Enables downloading and building of gnss-sim.")
 add_feature_info(ENABLE_INSTALL_TESTS ENABLE_INSTALL_TESTS "Install test binaries when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} install'.")
 add_feature_info(ENABLE_BENCHMARKS ENABLE_BENCHMARKS "Enables building of code snippet benchmarks.")
+add_feature_info(ENABLE_EXTERNAL_MATHJAX ENABLE_EXTERNAL_MATHJAX "Use MathJax from an external CDN in HTML docs when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc'.")
 
 message(STATUS "")
 message(STATUS "***************************************")

LICENSES/Apache-2.0.txt

@@ -0,0 +1,208 @@
+Apache License
+
+Version 2.0, January 2004
+
+http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR USE, REPRODUCTION,
+AND DISTRIBUTION
+
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+
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+
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+as defined by Sections 1 through 9 of this document.
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+
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README.md

@@ -292,9 +292,9 @@ $ sudo apt-get install libblas-dev liblapack-dev       # For Debian/Ubuntu/Linux
 $ sudo yum install lapack-devel blas-devel             # For Fedora/CentOS/RHEL
 $ sudo zypper install lapack-devel blas-devel          # For OpenSUSE
 $ sudo pacman -S blas lapack                           # For Arch Linux
-$ wget https://sourceforge.net/projects/arma/files/armadillo-9.880.1.tar.xz
+$ wget http://sourceforge.net/projects/arma/files/armadillo-10.1.0.tar.xz
-$ tar xvfz armadillo-9.880.1.tar.xz
+$ tar xvfz armadillo-10.1.0.tar.xz
-$ cd armadillo-9.880.1
+$ cd armadillo-10.1.0
 $ cmake .
 $ make
 $ sudo make install

cmake/Modules/FindGLOG.cmake

@@ -26,6 +26,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 if(NOT DEFINED GLOG_ROOT)
     set(GLOG_ROOT /usr /usr/local)
 endif()

cmake/Modules/FindGNURADIO.cmake

@@ -13,6 +13,11 @@
 if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
+
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 include(FindPackageHandleStandardArgs)
 
 # if GR_REQUIRED_COMPONENTS is not defined, it will be set to the following list

cmake/Modules/FindGOOGLETEST.cmake

@@ -21,6 +21,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_GTEST gtest)
 
 if(NOT GTEST_DIR)

cmake/Modules/FindGRDBFCTTC.cmake

@@ -15,6 +15,10 @@
 # Gnuradio::dbfcttc
 #
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_GR_DBFCTTC gr-dbfcttc)
 
 if(NOT GRDBFCTTC_ROOT)

cmake/Modules/FindGRGN3S.cmake

@@ -15,6 +15,10 @@
 # Gnuradio::gn3s
 #
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_GR_GN3S gr-gn3s)
 
 if(NOT GRGN3S_ROOT)

cmake/Modules/FindGRIIO.cmake

@@ -15,6 +15,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_IIO gnuradio-iio)
 
 if(NOT GRIIO_ROOT)

cmake/Modules/FindGROSMOSDR.cmake

@@ -33,6 +33,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(GROSMOSDR_PKG gnuradio-osmosdr)
 
 if(NOT GROSMOSDR_ROOT)

cmake/Modules/FindLIBAD9361.cmake

@@ -15,6 +15,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_LIBAD9361 libad9361)
 
 if(NOT LIBAD9361_ROOT)

cmake/Modules/FindLIBIIO.cmake

@@ -15,6 +15,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_LIBIIO libiio)
 
 if(NOT LIBIIO_ROOT)

cmake/Modules/FindLOG4CPP.cmake

@@ -21,6 +21,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_LOG4CPP log4cpp QUIET)
 
 if(LOG4CPP_INCLUDE_DIR)

cmake/Modules/FindMATHJAX2.cmake

@@ -0,0 +1,51 @@
+# Copyright (C) 2011-2020  (see AUTHORS file for a list of contributors)
+#
+# GNSS-SDR is a software-defined Global Navigation Satellite Systems receiver
+#
+# This file is part of GNSS-SDR.
+#
+# SPDX-License-Identifier: GPL-3.0-or-later
+#
+#
+# Find MathJax package (version 2).
+#
+# A hint can be provided by defining MATHJAX2_ROOT
+# (will succeed if ${MATHJAX2_ROOT}/MathJax.js is found).
+#
+# Alternatively, a path can be provided in MATHJAX2_USE_ROOT
+# so that ${MATHJAX2_USE_ROOT}/MathJax.js is used without
+# checking its existence.
+# This path could be a URL, an absolute local path or
+# a path relative to the generated HTML folder.
+#
+# Note that version 2 and 3 are incompatible
+# and doxygen requires version 2.
+# See: https://github.com/doxygen/doxygen/issues/7346
+#
+# Defined variables:
+#  - MATHJAX2_FOUND     - True if MathJax found
+#  - MATHJAX2_JS_PATH   - Path to MathJax.js file
+#  - MATHJAX2_PATH      - Path to the MathJax root directory
+
+
+if(DEFINED MATHJAX2_USE_ROOT)
+    set(MATHJAX2_FOUND TRUE)
+    set(MATHJAX2_PATH "${MATHJAX2_USE_ROOT}/")
+    set(MATHJAX2_JS_PATH "${MATHJAX2_USE_ROOT}/MathJax.js")
+else()
+    find_file(MATHJAX2_JS_PATH
+        NAMES
+            MathJax.js
+        PATHS
+            "${MATHJAX2_ROOT}"
+            /usr/share/mathjax2/
+            /usr/share/javascript/mathjax/
+            /usr/local/share/javascript/mathjax/
+    )
+
+    get_filename_component(MATHJAX2_PATH ${MATHJAX2_JS_PATH} DIRECTORY)
+endif()
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(MATHJAX2 DEFAULT_MSG MATHJAX2_JS_PATH)
+
+mark_as_advanced(MATHJAX2_JS_PATH)

cmake/Modules/FindORC.cmake

@@ -10,6 +10,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_ORC "orc-0.4 > 0.4.22")
 
 if(NOT ORC_ROOT)

cmake/Modules/FindPCAP.cmake

@@ -27,6 +27,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_PCAP libpcap QUIET)
 
 if(NOT PCAP_ROOT)

cmake/Modules/FindPUGIXML.cmake

@@ -22,6 +22,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_PUGIXML pugixml QUIET)
 
 if(NOT PUGIXML_ROOT)

cmake/Modules/FindTELEORBIT.cmake

@@ -15,6 +15,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_TELEORBIT teleorbit QUIET)
 
 if(NOT TELEORBIT_ROOT)

cmake/Modules/FindUHD.cmake

@@ -18,6 +18,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_UHD uhd)
 
 if(NOT UHD_ROOT)

cmake/Modules/FindVOLK.cmake

@@ -18,6 +18,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_VOLK volk QUIET)
 
 if(NOT VOLK_ROOT)

cmake/Modules/FindVOLKGNSSSDR.cmake

@@ -19,6 +19,10 @@ if(NOT COMMAND feature_summary)
     include(FeatureSummary)
 endif()
 
+if(NOT PKG_CONFIG_FOUND)
+    include(FindPkgConfig)
+endif()
+
 pkg_check_modules(PC_VOLK_GNSSSDR QUIET volk_gnsssdr)
 
 if(NOT VOLKGNSSSDR_ROOT)

cmake/Toolchains/aarch64-linux-gnu.cmake

@@ -7,7 +7,7 @@
 # SPDX-License-Identifier: GPL-3.0-or-later
 
 set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_PROCESSOR ARM)
+set(CMAKE_SYSTEM_PROCESSOR aarch64)
 
 if(MINGW OR CYGWIN OR WIN32)
     set(UTIL_SEARCH_CMD where)

cmake/Toolchains/arm-linux-gnueabihf.cmake

@@ -7,7 +7,7 @@
 # SPDX-License-Identifier: GPL-3.0-or-later
 
 set(CMAKE_SYSTEM_NAME Linux)
-set(CMAKE_SYSTEM_PROCESSOR ARM)
+set(CMAKE_SYSTEM_PROCESSOR arm)
 
 if(MINGW OR CYGWIN OR WIN32)
     set(UTIL_SEARCH_CMD where)

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

@@ -15,12 +15,20 @@ SPDX-FileCopyrightText: 2011-2020 Carles Fernandez-Prades <carles.fernandez@cttc
 - Fixed bug in acquisition detection when the configuration parameter
   `Acquisition_XX.threshold` was set but `Acquisition_XX.pfa` was not, causing
   false locks.
+- Fixed anti-jamming filters: `Pulse_Blanking_Filter`, `Notch_Filter` and
+  `Notch_Filter_Lite`.
 
 ### Improvements in Efficiency:
 
 - Faster `SignalConditioner` block when its implementation is set to
   `Pass_Through`.
 
+### Improvements in Maintainability:
+
+- Added a common shared pointer definition `gnss_shared_ptr`, which allows to
+  handle the `boost::shared_ptr` to `std::shared_ptr` transition in GNU Radio
+  3.9 API more nicely.
+
 ### Improvements in Portability:
 
 - Fixed `-DENABLE_OWN_GLOG=ON` building option when gflags is installed and it
@@ -31,6 +39,15 @@ SPDX-FileCopyrightText: 2011-2020 Carles Fernandez-Prades <carles.fernandez@cttc
 - Replaced `git://` by `https://` as the used protocol when downloading Gflags,
   so it can work through firewalls requiring authentication.
 - Fixed static linking of the matio library when downloaded and built by CMake.
+- Improved CPU feature detection by switching to Google's
+  [cpu_features](https://github.com/google/cpu_features) library: The
+  `volk_gnsssdr` library had its own CPU feature detection methods, which were
+  not totally reliable and difficult to implement across compilers and OSes.
+  This is now handled by the `cpu_features` library, thus building upon that
+  expertise. Since that library has higher dependency version requirements than
+  GNSS-SDR, the old method is still used in old development environments. No
+  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:
@@ -51,6 +68,14 @@ SPDX-FileCopyrightText: 2011-2020 Carles Fernandez-Prades <carles.fernandez@cttc
 - The `Custom_UDP_Signal_Source` implementation now accepts
   `SignalSource.sample_type=cfloat`, in addition to the existing 4 and 8-bit
   length sample types.
+- Fixed the `obsdiff` and `rinex2assist` utilities when installed if they were
+  built with a locally downloaded version of GPSTk.
+- The generated HTML documentation now makes use of the Doxygen grouping
+  feature.
+- Improved rendering of equations in HTML documentation generated by Doxygen.
+  Make use of MathJax for equation rendering. Added new building option
+  `ENABLE_EXTERNAL_MATHJAX`, set to `ON` by default. If set to `OFF`, it allows
+  using a local installation of MathJax 2.
 
 &nbsp;
 
@@ -146,6 +171,7 @@ 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

docs/doxygen/other/main_page.dox

@@ -157,7 +157,7 @@ You can create the documentation by doing:
 $ make doc
 \endverbatim
 
-from the <tt>gnss-sdr/build</tt> folder. In both cases, <a href="http://www.doxygen.nl/" target="_blank">Doxygen</a> will generate HTML documentation that can be
+from the <tt>gnss-sdr/build</tt> folder. In both cases, <a href="https://www.doxygen.nl/" target="_blank">Doxygen</a> will generate HTML documentation that can be
 retrieved pointing your browser of preference to <tt>gnss-sdr/docs/html/index.html</tt>.
 
 There are two more extra targets available. From the <tt>gnss-sdr/build</tt> folder:

src/algorithms/PVT/adapters/rtklib_pvt.h

@@ -32,6 +32,13 @@
 #include <map>                       // for map
 #include <string>                    // for string
 
+/** \addtogroup PVT
+ * Computation of Position, Velocity and Time from GNSS observables.
+ * \{ */
+/** \addtogroup PVT_adapters pvt_adapters
+ * Wrap GNU Radio PVT solvers with a PvtInterface
+ * \{ */
+
 class ConfigurationInterface;
 class Galileo_Almanac;
 class Galileo_Ephemeris;
@@ -99,4 +106,6 @@ private:
     unsigned int out_streams_;
 };
 
-#endif
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_RTKLIB_PVT_H

src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt

@@ -50,6 +50,11 @@ if(GNURADIO_USES_STD_POINTERS)
     )
 endif()
 
+target_include_directories(pvt_gr_blocks
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/core/interfaces
+)
+
 if(USE_GENERIC_LAMBDAS)
     set(has_generic_lambdas HAS_GENERIC_LAMBDA=1)
     set(no_has_generic_lambdas HAS_GENERIC_LAMBDA=0)

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h

@@ -20,6 +20,7 @@
 #ifndef GNSS_SDR_RTKLIB_PVT_GS_H
 #define GNSS_SDR_RTKLIB_PVT_GS_H
 
+#include "gnss_block_interface.h"
 #include "gnss_synchro.h"
 #include "rtklib.h"
 #include <boost/date_time/gregorian/gregorian.hpp>
@@ -36,10 +37,13 @@
 #include <string>                 // for string
 #include <sys/types.h>            // for key_t
 #include <vector>                 // for vector
-#if GNURADIO_USES_STD_POINTERS
+
-#else
+/** \addtogroup PVT
-#include <boost/shared_ptr.hpp>
+ * \{ */
-#endif
+/** \addtogroup PVT_gnuradio_blocks pvt_gr_blocks
+ * GNU Radio blocks for the computation of PVT solutions.
+ * \{ */
+
 
 class Beidou_Dnav_Almanac;
 class Beidou_Dnav_Ephemeris;
@@ -58,11 +62,7 @@ class Rtcm_Printer;
 class Rtklib_Solver;
 class rtklib_pvt_gs;
 
-#if GNURADIO_USES_STD_POINTERS
+using rtklib_pvt_gs_sptr = gnss_shared_ptr<rtklib_pvt_gs>;
-using rtklib_pvt_gs_sptr = std::shared_ptr<rtklib_pvt_gs>;
-#else
-using rtklib_pvt_gs_sptr = boost::shared_ptr<rtklib_pvt_gs>;
-#endif
 
 rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
     const Pvt_Conf& conf_,
@@ -270,4 +270,7 @@ private:
     bool d_rtcm_enabled;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_RTKLIB_PVT_GS_H

src/algorithms/PVT/libs/geojson_printer.h

@@ -26,6 +26,12 @@
 #include <fstream>
 #include <string>
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
 class Pvt_Solution;
 
 /*!
@@ -49,4 +55,7 @@ private:
     bool first_pos;
 };
 
-#endif
+
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_GEOJSON_PRINTER_H

src/algorithms/PVT/libs/gpx_printer.h

@@ -26,6 +26,12 @@
 #include <fstream>
 #include <string>
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
 class Pvt_Solution;
 
 /*!
@@ -50,4 +56,7 @@ private:
     bool positions_printed;
 };
 
-#endif
+
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_GPX_PRINTER_H

src/algorithms/PVT/libs/kml_printer.h

@@ -25,6 +25,12 @@
 #include <fstream>  // for ofstream
 #include <string>
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
 class Pvt_Solution;
 
 /*!
@@ -52,4 +58,7 @@ private:
     bool positions_printed;
 };
 
-#endif
+
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_KML_PRINTER_H

src/algorithms/PVT/libs/monitor_pvt.h

@@ -23,6 +23,12 @@
 #include <boost/serialization/nvp.hpp>
 #include <cstdint>
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
 /*!
  * \brief This class contains parameters and outputs of the PVT block
  */
@@ -131,4 +137,7 @@ public:
     }
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_MONITOR_PVT_H

src/algorithms/PVT/libs/monitor_pvt_udp_sink.h

@@ -28,6 +28,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
 #if USE_BOOST_ASIO_IO_CONTEXT
 using b_io_context = boost::asio::io_context;
 #else
@@ -50,4 +56,6 @@ private:
 };
 
 
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_MONITOR_PVT_UDP_SINK_H

src/algorithms/PVT/libs/nmea_printer.h

@@ -30,6 +30,12 @@
 #include <memory>                                // for shared_ptr
 #include <string>                                // for string
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
 class Rtklib_Solver;
 
 /*!
@@ -82,4 +88,7 @@ private:
     bool d_flag_nmea_output_file;
 };
 
-#endif
+
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_NMEA_PRINTER_H

src/algorithms/PVT/libs/pvt_conf.h

@@ -24,6 +24,12 @@
 #include <map>
 #include <string>
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
 class Pvt_Conf
 {
 public:
@@ -81,4 +87,7 @@ public:
     bool dump_mat;
 };
 
-#endif
+
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_PVT_CONF_H

src/algorithms/PVT/libs/pvt_solution.h

@@ -25,6 +25,11 @@
 #include <array>
 #include <deque>
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
 
 /*!
  * \brief Base class for a PVT solution
@@ -120,4 +125,7 @@ private:
     bool d_flag_averaging;
 };
 
-#endif
+
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_PVT_SOLUTION_H

src/algorithms/PVT/libs/rinex_printer.h

@@ -49,6 +49,13 @@
 #include <sstream>  // for stringstream
 #include <string>   // for string
 
+
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
 class Beidou_Dnav_Ephemeris;
 class Beidou_Dnav_Iono;
 class Beidou_Dnav_Utc_Model;
@@ -906,4 +913,6 @@ inline std::string Rinex_Printer::asString(const X x) const
 }
 
 
-#endif
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_RINEX_PRINTER_H

src/algorithms/PVT/libs/rtcm.h

@@ -48,6 +48,12 @@
 #include <utility>
 #include <vector>
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
 #if USE_BOOST_ASIO_IO_CONTEXT
 using b_io_context = boost::asio::io_context;
 #else
@@ -1466,4 +1472,7 @@ private:
     int32_t set_DF420(const Gnss_Synchro& gnss_synchro);
 };
 
-#endif
+
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_RTCM_H

src/algorithms/PVT/libs/rtcm_printer.h

@@ -29,6 +29,12 @@
 #include <memory>   // std::shared_ptr
 #include <string>
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
 class Galileo_Ephemeris;
 class Glonass_Gnav_Ephemeris;
 class Glonass_Gnav_Utc_Model;
@@ -161,4 +167,7 @@ private:
     bool d_rtcm_file_dump;
 };
 
-#endif
+
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_RTCM_PRINTER_H

src/algorithms/PVT/libs/rtklib_solver.h

@@ -62,6 +62,12 @@
 #include <map>
 #include <string>
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs pvt_libs
+ * Library for the computation of PVT solutions.
+ * \{ */
+
 
 /*!
  * \brief This class implements a PVT solution based on RTKLIB
@@ -121,4 +127,7 @@ private:
     bool d_flag_dump_mat_enabled;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_RTKLIB_SOLVER_H

src/algorithms/PVT/libs/serdes_monitor_pvt.h

@@ -27,6 +27,12 @@
 #include <string>
 #include <utility>
 
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
 /*!
  * \brief This class implements serialization and deserialization of
  * Monitor_Pvt objects using Protocol Buffers.
@@ -152,4 +158,7 @@ private:
     gnss_sdr::MonitorPvt monitor_{};
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_SERDES_MONITOR_PVT_H

src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h

@@ -34,6 +34,11 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
 
 class ConfigurationInterface;
 
@@ -172,4 +177,7 @@ private:
     unsigned int out_streams_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_BEIDOU_B1I_PCPS_ACQUISITION_H

src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h

@@ -33,6 +33,11 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
 
 class ConfigurationInterface;
 
@@ -171,4 +176,7 @@ private:
     unsigned int out_streams_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_BEIDOU_B3I_PCPS_ACQUISITION_H

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_8ms_ambiguous_acquisition.h

@@ -29,6 +29,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 /*!
@@ -165,4 +171,7 @@ private:
     bool dump_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GALILEO_E1_PCPS_8MS_AMBIGUOUS_ACQUISITION_H

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h

@@ -31,6 +31,11 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
 
 class ConfigurationInterface;
 
@@ -179,4 +184,7 @@ private:
     bool acquire_pilot_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h

@@ -29,6 +29,11 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
 
 class ConfigurationInterface;
 
@@ -201,4 +206,7 @@ private:
     bool acquire_pilot_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H

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_cccwsr_ambiguous_acquisition.h

@@ -29,6 +29,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 /*!
@@ -166,4 +172,7 @@ private:
     bool dump_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GALILEO_E1_PCPS_CCCWSR_AMBIGUOUS_ACQUISITION_H

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_quicksync_ambiguous_acquisition.h

@@ -29,6 +29,11 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
 
 class ConfigurationInterface;
 
@@ -170,4 +175,7 @@ private:
     bool dump_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GALILEO_E1_PCPS_QUICKSYNC_AMBIGUOUS_ACQUISITION_H

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_e1_pcps_tong_ambiguous_acquisition.h

@@ -29,6 +29,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 /*!
@@ -168,4 +174,7 @@ private:
     bool dump_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GALILEO_E1_PCPS_TONG_AMBIGUOUS_ACQUISITION_H

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/galileo_e5a_noncoherent_iq_acquisition_caf.h

@@ -34,6 +34,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 class GalileoE5aNoncoherentIQAcquisitionCaf : public AcquisitionInterface
@@ -174,4 +180,7 @@ private:
     bool dump_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_H

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h

@@ -28,6 +28,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 class GalileoE5aPcpsAcquisition : public AcquisitionInterface
@@ -168,4 +174,7 @@ private:
     bool acq_iq_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_H

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h

@@ -29,6 +29,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 
@@ -210,4 +216,7 @@ private:
     bool acq_iq_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H

src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.h

@@ -30,6 +30,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 class GalileoE5bPcpsAcquisition : public AcquisitionInterface
@@ -206,4 +212,7 @@ private:
     bool acq_iq_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_H

src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h

@@ -30,6 +30,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 /*!
@@ -211,4 +217,7 @@ private:
     bool acq_iq_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H

src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h

@@ -33,6 +33,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 /*!
@@ -169,4 +175,7 @@ private:
     unsigned int out_streams_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H

src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h

@@ -32,6 +32,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 /*!
@@ -168,4 +174,7 @@ private:
     unsigned int out_streams_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GLONASS_L2_CA_PCPS_ACQUISITION_H

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h

@@ -35,6 +35,13 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * Classes for GNSS signal acquisition
+ * \{ */
+/** \addtogroup Acq_adapters acquisition_adapters
+ * Wrap GNU Radio acquisition blocks with an AcquisitionInterface
+ * \{ */
+
 
 class ConfigurationInterface;
 
@@ -180,4 +187,7 @@ private:
     unsigned int out_streams_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc

@@ -163,8 +163,8 @@ void GpsL1CaPcpsAcquisitionFineDoppler::set_state(int state)
     acquisition_cc_->set_state(state);
 }
 
-#if GNURADIO_USES_STD_POINTERS
+
-void GpsL1CaPcpsAcquisitionFineDoppler::connect(std::shared_ptr<gr::top_block> top_block)
+void GpsL1CaPcpsAcquisitionFineDoppler::connect(gnss_shared_ptr<gr::top_block> top_block)
 {
     if (top_block)
         { /* top_block is not null */
@@ -173,26 +173,7 @@ void GpsL1CaPcpsAcquisitionFineDoppler::connect(std::shared_ptr<gr::top_block> t
 }
 
 
-void GpsL1CaPcpsAcquisitionFineDoppler::disconnect(std::shared_ptr<gr::top_block> top_block)
+void GpsL1CaPcpsAcquisitionFineDoppler::disconnect(gnss_shared_ptr<gr::top_block> top_block)
-{
-    if (top_block)
-        { /* top_block is not null */
-        };
-    // nothing to disconnect, now the tracking uses gr_sync_decimator
-}
-
-std::shared_ptr<gr::basic_block> GpsL1CaPcpsAcquisitionFineDoppler::get_left_block()
-{
-    return acquisition_cc_;
-}
-
-
-std::shared_ptr<gr::basic_block> GpsL1CaPcpsAcquisitionFineDoppler::get_right_block()
-{
-    return acquisition_cc_;
-}
-#else
-void GpsL1CaPcpsAcquisitionFineDoppler::connect(boost::shared_ptr<gr::top_block> top_block)
 {
     if (top_block)
         { /* top_block is not null */
@@ -201,22 +182,13 @@ void GpsL1CaPcpsAcquisitionFineDoppler::connect(boost::shared_ptr<gr::top_block>
 }
 
 
-void GpsL1CaPcpsAcquisitionFineDoppler::disconnect(boost::shared_ptr<gr::top_block> top_block)
+gnss_shared_ptr<gr::basic_block> GpsL1CaPcpsAcquisitionFineDoppler::get_left_block()
-{
-    if (top_block)
-        { /* top_block is not null */
-        };
-    // nothing to disconnect, now the tracking uses gr_sync_decimator
-}
-
-boost::shared_ptr<gr::basic_block> GpsL1CaPcpsAcquisitionFineDoppler::get_left_block()
 {
     return acquisition_cc_;
 }
 
 
-boost::shared_ptr<gr::basic_block> GpsL1CaPcpsAcquisitionFineDoppler::get_right_block()
+gnss_shared_ptr<gr::basic_block> GpsL1CaPcpsAcquisitionFineDoppler::get_right_block()
 {
     return acquisition_cc_;
 }
-#endif

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h

@@ -29,12 +29,14 @@
 #include <memory>
 #include <string>
 #include <vector>
-#if GNURADIO_USES_STD_POINTERS
+
-using pcps_acquisition_fine_doppler_cc_sptr = std::shared_ptr<pcps_acquisition_fine_doppler_cc>;
+/** \addtogroup Acquisition
-#else
+ * \{ */
-#include <boost/shared_ptr.hpp>
+/** \addtogroup Acq_adapters
-using pcps_acquisition_fine_doppler_cc_sptr = boost::shared_ptr<pcps_acquisition_fine_doppler_cc>;
+ * \{ */
-#endif
+
+
+using pcps_acquisition_fine_doppler_cc_sptr = gnss_shared_ptr<pcps_acquisition_fine_doppler_cc>;
 
 class ConfigurationInterface;
 
@@ -70,17 +72,11 @@ public:
         return item_size_;
     }
 
-#if GNURADIO_USES_STD_POINTERS
+    void connect(gnss_shared_ptr<gr::top_block> top_block) override;
-    void connect(std::shared_ptr<gr::top_block> top_block) override;
+    void disconnect(gnss_shared_ptr<gr::top_block> top_block) override;
-    void disconnect(std::shared_ptr<gr::top_block> top_block) override;
+    gnss_shared_ptr<gr::basic_block> get_left_block() override;
-    std::shared_ptr<gr::basic_block> get_left_block() override;
+    gnss_shared_ptr<gr::basic_block> get_right_block() override;
-    std::shared_ptr<gr::basic_block> get_right_block() override;
+
-#else
-    void connect(boost::shared_ptr<gr::top_block> top_block) override;
-    void disconnect(boost::shared_ptr<gr::top_block> top_block) override;
-    boost::shared_ptr<gr::basic_block> get_left_block() override;
-    boost::shared_ptr<gr::basic_block> get_right_block() override;
-#endif
     /*!
      * \brief Set acquisition/tracking common Gnss_Synchro object pointer
      * to efficiently exchange synchronization data between acquisition and
@@ -172,4 +168,7 @@ private:
     bool dump_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FINE_DOPPLER_H

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h

@@ -32,6 +32,11 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
 
 class ConfigurationInterface;
 
@@ -203,4 +208,7 @@ private:
     unsigned int out_streams_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H

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_assisted_acquisition.h

@@ -30,6 +30,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 /*!
@@ -163,4 +169,7 @@ private:
     bool dump_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GPS_L1_CA_PCPS_ASSISTED_ACQUISITION_H

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc

@@ -88,7 +88,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
             item_size_ = sizeof(gr_complex);
             acquisition_cc_ = pcps_make_opencl_acquisition_cc(sampled_ms_, max_dwells_,
                 doppler_max_, fs_in_, code_length_, code_length_,
-                bit_transition_flag_, dump_, dump_filename_);
+                bit_transition_flag_, dump_, dump_filename_, false);
 
             stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
 

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h

@@ -29,6 +29,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 /*!
@@ -173,4 +179,7 @@ private:
     bool dump_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GPS_L1_CA_PCPS_OPENCL_ACQUISITION_H

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_quicksync_acquisition.h

@@ -31,6 +31,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 /*!
@@ -175,4 +181,7 @@ private:
     bool dump_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H

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/adapters/gps_l1_ca_pcps_tong_acquisition.h

@@ -30,6 +30,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 /*!
@@ -170,4 +176,7 @@ private:
     bool dump_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GPS_L1_CA_TONG_ACQUISITION_H

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h

@@ -32,6 +32,11 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
 
 class ConfigurationInterface;
 
@@ -178,4 +183,7 @@ private:
     unsigned int num_codes_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_H

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h

@@ -31,6 +31,12 @@
 #include <string>                    // for string
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class Gnss_Synchro;
 class ConfigurationInterface;
 
@@ -168,4 +174,7 @@ private:
     unsigned int out_streams_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h

@@ -32,6 +32,11 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
 
 class ConfigurationInterface;
 
@@ -178,4 +183,7 @@ private:
     unsigned int num_codes_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_H

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h

@@ -31,6 +31,12 @@
 #include <string>
 #include <vector>
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_adapters
+ * \{ */
+
+
 class ConfigurationInterface;
 
 /*!
@@ -206,4 +212,7 @@ private:
     unsigned int out_streams_;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H

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

@@ -37,18 +37,16 @@
 #include <string>
 #include <utility>
 #include <vector>
-#if GNURADIO_USES_STD_POINTERS
+
-#else
+/** \addtogroup Acquisition
-#include <boost/shared_ptr.hpp>
+ * \{ */
-#endif
+/** \addtogroup Acq_gnuradio_blocks
+ * \{ */
+
 
 class galileo_e5a_noncoherentIQ_acquisition_caf_cc;
 
-#if GNURADIO_USES_STD_POINTERS
+using galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr = gnss_shared_ptr<galileo_e5a_noncoherentIQ_acquisition_caf_cc>;
-using galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr = std::shared_ptr<galileo_e5a_noncoherentIQ_acquisition_caf_cc>;
-#else
-using galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr = boost::shared_ptr<galileo_e5a_noncoherentIQ_acquisition_caf_cc>;
-#endif
 
 galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
     unsigned int sampled_ms,
@@ -60,7 +58,8 @@ 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 +185,8 @@ 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 +198,8 @@ 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 +261,10 @@ 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

@@ -31,18 +31,16 @@
 #include <string>
 #include <utility>
 #include <vector>
-#if GNURADIO_USES_STD_POINTERS
+
-#else
+/** \addtogroup Acquisition
-#include <boost/shared_ptr.hpp>
+ * \{ */
-#endif
+/** \addtogroup Acq_gnuradio_blocks
+ * \{ */
+
 
 class galileo_pcps_8ms_acquisition_cc;
 
-#if GNURADIO_USES_STD_POINTERS
+using galileo_pcps_8ms_acquisition_cc_sptr = gnss_shared_ptr<galileo_pcps_8ms_acquisition_cc>;
-using galileo_pcps_8ms_acquisition_cc_sptr = std::shared_ptr<galileo_pcps_8ms_acquisition_cc>;
-#else
-using galileo_pcps_8ms_acquisition_cc_sptr = boost::shared_ptr<galileo_pcps_8ms_acquisition_cc>;
-#endif
 
 galileo_pcps_8ms_acquisition_cc_sptr
 galileo_pcps_8ms_make_acquisition_cc(uint32_t sampled_ms,
@@ -52,7 +50,8 @@ 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 +173,8 @@ 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 +184,8 @@ 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 +231,10 @@ 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>
 
@@ -70,19 +71,18 @@ namespace own = std;
 namespace own = gsl;
 #endif
 
-#if GNURADIO_USES_STD_POINTERS
+/** \addtogroup Acquisition
-#else
+ * Classes for GNSS signal acquisition
-#include <boost/shared_ptr.hpp>
+ * \{ */
-#endif
+/** \addtogroup Acq_gnuradio_blocks acquisition_gr_blocks
+ * GNU Radio processing blocks for GNSS signal acquisition
+ * \{ */
+
 
 class Gnss_Synchro;
 class pcps_acquisition;
 
-#if GNURADIO_USES_STD_POINTERS
+using pcps_acquisition_sptr = gnss_shared_ptr<pcps_acquisition>;
-using pcps_acquisition_sptr = std::shared_ptr<pcps_acquisition>;
-#else
-using pcps_acquisition_sptr = boost::shared_ptr<pcps_acquisition>;
-#endif
 
 pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_);
 
@@ -284,6 +284,11 @@ 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_fine_doppler_cc.h

@@ -55,18 +55,17 @@
 #include <memory>
 #include <string>
 #include <utility>
-#if GNURADIO_USES_STD_POINTERS
+
-#else
+
-#include <boost/shared_ptr.hpp>
+/** \addtogroup Acquisition
-#endif
+ * \{ */
+/** \addtogroup Acq_gnuradio_blocks
+ * \{ */
+
 
 class pcps_acquisition_fine_doppler_cc;
 
-#if GNURADIO_USES_STD_POINTERS
+using pcps_acquisition_fine_doppler_cc_sptr = gnss_shared_ptr<pcps_acquisition_fine_doppler_cc>;
-using pcps_acquisition_fine_doppler_cc_sptr = std::shared_ptr<pcps_acquisition_fine_doppler_cc>;
-#else
-using pcps_acquisition_fine_doppler_cc_sptr = boost::shared_ptr<pcps_acquisition_fine_doppler_cc>;
-#endif
 
 pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
 
@@ -246,4 +245,7 @@ private:
     bool d_dump;
 };
 
-#endif /* pcps_acquisition_fine_doppler_cc*/
+
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_PCPS_ACQUISITION_FINE_DOPPLER_CC_H

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h

@@ -37,6 +37,12 @@
 #include <memory>   // for shared_ptr
 #include <string>   // for string
 
+/** \addtogroup Acquisition
+ * \{ */
+/** \addtogroup Acq_gnuradio_blocks
+ * \{ */
+
+
 class Gnss_Synchro;
 
 typedef struct
@@ -230,4 +236,7 @@ private:
     bool d_make_2_steps;
 };
 
+
+/** \} */
+/** \} */
 #endif  // GNSS_SDR_PCPS_ACQUISITION_FPGA_H

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

@@ -47,18 +47,16 @@
 #include <string>
 #include <utility>
 #include <vector>
-#if GNURADIO_USES_STD_POINTERS
+
-#else
+/** \addtogroup Acquisition
-#include <boost/shared_ptr.hpp>
+ * \{ */
-#endif
+/** \addtogroup Acq_gnuradio_blocks
+ * \{ */
+
 
 class pcps_assisted_acquisition_cc;
 
-#if GNURADIO_USES_STD_POINTERS
+using pcps_assisted_acquisition_cc_sptr = gnss_shared_ptr<pcps_assisted_acquisition_cc>;
-using pcps_assisted_acquisition_cc_sptr = std::shared_ptr<pcps_assisted_acquisition_cc>;
-#else
-using pcps_assisted_acquisition_cc_sptr = boost::shared_ptr<pcps_assisted_acquisition_cc>;
-#endif
 
 pcps_assisted_acquisition_cc_sptr pcps_make_assisted_acquisition_cc(
     int32_t max_dwells,
@@ -67,7 +65,9 @@ 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 +183,12 @@ 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 +242,10 @@ 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

@@ -36,19 +36,16 @@
 #include <string>
 #include <utility>
 #include <vector>
-#if GNURADIO_USES_STD_POINTERS
+
-#else
+/** \addtogroup Acquisition
-#include <boost/shared_ptr.hpp>
+ * \{ */
-#endif
+/** \addtogroup Acq_gnuradio_blocks
+ * \{ */
 
 
 class pcps_cccwsr_acquisition_cc;
 
-#if GNURADIO_USES_STD_POINTERS
+using pcps_cccwsr_acquisition_cc_sptr = gnss_shared_ptr<pcps_cccwsr_acquisition_cc>;
-using pcps_cccwsr_acquisition_cc_sptr = std::shared_ptr<pcps_cccwsr_acquisition_cc>;
-#else
-using pcps_cccwsr_acquisition_cc_sptr = boost::shared_ptr<pcps_cccwsr_acquisition_cc>;
-#endif
 
 pcps_cccwsr_acquisition_cc_sptr pcps_cccwsr_make_acquisition_cc(
     uint32_t sampled_ms,
@@ -58,7 +55,8 @@ 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 +174,12 @@ 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 +229,10 @@ 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

@@ -43,6 +43,7 @@
 #define CL_SILENCE_DEPRECATION
 #include "channel_fsm.h"
 #include "gnss_synchro.h"
+#include "gnss_block_interface.h"
 #include "opencl/fft_internal.h"
 #include <gnuradio/block.h>
 #include <gnuradio/fft/fft.h>
@@ -53,18 +54,16 @@
 #include <memory>  // for weak_ptr
 #include <string>
 #include <vector>
-#if GNURADIO_USES_STD_POINTERS
+
-#else
+/** \addtogroup Acquisition
-#include <boost/shared_ptr.hpp>
+ * \{ */
-#endif
+/** \addtogroup Acq_gnuradio_blocks
+ * \{ */
+
 
 class pcps_opencl_acquisition_cc;
 
-#if GNURADIO_USES_STD_POINTERS
+using pcps_opencl_acquisition_cc_sptr = gnss_shared_ptr<pcps_opencl_acquisition_cc>;
-typedef std::shared_ptr<pcps_opencl_acquisition_cc> pcps_opencl_acquisition_cc_sptr;
-#else
-typedef boost::shared_ptr<pcps_opencl_acquisition_cc> pcps_opencl_acquisition_cc_sptr;
-#endif
 
 pcps_opencl_acquisition_cc_sptr pcps_make_opencl_acquisition_cc(
     uint32_t sampled_ms,
@@ -75,7 +74,8 @@ 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 +210,16 @@ 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 +292,10 @@ private:
     bool d_active;
     bool d_core_working;
     bool d_dump;
+    bool d_enable_monitor_output;
 };
 
-#endif
+
+/** \} */
+/** \} */
+#endif  // GNSS_SDR_PCPS_OPENCL_ACQUISITION_CC_H

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

@@ -53,18 +53,16 @@
 #include <string>
 #include <utility>
 #include <vector>
-#if GNURADIO_USES_STD_POINTERS
+
-#else
+/** \addtogroup Acquisition
-#include <boost/shared_ptr.hpp>
+ * \{ */
-#endif
+/** \addtogroup Acq_gnuradio_blocks
+ * \{ */
+
 
 class pcps_quicksync_acquisition_cc;
 
-#if GNURADIO_USES_STD_POINTERS
+using pcps_quicksync_acquisition_cc_sptr = gnss_shared_ptr<pcps_quicksync_acquisition_cc>;
-using pcps_quicksync_acquisition_cc_sptr = std::shared_ptr<pcps_quicksync_acquisition_cc>;
-#else
-using pcps_quicksync_acquisition_cc_sptr = boost::shared_ptr<pcps_quicksync_acquisition_cc>;
-#endif
 
 pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
     uint32_t folding_factor,
@@ -76,7 +74,8 @@ 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 +198,8 @@ 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 +207,8 @@ 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 +262,10 @@ 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;
             }