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

.github/workflows/main.yml

@@ -193,6 +193,8 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: actions/setup-python@v4
+        with:
+          python-version: '3.12'
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip

docs/CHANGELOG.md

@@ -34,6 +34,8 @@ All notable changes to GNSS-SDR will be documented in this file.
 ### Improvements in Portability:
 
 - Updated local `cpu_features` library to v0.9.0.
+- `volk_gnsssdr`: fix syntax for Python 3.12 without breaking backward
+  compatibility with Python 2.7.
 
 ### Improvements in Repeatability:
 

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -412,6 +412,10 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
         {
             pvt_output_parameters.type_of_receiver = 107;  // GPS L1 C/A + Galileo E6B
         }
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (gal_E6_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 108;  // GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
+        }
     // BeiDou B1I Receiver
     if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (gal_E6_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
         {
@@ -857,6 +861,7 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
     pvt_output_parameters.xml_output_path = configuration->property(role + ".xml_output_path", default_output_path);
     pvt_output_parameters.nmea_output_file_path = configuration->property(role + ".nmea_output_file_path", default_output_path);
     pvt_output_parameters.rtcm_output_file_path = configuration->property(role + ".rtcm_output_file_path", default_output_path);
+    pvt_output_parameters.has_output_file_path = configuration->property(role + ".has_output_file_path", default_output_path);
 
     // Read PVT MONITOR Configuration
     pvt_output_parameters.monitor_enabled = configuration->property(role + ".enable_monitor", false);

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -448,10 +448,10 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
         }
 
     // Initialize HAS simple printer
-    d_enable_has_messages = (((d_type_of_rx >= 100) && (d_type_of_rx < 107)) && (conf_.output_enabled));
+    d_enable_has_messages = (((d_type_of_rx >= 100) && (d_type_of_rx < 109)) && (conf_.output_enabled));
     if (d_enable_has_messages)
         {
-            d_has_simple_printer = std::make_unique<Has_Simple_Printer>();
+            d_has_simple_printer = std::make_unique<Has_Simple_Printer>(conf_.has_output_file_path);
         }
     else
         {
@@ -548,19 +548,19 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
         {
             // setup two PVT solvers: internal solver for rx clock and user solver
             // user PVT solver
-            d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, conf_);
+            d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, conf_, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
             d_user_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
 
             // internal PVT solver, mainly used to estimate the receiver clock
             rtk_t internal_rtk = rtk;
             internal_rtk.opt.mode = PMODE_SINGLE;  // use single positioning mode in internal PVT solver
-            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, d_type_of_rx, false, false, conf_);
+            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, conf_, dump_ls_pvt_filename, d_type_of_rx, false, false);
             d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
         }
     else
         {
             // only one solver, customized by the user options
-            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, conf_);
+            d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, conf_, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
             d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
             d_user_pvt_solver = d_internal_pvt_solver;
         }

src/algorithms/PVT/libs/pvt_conf.h

@@ -46,6 +46,7 @@ public:
     std::string kml_output_path = std::string(".");
     std::string xml_output_path = std::string(".");
     std::string rtcm_output_file_path = std::string(".");
+    std::string has_output_file_path = std::string(".");
     std::string udp_addresses;
     std::string udp_eph_addresses;
     std::string log_source_timetag_file;
@@ -90,7 +91,7 @@ public:
     bool pre_2009_file = false;
     bool dump = false;
     bool dump_mat = true;
-    bool log_source_timetag;
+    bool log_source_timetag = false;
     bool use_e6_for_pvt = true;
     bool use_has_corrections = true;
     bool use_unhealthy_sats = false;

src/algorithms/PVT/libs/rinex_printer.h

@@ -39,14 +39,15 @@
 #define GNSS_SDR_RINEX_PRINTER_H
 
 #include <boost/date_time/posix_time/posix_time.hpp>
-#include <cstdint>  // for int32_t
-#include <cstdlib>  // for strtol, strtod
-#include <fstream>  // for fstream
-#include <iomanip>  // for setprecision
-#include <map>      // for map
-#include <sstream>  // for stringstream
-#include <string>   // for string
-#include <vector>
+#include <cstdint>        // for int32_t
+#include <cstdlib>        // for strtol, strtod
+#include <fstream>        // for fstream
+#include <iomanip>        // for setprecision
+#include <map>            // for map
+#include <sstream>        // for stringstream
+#include <string>         // for string
+#include <unordered_map>  // for unordered_map
+#include <vector>         // for vector
 
 
 /** \addtogroup PVT
@@ -143,6 +144,7 @@ public:
      *    105   |  Galileo E1B + Galileo E5b + Galileo E6B
      *    106   |  GPS L1 C/A + Galileo E1B + Galileo E6B
      *    107   |  GPS L1 C/A + Galileo E6B
+     *    108   |  GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
      *    500   |  BeiDou B1I
      *    501   |  BeiDou B1I + GPS L1 C/A
      *    502   |  BeiDou B1I + Galileo E1B
@@ -232,6 +234,14 @@ public:
 
 
 private:
+    const std::unordered_map<std::string, std::string> satelliteSystem = {
+        {"GPS", "G"},
+        {"GLONASS", "R"},
+        {"SBAS payload", "S"},
+        {"Galileo", "E"},
+        {"Beidou", "C"},
+        {"Mixed", "M"}};  // RINEX v3.02 codes
+
     /*
      * Generates the GPS Observation data header
      */
@@ -984,7 +994,6 @@ private:
 
     inline std::string asFixWidthString(int x, int width, char fill_digit) const;
 
-    std::map<std::string, std::string> satelliteSystem;  // GPS, GLONASS, SBAS payload, Galileo or Beidou
     std::map<std::string, std::string> observationType;  // PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
     std::map<std::string, std::string> observationCode;  // GNSS observation descriptors
 

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -45,16 +45,16 @@
 
 
 Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
+    const Pvt_Conf &conf,
     const std::string &dump_filename,
     uint32_t type_of_rx,
     bool flag_dump_to_file,
-    bool flag_dump_to_mat,
-    Pvt_Conf conf) : d_dump_filename(dump_filename),
-                     d_rtk(rtk),
-                     d_conf(std::move(conf)),
-                     d_type_of_rx(type_of_rx),
-                     d_flag_dump_enabled(flag_dump_to_file),
-                     d_flag_dump_mat_enabled(flag_dump_to_mat)
+    bool flag_dump_to_mat) : d_dump_filename(dump_filename),
+                             d_rtk(rtk),
+                             d_conf(conf),
+                             d_type_of_rx(type_of_rx),
+                             d_flag_dump_enabled(flag_dump_to_file),
+                             d_flag_dump_mat_enabled(flag_dump_to_mat)
 {
     // see freq index at src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
     // function: satwavelen
@@ -128,6 +128,10 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
             d_rtklib_band_index["E6"] = 1;
             d_rtklib_freq_index[1] = 3;
             break;
+        case 108:  // GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a + Galileo E6B
+            d_rtklib_band_index["E6"] = 2;
+            d_rtklib_freq_index[2] = 3;
+            break;
         }
     // auto empty_map = std::map < int, HAS_obs_corrections >> ();
     // d_has_obs_corr_map["L1 C/A"] = empty_map;

src/algorithms/PVT/libs/rtklib_solver.h

@@ -82,11 +82,12 @@ class Rtklib_Solver : public Pvt_Solution
 {
 public:
     Rtklib_Solver(const rtk_t& rtk,
+        const Pvt_Conf& conf,
         const std::string& dump_filename,
         uint32_t type_of_rx,
         bool flag_dump_to_file,
-        bool flag_dump_to_mat,
-        Pvt_Conf conf);
+        bool flag_dump_to_mat);
+
     ~Rtklib_Solver();
 
     bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, double kf_update_interval_s);

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

@@ -221,7 +221,7 @@ function(VOLK_UNIQUE_TARGET desc)
     file(RELATIVE_PATH reldir ${PROJECT_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR})
     execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import re, hashlib
 unique = hashlib.sha256(b'${reldir}${ARGN}').hexdigest()[:5]
-print(re.sub('\\W', '_', '${desc} ${reldir} ' + unique))"
+print(re.sub(r'\\W', '_', '${desc} ${reldir} ' + unique))"
     OUTPUT_VARIABLE _target OUTPUT_STRIP_TRAILING_WHITESPACE)
     add_custom_target(${_target} ALL DEPENDS ${ARGN})
 endfunction()

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/volk_gnsssdr_compile_utils.py

@@ -8,7 +8,7 @@
 
 from __future__ import print_function
 
-import optparse
+import argparse
 import volk_gnsssdr_arch_defs
 import volk_gnsssdr_machine_defs
 
@@ -20,6 +20,7 @@ def do_arch_flags_list(compiler):
         output.append(','.join(fields))
     print(';'.join(output))
 
+
 def do_machines_list(arch_names):
     output = list()
     for machine in volk_gnsssdr_machine_defs.machines:
@@ -28,6 +29,7 @@ def do_machines_list(arch_names):
             output.append(machine.name)
     print(';'.join(output))
 
+
 def do_machine_flags_list(compiler, machine_name):
     output = list()
     machine = volk_gnsssdr_machine_defs.machine_dict[machine_name]
@@ -35,16 +37,18 @@ def do_machine_flags_list(compiler, machine_name):
         output.extend(arch.get_flags(compiler))
     print(' '.join(output))
 
+
 def main():
-    parser = optparse.OptionParser()
-    parser.add_option('--mode', type='string')
-    parser.add_option('--compiler', type='string')
-    parser.add_option('--archs', type='string')
-    parser.add_option('--machine', type='string')
-    (opts, args) = parser.parse_args()
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--mode', type=str)
+    parser.add_argument('--compiler', type=str)
+    parser.add_argument('--archs', type=str)
+    parser.add_argument('--machine', type=str)
+    args = parser.parse_args()
 
-    if opts.mode == 'arch_flags': return do_arch_flags_list(opts.compiler.lower())
-    if opts.mode == 'machines': return do_machines_list(opts.archs.split(';'))
-    if opts.mode == 'machine_flags': return do_machine_flags_list(opts.compiler.lower(), opts.machine)
+    if args.mode == 'arch_flags': return do_arch_flags_list(args.compiler.lower())
+    if args.mode == 'machines': return do_machines_list(args.archs.split(';'))
+    if args.mode == 'machine_flags': return do_machine_flags_list(args.compiler.lower(), args.machine)
 
-if __name__ == '__main__': main()
+if __name__ == '__main__':
+    main()

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/volk_gnsssdr_kernel_defs.py

@@ -16,7 +16,7 @@ import glob
 ########################################################################
 # Strip comments from a c/cpp file.
 # Input is code string, output is code string without comments.
-# https://stackoverflow.com/questions/241327/remove-c-and-c-comments-using-python
+# https://stackoverflow.com/questions/241327/python-snippet-to-remove-c-and-c-comments
 ########################################################################
 def comment_remover(text):
     def replacer(match):
@@ -120,7 +120,7 @@ class impl_class(object):
             self.args = list()
             fcn_args = the_rest.split(',')
             for fcn_arg in fcn_args:
-                arg_matcher = re.compile(r'^\s*(.*\W)\s*(\w+)\s*$', re.DOTALL | re.MULTILINE)
+                arg_matcher = re.compile(r'^\s*(.*[^\w])\s*(\w+)\s*$', re.DOTALL | re.MULTILINE)
                 m = arg_matcher.match(fcn_arg)
                 arg_type, arg_name = m.groups()
                 self.args.append((arg_type, arg_name))
@@ -164,6 +164,8 @@ class kernel_class(object):
                     kern_name=self.name, header=sub_hdr, body=body,
                 ))
         assert(self._impls)
+        if "generic" not in [impl.name for impl in self._impls]:
+            raise Exception("{} does not have a generic protokernel.".format(self.name))
         self.has_dispatcher = False
         for impl in self._impls:
             if impl.name == 'dispatcher':

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/volk_gnsssdr_tmpl_utils.py

@@ -11,7 +11,7 @@ from __future__ import print_function
 import os
 import re
 import sys
-import optparse
+import argparse
 import volk_gnsssdr_arch_defs
 import volk_gnsssdr_machine_defs
 import volk_gnsssdr_kernel_defs
@@ -34,13 +34,14 @@ def __parse_tmpl(_tmpl, **kwargs):
     return str(Template(_tmpl).render(**defs))
 
 def main():
-    parser = optparse.OptionParser()
-    parser.add_option('--input', type='string')
-    parser.add_option('--output', type='string')
-    (opts, args) = parser.parse_args()
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--input', type=str)
+    parser.add_argument('--output', type=str)
+    args, extras = parser.parse_known_args()
 
-    output = __parse_tmpl(open(opts.input).read(), args=args)
-    if opts.output: open(opts.output, 'w').write(output)
+    output = __parse_tmpl(open(args.input).read(), args=extras)
+    if args.output: open(args.output, 'w').write(output)
     else: print(output)
 
-if __name__ == '__main__': main()
+if __name__ == '__main__':
+    main()

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt

@@ -113,7 +113,7 @@ macro(check_arch arch_name)
             set(have_flag have${flag})
             # make the have_flag have nice alphanum chars (just for looks/not necessary)
             execute_process(
-                COMMAND ${PYTHON_EXECUTABLE} -c "import re; print(re.sub('\\W', '_', '${have_flag}'))"
+                COMMAND ${PYTHON_EXECUTABLE} -c "import re; print(re.sub(r'\\W', '_', '${have_flag}'))"
                 OUTPUT_VARIABLE have_flag OUTPUT_STRIP_TRAILING_WHITESPACE
             )
             if(VOLK_FLAG_CHECK_FLAGS)

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/python/volk_gnsssdr_modtool/volk_gnsssdr_modtool_generate.py

@@ -290,9 +290,7 @@ class volk_gnsssdr_modtool(object):
         inserted = False;
         insert = False
         for otherline in otherlines:
-
-            if (re.match('\s*', otherline) == None or re.match('\s*#.*', otherline) == None):
-
+            if re.match(r'\s*', otherline) is None or re.match(r'\s*#.*', otherline) is None:
                 insert = True;
             if insert and not inserted:
                 inserted = True;

src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc

@@ -431,6 +431,10 @@ bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, uint3
 
                             // 1st: copy the nearest gnss_synchro data for that channel
                             interpolated_obs = d_gnss_synchro_history->get(ch, nearest_element);
+                            if (interpolated_obs.fs == 0LL)
+                                {
+                                    return false;
+                                }
 
                             // 2nd: Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1)
                             const double T_rx_s = static_cast<double>(rx_clock) / static_cast<double>(interpolated_obs.fs);

src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc

@@ -45,7 +45,8 @@ FourBitCpxFileSignalSource::FourBitCpxFileSignalSource(
         }
     else
         {
-            LOG(WARNING) << sample_type_ << " unrecognized sample type. Assuming: ";
+            reverse_interleaving_ = false;
+            LOG(WARNING) << sample_type_ << " unrecognized sample type. Assuming: iq";
         }
 
     if (in_streams > 0)

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc

@@ -1044,7 +1044,10 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
                             decode_FNAV_word(d_page_part_symbols.data(), d_frame_length_symbols, current_symbol.CN0_dB_hz);
                             break;
                         case 3:  // CNAV
-                            decode_CNAV_word(current_symbol.Tracking_sample_counter / static_cast<uint64_t>(current_symbol.fs), d_page_part_symbols.data(), d_frame_length_symbols, current_symbol.CN0_dB_hz);
+                            if (current_symbol.fs != 0LL)
+                                {
+                                    decode_CNAV_word(current_symbol.Tracking_sample_counter / static_cast<uint64_t>(current_symbol.fs), d_page_part_symbols.data(), d_frame_length_symbols, current_symbol.CN0_dB_hz);
+                                }
                             break;
                         default:
                             return -1;

src/core/libs/gnss_sdr_supl_client.cc

@@ -248,17 +248,20 @@ void Gnss_Sdr_Supl_Client::read_supl_data()
                             gps_almanac_map.insert(std::pair<int, Gps_Almanac>(a->prn, gps_almanac_entry));
                             gps_almanac_iterator = this->gps_almanac_map.find(a->prn);
                         }
-                    gps_almanac_iterator->second.PRN = a->prn;
-                    gps_almanac_iterator->second.af0 = static_cast<double>(a->AF0) * pow(2.0, -20);
-                    gps_almanac_iterator->second.af1 = static_cast<double>(a->AF1) * pow(2.0, -38);
-                    gps_almanac_iterator->second.delta_i = static_cast<double>(a->Ksii) * pow(2.0, -19);
-                    gps_almanac_iterator->second.omega = static_cast<double>(a->w) * pow(2.0, -23);
-                    gps_almanac_iterator->second.OMEGA_0 = static_cast<double>(a->OMEGA_0) * pow(2.0, -23);
-                    gps_almanac_iterator->second.sqrtA = static_cast<double>(a->A_sqrt) * pow(2.0, -11);
-                    gps_almanac_iterator->second.OMEGAdot = static_cast<double>(a->OMEGA_dot) * pow(2.0, -38);
-                    gps_almanac_iterator->second.toa = static_cast<int32_t>(a->toa * pow(2.0, 12));
-                    gps_almanac_iterator->second.ecc = static_cast<double>(a->e) * pow(2.0, -21);
-                    gps_almanac_iterator->second.M_0 = static_cast<double>(a->M0) * pow(2.0, -23);
+                    if (gps_almanac_iterator != gps_almanac_map.end())
+                        {
+                            gps_almanac_iterator->second.PRN = a->prn;
+                            gps_almanac_iterator->second.af0 = static_cast<double>(a->AF0) * pow(2.0, -20);
+                            gps_almanac_iterator->second.af1 = static_cast<double>(a->AF1) * pow(2.0, -38);
+                            gps_almanac_iterator->second.delta_i = static_cast<double>(a->Ksii) * pow(2.0, -19);
+                            gps_almanac_iterator->second.omega = static_cast<double>(a->w) * pow(2.0, -23);
+                            gps_almanac_iterator->second.OMEGA_0 = static_cast<double>(a->OMEGA_0) * pow(2.0, -23);
+                            gps_almanac_iterator->second.sqrtA = static_cast<double>(a->A_sqrt) * pow(2.0, -11);
+                            gps_almanac_iterator->second.OMEGAdot = static_cast<double>(a->OMEGA_dot) * pow(2.0, -38);
+                            gps_almanac_iterator->second.toa = static_cast<int32_t>(a->toa * pow(2.0, 12));
+                            gps_almanac_iterator->second.ecc = static_cast<double>(a->e) * pow(2.0, -21);
+                            gps_almanac_iterator->second.M_0 = static_cast<double>(a->M0) * pow(2.0, -23);
+                        }
                 }
         }
 
@@ -278,48 +281,51 @@ void Gnss_Sdr_Supl_Client::read_supl_data()
                             gps_ephemeris_map.insert(std::pair<int, Gps_Ephemeris>(e->prn, gps_eph));
                             gps_eph_iterator = this->gps_ephemeris_map.find(e->prn);
                         }
-                    if (gps_time.valid)
+                    if (gps_eph_iterator != gps_ephemeris_map.end())
                         {
-                            gps_eph_iterator->second.WN = assist.time.gps_week;
-                            /* TS 44.031: GPSTOW, range 0-604799.92, resolution 0.08 sec, 23-bit presentation */
-                            gps_eph_iterator->second.tow = static_cast<double>(assist.time.gps_tow) * 0.08;
+                            if (gps_time.valid)
+                                {
+                                    gps_eph_iterator->second.WN = assist.time.gps_week;
+                                    /* TS 44.031: GPSTOW, range 0-604799.92, resolution 0.08 sec, 23-bit presentation */
+                                    gps_eph_iterator->second.tow = static_cast<double>(assist.time.gps_tow) * 0.08;
+                                }
+                            else
+                                {
+                                    gps_eph_iterator->second.WN = 0;
+                                    gps_eph_iterator->second.tow = 0;
+                                }
+                            gps_eph_iterator->second.PRN = e->prn;
+                            // SV navigation model
+                            gps_eph_iterator->second.code_on_L2 = e->bits;
+                            gps_eph_iterator->second.SV_accuracy = e->ura;  // User Range Accuracy (URA)
+                            gps_eph_iterator->second.SV_health = e->health;
+                            gps_eph_iterator->second.IODC = static_cast<double>(e->IODC);
+                            // miss P flag (1 bit)
+                            // miss SF1 Reserved (87 bits)
+                            gps_eph_iterator->second.TGD = static_cast<double>(e->tgd) * T_GD_LSB;
+                            gps_eph_iterator->second.toc = static_cast<double>(e->toc) * T_OC_LSB;
+                            gps_eph_iterator->second.af0 = static_cast<double>(e->AF0) * A_F0_LSB;
+                            gps_eph_iterator->second.af1 = static_cast<double>(e->AF1) * A_F1_LSB;
+                            gps_eph_iterator->second.af2 = static_cast<double>(e->AF2) * A_F2_LSB;
+                            gps_eph_iterator->second.Crc = static_cast<double>(e->Crc) * C_RC_LSB;
+                            gps_eph_iterator->second.delta_n = static_cast<double>(e->delta_n) * DELTA_N_LSB;
+                            gps_eph_iterator->second.M_0 = static_cast<double>(e->M0) * M_0_LSB;
+                            gps_eph_iterator->second.Cuc = static_cast<double>(e->Cuc) * C_UC_LSB;
+                            gps_eph_iterator->second.ecc = static_cast<double>(e->e) * ECCENTRICITY_LSB;
+                            gps_eph_iterator->second.Cus = static_cast<double>(e->Cus) * C_US_LSB;
+                            gps_eph_iterator->second.sqrtA = static_cast<double>(e->A_sqrt) * SQRT_A_LSB;
+                            gps_eph_iterator->second.toe = static_cast<double>(e->toe) * T_OE_LSB;
+                            // miss fit interval flag (1 bit)
+                            gps_eph_iterator->second.AODO = e->AODA * AODO_LSB;
+                            gps_eph_iterator->second.Cic = static_cast<double>(e->Cic) * C_IC_LSB;
+                            gps_eph_iterator->second.OMEGA_0 = static_cast<double>(e->OMEGA_0) * OMEGA_0_LSB;
+                            gps_eph_iterator->second.Cis = static_cast<double>(e->Cis) * C_IS_LSB;
+                            gps_eph_iterator->second.i_0 = static_cast<double>(e->i0) * I_0_LSB;
+                            gps_eph_iterator->second.Crs = static_cast<double>(e->Crs) * C_RS_LSB;
+                            gps_eph_iterator->second.omega = static_cast<double>(e->w) * OMEGA_LSB;
+                            gps_eph_iterator->second.OMEGAdot = static_cast<double>(e->OMEGA_dot) * OMEGA_DOT_LSB;
+                            gps_eph_iterator->second.idot = static_cast<double>(e->i_dot) * I_DOT_LSB;
                         }
-                    else
-                        {
-                            gps_eph_iterator->second.WN = 0;
-                            gps_eph_iterator->second.tow = 0;
-                        }
-                    gps_eph_iterator->second.PRN = e->prn;
-                    // SV navigation model
-                    gps_eph_iterator->second.code_on_L2 = e->bits;
-                    gps_eph_iterator->second.SV_accuracy = e->ura;  // User Range Accuracy (URA)
-                    gps_eph_iterator->second.SV_health = e->health;
-                    gps_eph_iterator->second.IODC = static_cast<double>(e->IODC);
-                    // miss P flag (1 bit)
-                    // miss SF1 Reserved (87 bits)
-                    gps_eph_iterator->second.TGD = static_cast<double>(e->tgd) * T_GD_LSB;
-                    gps_eph_iterator->second.toc = static_cast<double>(e->toc) * T_OC_LSB;
-                    gps_eph_iterator->second.af0 = static_cast<double>(e->AF0) * A_F0_LSB;
-                    gps_eph_iterator->second.af1 = static_cast<double>(e->AF1) * A_F1_LSB;
-                    gps_eph_iterator->second.af2 = static_cast<double>(e->AF2) * A_F2_LSB;
-                    gps_eph_iterator->second.Crc = static_cast<double>(e->Crc) * C_RC_LSB;
-                    gps_eph_iterator->second.delta_n = static_cast<double>(e->delta_n) * DELTA_N_LSB;
-                    gps_eph_iterator->second.M_0 = static_cast<double>(e->M0) * M_0_LSB;
-                    gps_eph_iterator->second.Cuc = static_cast<double>(e->Cuc) * C_UC_LSB;
-                    gps_eph_iterator->second.ecc = static_cast<double>(e->e) * ECCENTRICITY_LSB;
-                    gps_eph_iterator->second.Cus = static_cast<double>(e->Cus) * C_US_LSB;
-                    gps_eph_iterator->second.sqrtA = static_cast<double>(e->A_sqrt) * SQRT_A_LSB;
-                    gps_eph_iterator->second.toe = static_cast<double>(e->toe) * T_OE_LSB;
-                    // miss fit interval flag (1 bit)
-                    gps_eph_iterator->second.AODO = e->AODA * AODO_LSB;
-                    gps_eph_iterator->second.Cic = static_cast<double>(e->Cic) * C_IC_LSB;
-                    gps_eph_iterator->second.OMEGA_0 = static_cast<double>(e->OMEGA_0) * OMEGA_0_LSB;
-                    gps_eph_iterator->second.Cis = static_cast<double>(e->Cis) * C_IS_LSB;
-                    gps_eph_iterator->second.i_0 = static_cast<double>(e->i0) * I_0_LSB;
-                    gps_eph_iterator->second.Crs = static_cast<double>(e->Crs) * C_RS_LSB;
-                    gps_eph_iterator->second.omega = static_cast<double>(e->w) * OMEGA_LSB;
-                    gps_eph_iterator->second.OMEGAdot = static_cast<double>(e->OMEGA_dot) * OMEGA_DOT_LSB;
-                    gps_eph_iterator->second.idot = static_cast<double>(e->i_dot) * I_DOT_LSB;
                 }
         }
 
@@ -340,18 +346,21 @@ void Gnss_Sdr_Supl_Client::read_supl_data()
                             gps_acq_map.insert(std::pair<int, Gps_Acq_Assist>(e->prn, gps_acq_assist));
                             gps_acq_iterator = this->gps_acq_map.find(e->prn);
                         }
-                    // fill the acquisition assistance structure
-                    gps_acq_iterator->second.PRN = e->prn;
-                    gps_acq_iterator->second.tow = static_cast<double>(assist.acq_time);
-                    gps_acq_iterator->second.Doppler0 = static_cast<double>(e->doppler0);
-                    gps_acq_iterator->second.Doppler1 = static_cast<double>(e->doppler1);
-                    gps_acq_iterator->second.dopplerUncertainty = static_cast<double>(e->d_win);
-                    gps_acq_iterator->second.Code_Phase = static_cast<double>(e->code_ph);
-                    gps_acq_iterator->second.Code_Phase_int = static_cast<double>(e->code_ph_int);
-                    gps_acq_iterator->second.Code_Phase_window = static_cast<double>(e->code_ph_win);
-                    gps_acq_iterator->second.Azimuth = static_cast<double>(e->az);
-                    gps_acq_iterator->second.Elevation = static_cast<double>(e->el);
-                    gps_acq_iterator->second.GPS_Bit_Number = static_cast<double>(e->bit_num);
+                    if (gps_acq_iterator != gps_acq_map.end())
+                        {
+                            // fill the acquisition assistance structure
+                            gps_acq_iterator->second.PRN = e->prn;
+                            gps_acq_iterator->second.tow = static_cast<double>(assist.acq_time);
+                            gps_acq_iterator->second.Doppler0 = static_cast<double>(e->doppler0);
+                            gps_acq_iterator->second.Doppler1 = static_cast<double>(e->doppler1);
+                            gps_acq_iterator->second.dopplerUncertainty = static_cast<double>(e->d_win);
+                            gps_acq_iterator->second.Code_Phase = static_cast<double>(e->code_ph);
+                            gps_acq_iterator->second.Code_Phase_int = static_cast<double>(e->code_ph_int);
+                            gps_acq_iterator->second.Code_Phase_window = static_cast<double>(e->code_ph_win);
+                            gps_acq_iterator->second.Azimuth = static_cast<double>(e->az);
+                            gps_acq_iterator->second.Elevation = static_cast<double>(e->el);
+                            gps_acq_iterator->second.GPS_Bit_Number = static_cast<double>(e->bit_num);
+                        }
                 }
         }
 }

src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc

@@ -147,7 +147,7 @@ TEST_F(NmeaPrinterTest, PrintLine)
     std::string filename("nmea_test.nmea");
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    std::shared_ptr<Rtklib_Solver> pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 1, false, false, conf);
+    std::shared_ptr<Rtklib_Solver> pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 1, false, false);
 
     boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19),
         boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46));

src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc

@@ -145,7 +145,7 @@ TEST_F(RinexPrinterTest, GalileoObsHeader)
 {
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false, conf);
+    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 4, false, false);
     auto eph = Galileo_Ephemeris();
     eph.PRN = 1;
     pvt_solution->galileo_ephemeris_map[1] = eph;
@@ -233,7 +233,7 @@ TEST_F(RinexPrinterTest, GlonassObsHeader)
 {
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 28, false, false, conf);
+    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 28, false, false);
     auto eph = Glonass_Gnav_Ephemeris();
     eph.PRN = 1;
     pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
@@ -295,7 +295,7 @@ TEST_F(RinexPrinterTest, MixedObsHeader)
     eph_gps.PRN = 1;
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 106, false, false, conf);
+    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 106, false, false);
     pvt_solution->galileo_ephemeris_map[1] = eph_gal;
 
     pvt_solution->gps_ephemeris_map[1] = eph_gps;
@@ -367,7 +367,7 @@ TEST_F(RinexPrinterTest, MixedObsHeaderGpsGlo)
     eph_gps.PRN = 1;
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false, conf);
+    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 26, false, false);
     pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
 
     pvt_solution->gps_ephemeris_map[1] = eph_gps;
@@ -436,7 +436,7 @@ TEST_F(RinexPrinterTest, GalileoObsLog)
     eph.PRN = 1;
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false, conf);
+    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 4, false, false);
     pvt_solution->galileo_ephemeris_map[1] = eph;
     std::map<int, Gnss_Synchro> gnss_observables_map;
 
@@ -518,7 +518,7 @@ TEST_F(RinexPrinterTest, GlonassObsLog)
     eph.PRN = 22;
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 23, false, false, conf);
+    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 23, false, false);
     pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
     std::map<int, Gnss_Synchro> gnss_observables_map;
 
@@ -602,7 +602,7 @@ TEST_F(RinexPrinterTest, GpsObsLogDualBand)
     eph_cnav.PRN = 1;
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 7, false, false, conf);
+    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 7, false, false);
     pvt_solution->gps_ephemeris_map[1] = eph;
     pvt_solution->gps_cnav_ephemeris_map[1] = eph_cnav;
     std::map<int, Gnss_Synchro> gnss_observables_map;
@@ -692,7 +692,7 @@ TEST_F(RinexPrinterTest, GalileoObsLogDualBand)
 {
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 14, false, false, conf);
+    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 14, false, false);
     auto eph = Galileo_Ephemeris();
     eph.PRN = 1;
     pvt_solution->galileo_ephemeris_map[1] = eph;
@@ -794,7 +794,7 @@ TEST_F(RinexPrinterTest, MixedObsLog)
     eph_gal.PRN = 1;
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 9, false, false, conf);
+    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 9, false, false);
     pvt_solution->gps_ephemeris_map[1] = eph_gps;
     pvt_solution->galileo_ephemeris_map[1] = eph_gal;
     std::map<int, Gnss_Synchro> gnss_observables_map;
@@ -920,7 +920,7 @@ TEST_F(RinexPrinterTest, MixedObsLogGpsGlo)
     eph_glo.PRN = 1;
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false, conf);
+    auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 26, false, false);
     pvt_solution->gps_ephemeris_map[1] = eph_gps;
     pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
     std::map<int, Gnss_Synchro> gnss_observables_map;

src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc

@@ -386,7 +386,7 @@ TEST(RTKLibSolverTest, test1)
 
     Pvt_Conf conf;
     conf.use_e6_for_pvt = false;
-    auto d_ls_pvt = std::make_unique<Rtklib_Solver>(rtk, nchannels, dump_filename, 1, flag_dump_to_file, save_to_mat, conf);
+    auto d_ls_pvt = std::make_unique<Rtklib_Solver>(rtk, conf, nchannels, dump_filename, 1, flag_dump_to_file, save_to_mat);
     d_ls_pvt->set_averaging_depth(1);
 
     // load ephemeris