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

CMakeLists.txt

@@ -695,7 +695,7 @@ endif()
 ################################################################################
 # GNU Radio - https://gnuradio.org
 ################################################################################
-set(GR_REQUIRED_COMPONENTS RUNTIME ANALOG BLOCKS FFT FILTER PMT)
+set(GR_REQUIRED_COMPONENTS RUNTIME PMT BLOCKS FFT FILTER ANALOG)
 
 find_package(UHD)
 set_package_properties(UHD PROPERTIES
@@ -715,14 +715,14 @@ endif()
 find_package(GNURADIO)
 set_package_properties(GNURADIO PROPERTIES
     URL "https://www.gnuradio.org/"
-    DESCRIPTION "The free and open software radio ecosystem"
+    DESCRIPTION "The free and open software radio ecosystem (found: v${GNURADIO_VERSION})"
     PURPOSE "Implements flowgraph scheduler, provides some processing blocks and classes to create new ones."
     TYPE REQUIRED
 )
-if(PC_GNURADIO_RUNTIME_VERSION)
+if(GNURADIO_VERSION)
-    if(PC_GNURADIO_RUNTIME_VERSION VERSION_LESS ${GNSSSDR_GNURADIO_MIN_VERSION})
+    if(GNURADIO_VERSION VERSION_LESS ${GNSSSDR_GNURADIO_MIN_VERSION})
         unset(GNURADIO_RUNTIME_FOUND)
-        message(STATUS "The GNU Radio version installed in your system is too old.")
+        message(STATUS "The GNU Radio version installed in your system (v${GNURADIO_VERSION}) is too old.")
     endif()
 endif()
 if(NOT GNURADIO_RUNTIME_FOUND)
@@ -730,15 +730,14 @@ if(NOT GNURADIO_RUNTIME_FOUND)
     if(OS_IS_LINUX)
         message("Go to https://github.com/gnuradio/pybombs")
         message("and follow the instructions to install GNU Radio in your system.")
-        message(FATAL_ERROR "GNU Radio ${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
     endif()
     if(OS_IS_MACOSX)
         message("You can install it easily via Macports:")
         message("  sudo port install gnuradio ")
         message("Alternatively, you can use homebrew:")
         message("  brew install gnuradio")
-        message(FATAL_ERROR "GNU Radio ${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
     endif()
+    message(FATAL_ERROR "GNU Radio v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr.")
 else()
     if(NOT TARGET Gnuradio::runtime)
         add_library(Gnuradio::runtime SHARED IMPORTED)
@@ -1818,7 +1817,7 @@ endif()
 find_package(Protobuf)
 set_package_properties(Protobuf PROPERTIES
     URL "https://developers.google.com/protocol-buffers/"
-    DESCRIPTION "A language-neutral, platform-neutral extensible mechanism for serializing structured data"
+    DESCRIPTION "Structured data serialization mechanism"
     PURPOSE "Used to serialize output data in a way that can be read by other applications."
     TYPE REQUIRED
 )

cmake/Modules/FindGNURADIO.cmake

@@ -24,7 +24,7 @@ include(FindPackageHandleStandardArgs)
 
 # if GR_REQUIRED_COMPONENTS is not defined, it will be set to the following list
 if(NOT GR_REQUIRED_COMPONENTS)
-  set(GR_REQUIRED_COMPONENTS RUNTIME ANALOG BLOCKS DIGITAL FFT FILTER PMT FEC TRELLIS UHD)
+  set(GR_REQUIRED_COMPONENTS RUNTIME PMT BLOCKS FFT FILTER ANALOG)
 endif()
 
 # Allows us to use all .cmake files in this directory
@@ -43,9 +43,6 @@ macro(LIST_CONTAINS var value)
   endforeach()
 endmacro()
 
-# Trick for feature_summary
-set(GNURADIO_FOUND TRUE)
-
 function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
     list_contains(REQUIRED_MODULE ${EXTVAR} ${GR_REQUIRED_COMPONENTS})
     if(NOT REQUIRED_MODULE)
@@ -150,24 +147,21 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
 endfunction()
 
 gr_module(RUNTIME gnuradio-runtime gnuradio/top_block.h gnuradio-runtime)
-gr_module(ANALOG gnuradio-analog gnuradio/analog/api.h gnuradio-analog)
+gr_module(PMT gnuradio-runtime pmt/pmt.h gnuradio-pmt)
-gr_module(AUDIO gnuradio-audio gnuradio/audio/api.h gnuradio-audio)
 gr_module(BLOCKS gnuradio-blocks gnuradio/blocks/api.h gnuradio-blocks)
-gr_module(CHANNELS gnuradio-channels gnuradio/channels/api.h gnuradio-channels)
-gr_module(DIGITAL gnuradio-digital gnuradio/digital/api.h gnuradio-digital)
-gr_module(FCD gnuradio-fcd gnuradio/fcd_api.h gnuradio-fcd)
 gr_module(FEC gnuradio-fec gnuradio/fec/api.h gnuradio-fec)
 gr_module(FFT gnuradio-fft gnuradio/fft/api.h gnuradio-fft)
 gr_module(FILTER gnuradio-filter gnuradio/filter/api.h gnuradio-filter)
-gr_module(NOAA gnuradio-noaa gnuradio/noaa/api.h gnuradio-noaa)
+gr_module(ANALOG gnuradio-analog gnuradio/analog/api.h gnuradio-analog)
-gr_module(PAGER gnuradio-pager gnuradio/pager/api.h gnuradio-pager)
+gr_module(DIGITAL gnuradio-digital gnuradio/digital/api.h gnuradio-digital)
+gr_module(AUDIO gnuradio-audio gnuradio/audio/api.h gnuradio-audio)
+gr_module(CHANNELS gnuradio-channels gnuradio/channels/api.h gnuradio-channels)
 gr_module(QTGUI gnuradio-qtgui gnuradio/qtgui/api.h gnuradio-qtgui)
 gr_module(TRELLIS gnuradio-trellis gnuradio/trellis/api.h gnuradio-trellis)
 gr_module(UHD gnuradio-uhd gnuradio/uhd/api.h gnuradio-uhd)
 gr_module(VOCODER gnuradio-vocoder gnuradio/vocoder/api.h gnuradio-vocoder)
 gr_module(WAVELET gnuradio-wavelet gnuradio/wavelet/api.h gnuradio-wavelet)
-gr_module(WXGUI gnuradio-wxgui gnuradio/wxgui/api.h gnuradio-wxgui)
+
-gr_module(PMT gnuradio-runtime pmt/pmt.h gnuradio-pmt)
 
 list(REMOVE_DUPLICATES GNURADIO_ALL_INCLUDE_DIRS)
 list(REMOVE_DUPLICATES GNURADIO_ALL_LIBRARIES)
@@ -206,4 +200,7 @@ if(NOT PC_GNURADIO_RUNTIME_VERSION)
 endif()
 
 # Trick for feature_summary
-set(GNURADIO_FOUND TRUE)
+if(NOT DEFINED GNURADIO_FOUND)
+    set(GNURADIO_FOUND TRUE)
+endif()
+set(GNURADIO_VERSION ${PC_GNURADIO_RUNTIME_VERSION})

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -148,7 +148,6 @@ bool Rtklib_Solver::save_matfile()
                                sizeof(uint8_t) * number_of_uint8_vars +
                                sizeof(float) * number_of_float_vars;
     std::ifstream dump_file;
-    std::cout << "Generating .mat file for " << dump_filename << std::endl;
     dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
     try
         {
@@ -163,6 +162,7 @@ bool Rtklib_Solver::save_matfile()
     int64_t num_epoch = 0LL;
     if (dump_file.is_open())
         {
+            std::cout << "Generating .mat file for " << dump_filename << std::endl;
             size = dump_file.tellg();
             num_epoch = static_cast<int64_t>(size) / static_cast<int64_t>(epoch_size_bytes);
             dump_file.seekg(0, std::ios::beg);

src/algorithms/channel/adapters/channel.cc

@@ -38,10 +38,9 @@
 #include "tracking_interface.h"
 #include <glog/logging.h>
 #include <cstring>  // for memcpy
-#include <utility>
+#include <utility>  // for std::move
 
 
-// Constructor
 Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
     std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
     std::string role, std::string implementation, gr::msg_queue::sptr queue)
@@ -120,7 +119,6 @@ Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::s
 }
 
 
-// Destructor
 Channel::~Channel() = default;
 
 
@@ -133,8 +131,9 @@ void Channel::connect(gr::top_block_sptr top_block)
     trk_->connect(top_block);
     nav_->connect(top_block);
 
-    //Synchronous ports
+    // Synchronous ports
     top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
+
     // Message ports
     top_block->msg_connect(nav_->get_left_block(), pmt::mp("telemetry_to_trk"), trk_->get_right_block(), pmt::mp("telemetry_to_trk"));
     DLOG(INFO) << "tracking -> telemetry_decoder";

src/algorithms/channel/adapters/channel.h

@@ -34,6 +34,7 @@
 
 #ifndef GNSS_SDR_CHANNEL_H_
 #define GNSS_SDR_CHANNEL_H_
+
 #include "channel_fsm.h"
 #include "channel_interface.h"
 #include "channel_msg_receiver_cc.h"
@@ -51,7 +52,7 @@ class ConfigurationInterface;
 class AcquisitionInterface;
 class TrackingInterface;
 class TelemetryDecoderInterface;
-//class ChannelFsm;
+
 
 /*!
  * \brief This class represents a GNSS channel. It wraps an AcquisitionInterface,
@@ -66,8 +67,8 @@ public:
     Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
         std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
         std::string role, std::string implementation, gr::msg_queue::sptr queue);
-    //! Virtual destructor
+
-    virtual ~Channel();
+    virtual ~Channel();  //!< Virtual destructor
 
     void connect(gr::top_block_sptr top_block) override;  //!< connects the tracking block to the top_block and to the telemetry
     void disconnect(gr::top_block_sptr top_block) override;
@@ -108,4 +109,4 @@ private:
     std::mutex mx;
 };
 
-#endif /*GNSS_SDR_CHANNEL_H_*/
+#endif  // GNSS_SDR_CHANNEL_H_

src/algorithms/input_filter/adapters/CMakeLists.txt

@@ -62,7 +62,7 @@ target_include_directories(input_filter_adapters
         ${CMAKE_SOURCE_DIR}/src/core/interfaces
 )
 
-if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.20")
+if(NOT (GNURADIO_VERSION VERSION_LESS "3.8"))
     target_compile_definitions(input_filter_adapters PUBLIC -DGR_GREATER_38=1)
 endif()
 

src/algorithms/resampler/adapters/CMakeLists.txt

@@ -52,7 +52,7 @@ target_include_directories(resampler_adapters
         ${CMAKE_SOURCE_DIR}/src/core/interfaces
 )
 
-if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.20")
+if(NOT (GNURADIO_VERSION VERSION_LESS "3.8"))
     target_compile_definitions(resampler_adapters PUBLIC -DGR_GREATER_38=1)
 endif()
 

src/algorithms/signal_source/adapters/CMakeLists.txt

@@ -135,6 +135,8 @@ set(SIGNAL_SOURCE_ADAPTER_SOURCES
     spir_gss6450_file_signal_source.cc
     rtl_tcp_signal_source.cc
     labsat_signal_source.cc
+    two_bit_cpx_file_signal_source.cc
+    two_bit_packed_file_signal_source.cc
     ${OPT_DRIVER_SOURCES}
 )
 
@@ -146,20 +148,11 @@ set(SIGNAL_SOURCE_ADAPTER_HEADERS
     spir_gss6450_file_signal_source.h
     rtl_tcp_signal_source.h
     labsat_signal_source.h
+    two_bit_cpx_file_signal_source.h
+    two_bit_packed_file_signal_source.h
     ${OPT_DRIVER_HEADERS}
 )
 
-if(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
-    set(SIGNAL_SOURCE_ADAPTER_SOURCES ${SIGNAL_SOURCE_ADAPTER_SOURCES}
-        two_bit_cpx_file_signal_source.cc
-        two_bit_packed_file_signal_source.cc
-    )
-    set(SIGNAL_SOURCE_ADAPTER_HEADERS ${SIGNAL_SOURCE_ADAPTER_HEADERS}
-        two_bit_cpx_file_signal_source.h
-        two_bit_packed_file_signal_source.h
-    )
-endif()
-
 list(SORT SIGNAL_SOURCE_ADAPTER_HEADERS)
 list(SORT SIGNAL_SOURCE_ADAPTER_SOURCES)
 

src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc

@@ -35,11 +35,12 @@
 #include <exception>
 #include <iostream>
 #include <sstream>
+#include <utility>
 
 
 labsat23_source_sptr labsat23_make_source_sptr(const char *signal_file_basename, int channel_selector, gr::msg_queue::sptr queue)
 {
-    return labsat23_source_sptr(new labsat23_source(signal_file_basename, channel_selector, queue));
+    return labsat23_source_sptr(new labsat23_source(signal_file_basename, channel_selector, std::move(queue)));
 }
 
 
@@ -48,7 +49,7 @@ labsat23_source::labsat23_source(const char *signal_file_basename,
     gr::msg_queue::sptr queue) : gr::block("labsat23_source",
                                      gr::io_signature::make(0, 0, 0),
                                      gr::io_signature::make(1, 1, sizeof(gr_complex))),
-                                 d_queue(queue)
+                                 d_queue(std::move(queue))
 {
     if (channel_selector < 1 or channel_selector > 2)
         {

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc

@@ -83,8 +83,7 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_telemetry_decoder_gs(
     // preamble bits to sampled symbols
     d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
     d_frame_length_symbols = GPS_SUBFRAME_BITS * GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
-    d_max_symbols_without_valid_frame = d_required_symbols * 10;  //rise alarm 1 minute without valid tlm
+    d_max_symbols_without_valid_frame = d_required_symbols * 10;  // rise alarm 1 minute without valid tlm
-    d_page_part_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_frame_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
     int32_t n = 0;
     for (int32_t i = 0; i < d_bits_per_preamble; i++)
         {
@@ -127,7 +126,6 @@ gps_l1_ca_telemetry_decoder_gs::gps_l1_ca_telemetry_decoder_gs(
 gps_l1_ca_telemetry_decoder_gs::~gps_l1_ca_telemetry_decoder_gs()
 {
     volk_gnsssdr_free(d_preamble_samples);
-    volk_gnsssdr_free(d_page_part_symbols);
     if (d_dump_file.is_open() == true)
         {
             try
@@ -285,7 +283,7 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
     // NEW GPS SUBFRAME HAS ARRIVED!
     if (subframe_synchro_confirmation)
         {
-            int32_t subframe_ID = d_nav.subframe_decoder(subframe);  //decode the subframe
+            int32_t subframe_ID = d_nav.subframe_decoder(subframe);  // decode the subframe
             if (subframe_ID > 0 and subframe_ID < 6)
                 {
                     std::cout << "New GPS NAV message received in channel " << this->d_channel << ": "
@@ -377,7 +375,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
         {
         case 0:  // no preamble information
             {
-                //correlate with preamble
+                // correlate with preamble
                 int32_t corr_value = 0;
                 if (d_symbol_history.size() >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
                     {
@@ -405,7 +403,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
             }
         case 1:  // possible preamble lock
             {
-                //correlate with preamble
+                // correlate with preamble
                 int32_t corr_value = 0;
                 int32_t preamble_diff = 0;
                 if (d_symbol_history.size() >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS)

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.h

@@ -62,6 +62,7 @@ public:
     void set_satellite(const Gnss_Satellite &satellite);  //!< Set satellite PRN
     void set_channel(int channel);                        //!< Set receiver's channel
     void reset();
+
     /*!
      * \brief This is where all signal processing takes place
      */
@@ -76,15 +77,14 @@ private:
     bool gps_word_parityCheck(uint32_t gpsword);
     bool decode_subframe();
 
-    // new
     int32_t d_bits_per_preamble;
     int32_t d_samples_per_preamble;
     int32_t d_preamble_period_symbols;
     int32_t *d_preamble_samples;
     uint32_t d_required_symbols;
     uint32_t d_frame_length_symbols;
-    double *d_page_part_symbols;
     bool flag_PLL_180_deg_phase_locked;
+
     // navigation message vars
     Gps_Navigation_Message d_nav;
     uint32_t d_prev_GPS_frame_4bytes;
@@ -103,7 +103,6 @@ private:
     bool d_flag_preamble;
     int32_t d_CRC_error_counter;
 
-
     Gnss_Satellite d_satellite;
     int32_t d_channel;
 

src/algorithms/tracking/libs/exponential_smoother.cc

@@ -100,8 +100,8 @@ void Exponential_Smoother::set_min_value(float value)
 
 double Exponential_Smoother::smooth(double raw)
 {
-    float raw_f = static_cast<float>(raw);
+    auto raw_f = static_cast<float>(raw);
-    double smooth_d = static_cast<double>((this)->smooth(raw_f));
+    auto smooth_d = static_cast<double>((this)->smooth(raw_f));
     return smooth_d;
 }
 
@@ -116,7 +116,7 @@ float Exponential_Smoother::smooth(float raw)
             init_buffer_.push_back(smoothed_value);
             if (init_counter_ == samples_for_initialization_)
                 {
-                    old_value_ = std::accumulate(std::begin(init_buffer_), std::end(init_buffer_), 0.0f) / static_cast<float>(init_buffer_.size());
+                    old_value_ = std::accumulate(std::begin(init_buffer_), std::end(init_buffer_), 0.0F) / static_cast<float>(init_buffer_.size());
                     if (old_value_ < (min_value_ + offset_))
                         {
                             // flush buffer and start again

src/core/receiver/CMakeLists.txt

@@ -80,11 +80,7 @@ if(ENABLE_RAW_UDP)
     target_compile_definitions(core_receiver PRIVATE -DRAW_UDP=1)
 endif()
 
-if(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
+if(NOT (GNURADIO_VERSION VERSION_LESS "3.8"))
-    target_compile_definitions(core_receiver PRIVATE -DMODERN_GNURADIO=1)
-endif()
-
-if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.20")
     target_compile_definitions(core_receiver PRIVATE -DGR_GREATER_38=1)
 endif()
 

src/core/receiver/gnss_block_factory.cc

@@ -1299,7 +1299,6 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     exit(1);
                 }
         }
-#if MODERN_GNURADIO
     else if (implementation == "Two_Bit_Cpx_File_Signal_Source")
         {
             try
@@ -1328,7 +1327,6 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
                     exit(1);
                 }
         }
-#endif
     else if (implementation == "Spir_File_Signal_Source")
         {
             try

src/core/receiver/gnss_block_factory.h

@@ -57,19 +57,20 @@ class GNSSBlockFactory
 public:
     GNSSBlockFactory();
     virtual ~GNSSBlockFactory();
+
     std::unique_ptr<GNSSBlockInterface> GetSignalSource(const std::shared_ptr<ConfigurationInterface>& configuration,
         const gr::msg_queue::sptr queue, int ID = -1);  // NOLINT(performance-unnecessary-value-param)
 
     std::unique_ptr<GNSSBlockInterface> GetSignalConditioner(const std::shared_ptr<ConfigurationInterface>& configuration, int ID = -1);
 
-    std::unique_ptr<GNSSBlockInterface> GetPVT(const std::shared_ptr<ConfigurationInterface>& configuration);
-
-    std::unique_ptr<GNSSBlockInterface> GetObservables(const std::shared_ptr<ConfigurationInterface>& configuration);
-
     std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GetChannels(const std::shared_ptr<ConfigurationInterface>& configuration,
         const gr::msg_queue::sptr queue);  // NOLINT(performance-unnecessary-value-param)
 
-    /*
+    std::unique_ptr<GNSSBlockInterface> GetObservables(const std::shared_ptr<ConfigurationInterface>& configuration);
+
+    std::unique_ptr<GNSSBlockInterface> GetPVT(const std::shared_ptr<ConfigurationInterface>& configuration);
+
+    /*!
      * \brief Returns the block with the required configuration and implementation
      */
     std::unique_ptr<GNSSBlockInterface> GetBlock(const std::shared_ptr<ConfigurationInterface>& configuration,
@@ -133,4 +134,4 @@ private:
         unsigned int out_streams);
 };
 
-#endif /*GNSS_SDR_BLOCK_FACTORY_H_*/
+#endif  // GNSS_SDR_BLOCK_FACTORY_H_

src/tests/CMakeLists.txt

@@ -141,7 +141,7 @@ endif()
 # Definitions
 ################################################################################
 
-if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.20")
+if(NOT (GNURADIO_VERSION VERSION_LESS "3.8"))
     add_definitions(-DGR_GREATER_38=1)
 endif()