mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 12:10:34 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into tracking_debug
This commit is contained in:
Javier Arribas
commit
47e6e173cb
@ -32,7 +32,6 @@ Checks: '-*,
|
||||
performance-inefficient-algorithm,
|
||||
performance-move-const-arg,
|
||||
performance-type-promotion-in-math-fn,
|
||||
performance-unnecessary-copy-initialization,
|
||||
performance-unnecessary-value-param,
|
||||
readability-container-size-empty,
|
||||
readability-identifier-naming,
|
||||
|
||||
227
CMakeLists.txt
227
CMakeLists.txt
@ -295,6 +295,12 @@ if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
|
||||
set(OS_IS_MACOSX TRUE)
|
||||
execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION)
|
||||
string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
|
||||
if(${DARWIN_VERSION} MATCHES "19")
|
||||
set(MACOS_CATALINA TRUE)
|
||||
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++14")
|
||||
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LIBRARY "libc++")
|
||||
message(STATUS "Configuring GNSS-SDR v${VERSION} to be built on macOS Catalina 10.15")
|
||||
endif()
|
||||
if(${DARWIN_VERSION} MATCHES "18")
|
||||
set(MACOS_MOJAVE TRUE)
|
||||
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++14")
|
||||
@ -468,7 +474,7 @@ endif()
|
||||
|
||||
|
||||
################################################################################
|
||||
# Set C and C++ standard
|
||||
# Set minimal C and C++ standards
|
||||
################################################################################
|
||||
if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
|
||||
set(CMAKE_C_STANDARD 11)
|
||||
@ -484,7 +490,7 @@ else()
|
||||
endif()
|
||||
endif()
|
||||
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
if(OS_IS_MACOSX)
|
||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
|
||||
if(CLANG_VERSION VERSION_LESS "600")
|
||||
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
|
||||
else()
|
||||
@ -623,132 +629,6 @@ set_package_properties(GNURADIO PROPERTIES
|
||||
PURPOSE "Implements flowgraph scheduler, provides some processing blocks and classes to create new ones."
|
||||
TYPE REQUIRED
|
||||
)
|
||||
if(GNURADIO_VERSION)
|
||||
if(GNURADIO_VERSION VERSION_LESS ${GNSSSDR_GNURADIO_MIN_VERSION})
|
||||
unset(GNURADIO_RUNTIME_FOUND)
|
||||
message(STATUS "The GNU Radio version installed in your system (v${GNURADIO_VERSION}) is too old.")
|
||||
endif()
|
||||
endif()
|
||||
if(NOT GNURADIO_RUNTIME_FOUND)
|
||||
message(STATUS "CMake cannot find GNU Radio >= ${GNSSSDR_GNURADIO_MIN_VERSION}")
|
||||
if(OS_IS_LINUX)
|
||||
message("Go to https://github.com/gnuradio/pybombs")
|
||||
message("and follow the instructions to install GNU Radio in your system.")
|
||||
endif()
|
||||
if(OS_IS_MACOSX)
|
||||
message("You can install it easily via Macports:")
|
||||
message(" sudo port install gnuradio ")
|
||||
message("Alternatively, you can use homebrew:")
|
||||
message(" brew install gnuradio")
|
||||
endif()
|
||||
message(FATAL_ERROR "GNU Radio v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr.")
|
||||
else()
|
||||
if(NOT TARGET Gnuradio::runtime)
|
||||
add_library(Gnuradio::runtime SHARED IMPORTED)
|
||||
list(GET GNURADIO_RUNTIME_LIBRARIES 0 FIRST_DIR)
|
||||
get_filename_component(GNURADIO_RUNTIME_DIR ${FIRST_DIR} ABSOLUTE)
|
||||
set_target_properties(Gnuradio::runtime PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${GNURADIO_RUNTIME_DIR}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_RUNTIME_INCLUDE_DIRS}"
|
||||
INTERFACE_LINK_LIBRARIES "${GNURADIO_RUNTIME_LIBRARIES}"
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(NOT GNURADIO_ANALOG_FOUND)
|
||||
message(FATAL_ERROR "*** The gnuradio-analog library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
|
||||
else()
|
||||
if(NOT TARGET Gnuradio::analog)
|
||||
add_library(Gnuradio::analog SHARED IMPORTED)
|
||||
list(GET GNURADIO_ANALOG_LIBRARIES 0 FIRST_DIR)
|
||||
get_filename_component(GNURADIO_ANALOG_DIR ${FIRST_DIR} ABSOLUTE)
|
||||
set_target_properties(Gnuradio::analog PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${GNURADIO_ANALOG_DIR}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_ANALOG_INCLUDE_DIRS}"
|
||||
INTERFACE_LINK_LIBRARIES "${GNURADIO_ANALOG_LIBRARIES}"
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(NOT GNURADIO_BLOCKS_FOUND)
|
||||
message(FATAL_ERROR "*** The gnuradio-blocks library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
|
||||
else()
|
||||
if(NOT TARGET Gnuradio::blocks)
|
||||
add_library(Gnuradio::blocks SHARED IMPORTED)
|
||||
list(GET GNURADIO_BLOCKS_LIBRARIES 0 FIRST_DIR)
|
||||
get_filename_component(GNURADIO_BLOCKS_DIR ${FIRST_DIR} ABSOLUTE)
|
||||
set_target_properties(Gnuradio::blocks PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${GNURADIO_BLOCKS_DIR}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_BLOCKS_INCLUDE_DIRS}"
|
||||
INTERFACE_LINK_LIBRARIES "${GNURADIO_BLOCKS_LIBRARIES}"
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(NOT GNURADIO_FILTER_FOUND)
|
||||
message(FATAL_ERROR "*** The gnuradio-filter library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
|
||||
else()
|
||||
if(NOT TARGET Gnuradio::filter)
|
||||
add_library(Gnuradio::filter SHARED IMPORTED)
|
||||
list(GET GNURADIO_FILTER_LIBRARIES 0 FIRST_DIR)
|
||||
get_filename_component(GNURADIO_FILTER_DIR ${FIRST_DIR} ABSOLUTE)
|
||||
set_target_properties(Gnuradio::filter PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${GNURADIO_FILTER_DIR}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FILTER_INCLUDE_DIRS}"
|
||||
INTERFACE_LINK_LIBRARIES "${GNURADIO_FILTER_LIBRARIES}"
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(NOT GNURADIO_FFT_FOUND)
|
||||
message(FATAL_ERROR "*** The gnuradio-fft library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
|
||||
else()
|
||||
if(NOT TARGET Gnuradio::fft)
|
||||
add_library(Gnuradio::fft SHARED IMPORTED)
|
||||
list(GET GNURADIO_FFT_LIBRARIES 0 FIRST_DIR)
|
||||
get_filename_component(GNURADIO_FFT_DIR ${FIRST_DIR} ABSOLUTE)
|
||||
set_target_properties(Gnuradio::fft PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${GNURADIO_FFT_DIR}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FFT_INCLUDE_DIRS}"
|
||||
INTERFACE_LINK_LIBRARIES "${GNURADIO_FFT_LIBRARIES}"
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(NOT GNURADIO_PMT_FOUND)
|
||||
message(FATAL_ERROR "*** The gnuradio-pmt library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
|
||||
else()
|
||||
if(NOT TARGET Gnuradio::pmt)
|
||||
add_library(Gnuradio::pmt SHARED IMPORTED)
|
||||
list(GET GNURADIO_PMT_LIBRARIES 0 FIRST_DIR)
|
||||
get_filename_component(GNURADIO_PMT_DIR ${FIRST_DIR} ABSOLUTE)
|
||||
set_target_properties(Gnuradio::pmt PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${GNURADIO_PMT_DIR}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_PMT_INCLUDE_DIRS}"
|
||||
INTERFACE_LINK_LIBRARIES "${GNURADIO_PMT_LIBRARIES}"
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(ENABLE_UHD AND UHD_FOUND AND GNURADIO_UHD_FOUND)
|
||||
if(NOT TARGET Gnuradio::uhd)
|
||||
add_library(Gnuradio::uhd SHARED IMPORTED)
|
||||
list(GET GNURADIO_UHD_LIBRARIES 0 FIRST_DIR)
|
||||
get_filename_component(GNURADIO_UHD_DIR ${FIRST_DIR} ABSOLUTE)
|
||||
set_target_properties(Gnuradio::uhd PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${GNURADIO_UHD_DIR}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_UHD_INCLUDE_DIRS}"
|
||||
INTERFACE_LINK_LIBRARIES "${GNURADIO_UHD_LIBRARIES}"
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
|
||||
|
||||
@ -769,7 +649,7 @@ endif()
|
||||
|
||||
|
||||
################################################################################
|
||||
# Dectect availability of std::filesystem
|
||||
# Detect availability of std::filesystem and set C++ standard accordingly
|
||||
################################################################################
|
||||
set(FILESYSTEM_FOUND FALSE)
|
||||
if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17)
|
||||
@ -787,7 +667,11 @@ if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17)
|
||||
TYPE OPTIONAL
|
||||
)
|
||||
if(${FILESYSTEM_FOUND})
|
||||
if(CMAKE_VERSION VERSION_LESS 3.12)
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
else()
|
||||
set(CMAKE_CXX_STANDARD 20)
|
||||
endif()
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
endif()
|
||||
endif()
|
||||
@ -818,14 +702,25 @@ if(NOT ${FILESYSTEM_FOUND})
|
||||
set(BOOST_COMPONENTS ${BOOST_COMPONENTS} filesystem)
|
||||
endif()
|
||||
find_package(Boost ${GNSSSDR_BOOST_MIN_VERSION} COMPONENTS ${BOOST_COMPONENTS} REQUIRED)
|
||||
|
||||
if(NOT Boost_FOUND)
|
||||
message(FATAL_ERROR "Fatal error: Boost (version >=${GNSSSDR_BOOST_MIN_VERSION}) required.")
|
||||
endif()
|
||||
|
||||
set_package_properties(Boost PROPERTIES
|
||||
URL "https://www.boost.org"
|
||||
DESCRIPTION "Portable C++ source libraries"
|
||||
PURPOSE "Used widely across the source code."
|
||||
TYPE REQUIRED
|
||||
)
|
||||
if(NOT Boost_FOUND)
|
||||
message(FATAL_ERROR "Fatal error: Boost (version >=${GNSSSDR_BOOST_MIN_VERSION}) required.")
|
||||
|
||||
if(CMAKE_VERSION VERSION_GREATER 3.14)
|
||||
set_package_properties(Boost PROPERTIES
|
||||
DESCRIPTION "Portable C++ source libraries (found: ${Boost_VERSION_STRING})"
|
||||
)
|
||||
else()
|
||||
set_package_properties(Boost PROPERTIES
|
||||
DESCRIPTION "Portable C++ source libraries (found: ${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION})"
|
||||
)
|
||||
endif()
|
||||
|
||||
if(CMAKE_VERSION VERSION_LESS 3.5)
|
||||
@ -1231,37 +1126,30 @@ if(NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
|
||||
set(GFLAGS_LIBRARIES_TO_LINK ${GFlags_LIBS})
|
||||
set(GFLAGS_LIBRARY_DIR_TO_LINK ${GFlags_LIBRARY_DIRS})
|
||||
endif()
|
||||
|
||||
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
|
||||
"#!/bin/sh
|
||||
export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
|
||||
export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
|
||||
export LIBS=\"${GFLAGS_LIBRARIES_TO_LINK} -lc++\"
|
||||
export CXXFLAGS=\"-stdlib=libc++\"
|
||||
export CC=clang
|
||||
export CXX=clang++
|
||||
cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
|
||||
aclocal
|
||||
automake --add-missing
|
||||
autoreconf -vfi
|
||||
cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
|
||||
)
|
||||
else()
|
||||
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
|
||||
"#!/bin/sh
|
||||
export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
|
||||
export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
|
||||
export LIBS=${GFLAGS_LIBRARIES_TO_LINK}
|
||||
cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
|
||||
aclocal
|
||||
automake --add-missing
|
||||
autoreconf -vfi
|
||||
cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
|
||||
)
|
||||
if(OS_IS_MACOSX)
|
||||
set(GFLAGS_LIBRARIES_TO_LINK "${GFLAGS_LIBRARIES_TO_LINK} -lc++")
|
||||
set(GLOG_EXPORT_CXX_LIBRARIES "export CXXFLAGS=\"-stdlib=libc++\"")
|
||||
endif()
|
||||
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
set(GLOG_EXPORT_C_COMPILER "export CC=clang")
|
||||
set(GLOG_EXPORT_CXX_COMPILER "export CXX=clang++")
|
||||
endif()
|
||||
|
||||
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
|
||||
"#!/bin/sh
|
||||
export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
|
||||
export LDFLAGS=-L${GFLAGS_LIBRARY_DIR_TO_LINK}
|
||||
export LIBS=\"${GFLAGS_LIBRARIES_TO_LINK}\"
|
||||
${GLOG_EXPORT_CXX_LIBRARIES}
|
||||
${GLOG_EXPORT_C_COMPILER}
|
||||
${GLOG_EXPORT_CXX_COMPILER}
|
||||
cd ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/
|
||||
aclocal
|
||||
automake --add-missing
|
||||
autoreconf -vfi
|
||||
cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
|
||||
)
|
||||
|
||||
file(COPY ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
|
||||
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
|
||||
@ -1460,6 +1348,9 @@ set_package_properties(Armadillo PROPERTIES
|
||||
TYPE REQUIRED
|
||||
)
|
||||
if(ARMADILLO_FOUND)
|
||||
set_package_properties(Armadillo PROPERTIES
|
||||
DESCRIPTION "C++ library for linear algebra and scientific computing (found: v${ARMADILLO_VERSION_STRING})"
|
||||
)
|
||||
if(${ARMADILLO_VERSION_STRING} VERSION_LESS ${GNSSSDR_ARMADILLO_MIN_VERSION})
|
||||
set(ARMADILLO_FOUND false)
|
||||
set(ENABLE_OWN_ARMADILLO true)
|
||||
@ -1789,6 +1680,10 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
|
||||
set_package_properties(MATIO PROPERTIES
|
||||
PURPOSE "Matio v${GNSSSDR_MATIO_LOCAL_VERSION} will be downloaded and built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'."
|
||||
)
|
||||
else()
|
||||
set_package_properties(MATIO PROPERTIES
|
||||
DESCRIPTION "MATLAB MAT File I/O Library (found: v.${MATIO_VERSION_STRING})"
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
@ -1916,6 +1811,13 @@ if(Protobuf_FOUND AND CMAKE_VERSION VERSION_LESS 3.9)
|
||||
set(Protobuf_VERSION "${_PROTOBUF_MAJOR_VERSION}.${_PROTOBUF_MINOR_VERSION}.${_PROTOBUF_SUBMINOR_VERSION}")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(Protobuf_FOUND)
|
||||
set_package_properties(Protobuf PROPERTIES
|
||||
DESCRIPTION "Structured data serialization mechanism (found: v${Protobuf_VERSION})"
|
||||
)
|
||||
endif()
|
||||
|
||||
if(Protobuf_FOUND AND CMAKE_CROSSCOMPILING)
|
||||
find_program(PROTOC_EXECUTABLE protoc)
|
||||
if(NOT PROTOC_EXECUTABLE)
|
||||
@ -1935,6 +1837,7 @@ if(Protobuf_FOUND AND CMAKE_CROSSCOMPILING)
|
||||
message(FATAL_ERROR "Please install the Protocol Buffers compiler v${Protobuf_VERSION} in the host machine")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if((NOT Protobuf_FOUND) OR (NOT Protobuf_PROTOC_EXECUTABLE) OR (${Protobuf_VERSION} VERSION_LESS ${GNSSSDR_PROTOBUF_MIN_VERSION}))
|
||||
unset(Protobuf_PROTOC_EXECUTABLE)
|
||||
if(CMAKE_CROSSCOMPILING)
|
||||
|
||||
@ -45,12 +45,37 @@ find_library(GFORTRAN NAMES gfortran
|
||||
/usr/lib/gcc/i686-redhat-linux/4.8.2
|
||||
/usr/lib/gcc/x86_64-redhat-linux/7
|
||||
/usr/lib/gcc/i686-redhat-linux/7
|
||||
/usr/lib/gcc/x86_64-redhat-linux/8
|
||||
/usr/lib/gcc/i686-redhat-linux/8
|
||||
/usr/lib/gcc/x86_64-redhat-linux/9
|
||||
/usr/lib/gcc/i686-redhat-linux/9
|
||||
/usr/lib64/gcc/x86_64-redhat-linux/7
|
||||
/usr/lib64/gcc/x86_64-redhat-linux/8
|
||||
/usr/lib64/gcc/x86_64-redhat-linux/9
|
||||
/usr/lib/gcc/armv7hl-redhat-linux-gnueabi/7
|
||||
/usr/lib/gcc/aarch64-redhat-linux/7
|
||||
/usr/lib/gcc/i586-suse-linux/4.8 # OpenSUSE 13.1
|
||||
/usr/lib/gcc/i586-suse-linux/4.9
|
||||
/usr/lib/gcc/i586-suse-linux/7
|
||||
/usr/lib/gcc/i586-suse-linux/8
|
||||
/usr/lib/gcc/i586-suse-linux/9
|
||||
/usr/lib/gcc/x86_64-suse-linux/4.8
|
||||
/usr/lib/gcc/x86_64-suse-linux/4.9
|
||||
/usr/lib64/gcc/x86_64-suse-linux/7
|
||||
/usr/lib64/gcc/x86_64-suse-linux/8
|
||||
/usr/lib64/gcc/x86_64-suse-linux/9
|
||||
/usr/lib/gcc/armv7hl-suse-linux-gnueabi/7
|
||||
/usr/lib/gcc/armv7hl-suse-linux-gnueabi/8
|
||||
/usr/lib/gcc/armv7hl-suse-linux-gnueabi/9
|
||||
/usr/lib64/gcc/aarch64-suse-linux/7
|
||||
/usr/lib64/gcc/aarch64-suse-linux/8
|
||||
/usr/lib64/gcc/aarch64-suse-linux/9
|
||||
/usr/lib64/gcc/powerpc64-suse-linux/7
|
||||
/usr/lib64/gcc/powerpc64-suse-linux/8
|
||||
/usr/lib64/gcc/powerpc64-suse-linux/9
|
||||
/usr/lib64/gcc/powerpc64le-suse-linux/7
|
||||
/usr/lib64/gcc/powerpc64le-suse-linux/8
|
||||
/usr/lib64/gcc/powerpc64le-suse-linux/9
|
||||
/usr/lib/gcc/i486-linux-gnu # Debian 7
|
||||
/usr/lib/gcc/i486-linux-gnu/4.4
|
||||
/usr/lib/gcc/i486-linux-gnu/4.6
|
||||
@ -142,6 +167,24 @@ find_library(GFORTRAN NAMES gfortran
|
||||
/usr/lib/gcc/powerpc64le-linux-gnu/8
|
||||
/usr/lib/gcc/s390x-linux-gnu/8
|
||||
/usr/lib/gcc/alpha-linux-gnu/8
|
||||
/usr/lib/gcc/x86_64-linux-gnu/9
|
||||
/usr/lib/gcc/aarch64-linux-gnu/9
|
||||
/usr/lib/gcc/arm-linux-gnueabi/9
|
||||
/usr/lib/gcc/arm-linux-gnueabihf/9
|
||||
/usr/lib/gcc/i686-linux-gnu/9
|
||||
/usr/lib/gcc/powerpc64le-linux-gnu/9
|
||||
/usr/lib/gcc/powerpc64-linux-gnu/9/
|
||||
/usr/lib/gcc/s390x-linux-gnu/9
|
||||
/usr/lib/gcc/alpha-linux-gnu/9
|
||||
/usr/lib/gcc/hppa-linux-gnu/9
|
||||
/usr/lib/gcc/m68k-linux-gnu/9
|
||||
/usr/lib/gcc/mips-linux-gnu/9
|
||||
/usr/lib/gcc/mips64el-linux-gnuabi64/9
|
||||
/usr/lib/gcc/mipsel-linux-gnu/9
|
||||
/usr/lib/gcc/riscv64-linux-gnu/9
|
||||
/usr/lib/gcc/sh4-linux-gnu/9
|
||||
/usr/lib/gcc/sparc64-linux-gnu/9
|
||||
/usr/lib/gcc/x86_64-linux-gnux32/9
|
||||
${GFORTRAN_ROOT}/lib
|
||||
$ENV{GFORTRAN_ROOT}/lib
|
||||
)
|
||||
|
||||
@ -143,6 +143,21 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
|
||||
set(GNURADIO_FOUND FALSE) # Trick for feature_summary
|
||||
endif()
|
||||
|
||||
# Create imported target
|
||||
string(TOLOWER ${EXTVAR} gnuradio_component)
|
||||
if(NOT TARGET Gnuradio::${gnuradio_component})
|
||||
add_library(Gnuradio::${gnuradio_component} SHARED IMPORTED)
|
||||
set(GNURADIO_LIBRARY ${GNURADIO_${EXTVAR}_LIBRARIES})
|
||||
list(GET GNURADIO_LIBRARY 0 FIRST_DIR)
|
||||
get_filename_component(GNURADIO_DIR ${FIRST_DIR} ABSOLUTE)
|
||||
set_target_properties(Gnuradio::${gnuradio_component} PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${GNURADIO_DIR}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_${EXTVAR}_INCLUDE_DIRS}"
|
||||
INTERFACE_LINK_LIBRARIES "${GNURADIO_LIBRARY}"
|
||||
)
|
||||
endif()
|
||||
|
||||
mark_as_advanced(GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
|
||||
endfunction()
|
||||
|
||||
@ -218,3 +233,25 @@ if(NOT DEFINED GNURADIO_FOUND)
|
||||
set(GNURADIO_FOUND TRUE)
|
||||
endif()
|
||||
set(GNURADIO_VERSION ${PC_GNURADIO_RUNTIME_VERSION})
|
||||
|
||||
if(NOT GNSSSDR_GNURADIO_MIN_VERSION)
|
||||
set(GNSSSDR_GNURADIO_MIN_VERSION "3.7.3")
|
||||
endif()
|
||||
|
||||
if(GNURADIO_VERSION)
|
||||
if(GNURADIO_VERSION VERSION_LESS ${GNSSSDR_GNURADIO_MIN_VERSION})
|
||||
unset(GNURADIO_RUNTIME_FOUND)
|
||||
message(STATUS "The GNU Radio version installed in your system (v${GNURADIO_VERSION}) is too old.")
|
||||
if(OS_IS_LINUX)
|
||||
message("Go to https://github.com/gnuradio/pybombs")
|
||||
message("and follow the instructions to install GNU Radio in your system.")
|
||||
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")
|
||||
endif()
|
||||
message(FATAL_ERROR "GNU Radio v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr.")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
@ -85,7 +85,6 @@ find_library(LOG4CPP_LIBRARY
|
||||
/usr/lib/alpha-linux-gnu
|
||||
/usr/lib64
|
||||
/usr/lib
|
||||
/usr/local/lib
|
||||
/opt/local/lib
|
||||
${LOG4CPP_ROOT}/lib
|
||||
$ENV{LOG4CPP_ROOT}/lib
|
||||
|
||||
@ -16,7 +16,7 @@
|
||||
|
||||
- Improved preamble detection implementation in the decoding of navigation messages (acceleration by x1.6 on average per channel).
|
||||
- Shortened Acquisition to Tracking transition time.
|
||||
- Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-copy-initialization, performance-unnecessary-value-param, readability-string-compare.
|
||||
- Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-value-param, readability-string-compare.
|
||||
|
||||
|
||||
### Improvements in Flexibility:
|
||||
@ -50,7 +50,8 @@
|
||||
- Added interfaces for FPGA off-loading.
|
||||
- CMake scripts now follow a modern approach (targets and properties) but still work with 2.8.12.
|
||||
- Improvements for macOS users using Homebrew.
|
||||
- The volk_gnsssdr library can now be built without requiring Boost if the compiler supports C++17.
|
||||
- The volk_gnsssdr library can now be built without requiring Boost if the compiler supports C++17 or higher.
|
||||
- CMake scripts automatically select among C++11, C++14, C++17 or C++20 standards, the most recent as possible, depending on compiler and dependencies versions.
|
||||
|
||||
|
||||
### Improvements in Reliability
|
||||
@ -63,8 +64,9 @@
|
||||
- The receiver now admits FPGA off-loading, allowing for real time operation at high sampling rates and higher number of signals and channels.
|
||||
- Fixed program termination (avoiding hangs and segfaults in some platforms/configurations).
|
||||
- The Labsat_Signal_Source now terminates the receiver's execution when the end of file(s) is reached. It now accepts LabSat 2 filenames and series of LabSat 3 files.
|
||||
- CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory.
|
||||
- Added configuration parameters to set the annotation rate in KML, GPX, GeoJSON and NMEA outputs, set by default to 1 s.
|
||||
- New parameter PVT.show_local_time_zone displays time in the local time zone. Subject to the proper system configuration of the machine running the software receiver.
|
||||
- CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory.
|
||||
- Improved information provided to the user in case of failure.
|
||||
|
||||
|
||||
|
||||
@ -138,6 +138,11 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
|
||||
pvt_output_parameters.rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
|
||||
}
|
||||
|
||||
pvt_output_parameters.kml_rate_ms = bc::lcm(configuration->property(role + ".kml_rate_ms", pvt_output_parameters.kml_rate_ms), pvt_output_parameters.output_rate_ms);
|
||||
pvt_output_parameters.gpx_rate_ms = bc::lcm(configuration->property(role + ".gpx_rate_ms", pvt_output_parameters.gpx_rate_ms), pvt_output_parameters.output_rate_ms);
|
||||
pvt_output_parameters.geojson_rate_ms = bc::lcm(configuration->property(role + ".geojson_rate_ms", pvt_output_parameters.geojson_rate_ms), pvt_output_parameters.output_rate_ms);
|
||||
pvt_output_parameters.nmea_rate_ms = bc::lcm(configuration->property(role + ".nmea_rate_ms", pvt_output_parameters.nmea_rate_ms), pvt_output_parameters.output_rate_ms);
|
||||
|
||||
// Infer the type of receiver
|
||||
/*
|
||||
* TYPE | RECEIVER
|
||||
|
||||
@ -178,6 +178,11 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
|
||||
std::string kml_dump_filename;
|
||||
kml_dump_filename = d_dump_filename;
|
||||
d_kml_output_enabled = conf_.kml_output_enabled;
|
||||
d_kml_rate_ms = conf_.kml_rate_ms;
|
||||
if (d_kml_rate_ms == 0)
|
||||
{
|
||||
d_kml_output_enabled = false;
|
||||
}
|
||||
if (d_kml_output_enabled)
|
||||
{
|
||||
d_kml_dump = std::make_shared<Kml_Printer>(conf_.kml_output_path);
|
||||
@ -192,6 +197,11 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
|
||||
std::string gpx_dump_filename;
|
||||
gpx_dump_filename = d_dump_filename;
|
||||
d_gpx_output_enabled = conf_.gpx_output_enabled;
|
||||
d_gpx_rate_ms = conf_.gpx_rate_ms;
|
||||
if (d_gpx_rate_ms == 0)
|
||||
{
|
||||
d_gpx_output_enabled = false;
|
||||
}
|
||||
if (d_gpx_output_enabled)
|
||||
{
|
||||
d_gpx_dump = std::make_shared<Gpx_Printer>(conf_.gpx_output_path);
|
||||
@ -206,6 +216,11 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
|
||||
std::string geojson_dump_filename;
|
||||
geojson_dump_filename = d_dump_filename;
|
||||
d_geojson_output_enabled = conf_.geojson_output_enabled;
|
||||
d_geojson_rate_ms = conf_.geojson_rate_ms;
|
||||
if (d_geojson_rate_ms == 0)
|
||||
{
|
||||
d_geojson_output_enabled = false;
|
||||
}
|
||||
if (d_geojson_output_enabled)
|
||||
{
|
||||
d_geojson_printer = std::make_shared<GeoJSON_Printer>(conf_.geojson_output_path);
|
||||
@ -218,6 +233,12 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
|
||||
|
||||
// initialize nmea_printer
|
||||
d_nmea_output_file_enabled = (conf_.nmea_output_file_enabled or conf_.flag_nmea_tty_port);
|
||||
d_nmea_rate_ms = conf_.nmea_rate_ms;
|
||||
if (d_nmea_rate_ms == 0)
|
||||
{
|
||||
d_nmea_output_file_enabled = false;
|
||||
}
|
||||
|
||||
if (d_nmea_output_file_enabled)
|
||||
{
|
||||
d_nmea_printer = std::make_shared<Nmea_Printer>(conf_.nmea_dump_filename, conf_.nmea_output_file_enabled, conf_.flag_nmea_tty_port, conf_.nmea_dump_devname, conf_.nmea_output_file_path);
|
||||
@ -1798,21 +1819,33 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
first_fix = false;
|
||||
}
|
||||
if (d_kml_output_enabled)
|
||||
{
|
||||
if (current_RX_time_ms % d_kml_rate_ms == 0)
|
||||
{
|
||||
d_kml_dump->print_position(d_pvt_solver, false);
|
||||
}
|
||||
}
|
||||
if (d_gpx_output_enabled)
|
||||
{
|
||||
if (current_RX_time_ms % d_gpx_rate_ms == 0)
|
||||
{
|
||||
d_gpx_dump->print_position(d_pvt_solver, false);
|
||||
}
|
||||
}
|
||||
if (d_geojson_output_enabled)
|
||||
{
|
||||
if (current_RX_time_ms % d_geojson_rate_ms == 0)
|
||||
{
|
||||
d_geojson_printer->print_position(d_pvt_solver, false);
|
||||
}
|
||||
}
|
||||
if (d_nmea_output_file_enabled)
|
||||
{
|
||||
if (current_RX_time_ms % d_nmea_rate_ms == 0)
|
||||
{
|
||||
d_nmea_printer->Print_Nmea_Line(d_pvt_solver, false);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* TYPE | RECEIVER
|
||||
|
||||
@ -106,6 +106,11 @@ private:
|
||||
int32_t d_rtcm_MT1097_rate_ms; // Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
|
||||
int32_t d_rtcm_MSM_rate_ms;
|
||||
|
||||
int32_t d_kml_rate_ms;
|
||||
int32_t d_gpx_rate_ms;
|
||||
int32_t d_geojson_rate_ms;
|
||||
int32_t d_nmea_rate_ms;
|
||||
|
||||
int32_t d_last_status_print_seg; // for status printer
|
||||
|
||||
uint32_t d_nchannels;
|
||||
|
||||
@ -35,6 +35,10 @@ Pvt_Conf::Pvt_Conf()
|
||||
type_of_receiver = 0U;
|
||||
output_rate_ms = 0;
|
||||
display_rate_ms = 0;
|
||||
kml_rate_ms = 1000;
|
||||
gpx_rate_ms = 1000;
|
||||
geojson_rate_ms = 1000;
|
||||
nmea_rate_ms = 1000;
|
||||
|
||||
rinex_version = 0;
|
||||
rinexobs_rate_ms = 0;
|
||||
|
||||
@ -41,6 +41,10 @@ public:
|
||||
uint32_t type_of_receiver;
|
||||
int32_t output_rate_ms;
|
||||
int32_t display_rate_ms;
|
||||
int32_t kml_rate_ms;
|
||||
int32_t gpx_rate_ms;
|
||||
int32_t geojson_rate_ms;
|
||||
int32_t nmea_rate_ms;
|
||||
|
||||
int32_t rinex_version;
|
||||
int32_t rinexobs_rate_ms;
|
||||
|
||||
@ -95,7 +95,11 @@ if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
else()
|
||||
if(${FILESYSTEM_FOUND})
|
||||
if(CMAKE_VERSION VERSION_LESS 3.12)
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
else()
|
||||
set(CMAKE_CXX_STANDARD 20)
|
||||
endif()
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
else()
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
@ -134,7 +138,11 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
else()
|
||||
if(${FILESYSTEM_FOUND})
|
||||
if(CMAKE_VERSION VERSION_LESS 3.12)
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
else()
|
||||
set(CMAKE_CXX_STANDARD 20)
|
||||
endif()
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
else()
|
||||
set(CMAKE_CXX_STANDARD 14)
|
||||
|
||||
@ -33,7 +33,6 @@ set(TRACKING_LIB_SOURCES
|
||||
cpu_multicorrelator.cc
|
||||
cpu_multicorrelator_real_codes.cc
|
||||
cpu_multicorrelator_16sc.cc
|
||||
nonlinear_tracking.cc
|
||||
lock_detectors.cc
|
||||
tcp_communication.cc
|
||||
tcp_packet_data.cc
|
||||
@ -51,7 +50,6 @@ set(TRACKING_LIB_HEADERS
|
||||
cpu_multicorrelator.h
|
||||
cpu_multicorrelator_real_codes.h
|
||||
cpu_multicorrelator_16sc.h
|
||||
nonlinear_tracking.h
|
||||
lock_detectors.h
|
||||
tcp_communication.h
|
||||
tcp_packet_data.h
|
||||
@ -65,6 +63,12 @@ set(TRACKING_LIB_HEADERS
|
||||
exponential_smoother.h
|
||||
)
|
||||
|
||||
if(ARMADILLO_VERSION_STRING VERSION_GREATER 7.400)
|
||||
# sqrtmat_sympd() requires 7.400
|
||||
set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} nonlinear_tracking.cc)
|
||||
set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} nonlinear_tracking.h)
|
||||
endif()
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc)
|
||||
set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} fpga_multicorrelator.h dll_pll_conf_fpga.h)
|
||||
|
||||
@ -4,7 +4,7 @@
|
||||
*
|
||||
* Cubature_Filter implements the functionality of the Cubature Kalman
|
||||
* Filter, which uses multidimensional cubature rules to estimate the
|
||||
* time evolution of a nonlinear system. Unscented_filter implements
|
||||
* time evolution of a nonlinear system. UnscentedFilter implements
|
||||
* an Unscented Kalman Filter which uses Unscented Transform rules to
|
||||
* perform a similar estimation.
|
||||
*
|
||||
@ -44,7 +44,7 @@
|
||||
|
||||
/***************** CUBATURE KALMAN FILTER *****************/
|
||||
|
||||
Cubature_filter::Cubature_filter()
|
||||
CubatureFilter::CubatureFilter()
|
||||
{
|
||||
int nx = 1;
|
||||
x_pred_out = arma::zeros(nx, 1);
|
||||
@ -55,7 +55,7 @@ Cubature_filter::Cubature_filter()
|
||||
}
|
||||
|
||||
|
||||
Cubature_filter::Cubature_filter(int nx)
|
||||
CubatureFilter::CubatureFilter(int nx)
|
||||
{
|
||||
x_pred_out = arma::zeros(nx, 1);
|
||||
P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
|
||||
@ -65,7 +65,7 @@ Cubature_filter::Cubature_filter(int nx)
|
||||
}
|
||||
|
||||
|
||||
Cubature_filter::Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
|
||||
CubatureFilter::CubatureFilter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
|
||||
{
|
||||
x_pred_out = x_pred_0;
|
||||
P_x_pred_out = P_x_pred_0;
|
||||
@ -75,10 +75,10 @@ Cubature_filter::Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x
|
||||
}
|
||||
|
||||
|
||||
Cubature_filter::~Cubature_filter() = default;
|
||||
CubatureFilter::~CubatureFilter() = default;
|
||||
|
||||
|
||||
void Cubature_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
|
||||
void CubatureFilter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
|
||||
{
|
||||
x_pred_out = x_pred_0;
|
||||
P_x_pred_out = P_x_pred_0;
|
||||
@ -91,7 +91,7 @@ void Cubature_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x
|
||||
/*
|
||||
* Perform the prediction step of the cubature Kalman filter
|
||||
*/
|
||||
void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
|
||||
void CubatureFilter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, ModelFunction* transition_fcn, const arma::mat& noise_covariance)
|
||||
{
|
||||
// Compute number of cubature points
|
||||
int nx = x_post.n_elem;
|
||||
@ -133,7 +133,7 @@ void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::ma
|
||||
/*
|
||||
* Perform the update step of the cubature Kalman filter
|
||||
*/
|
||||
void Cubature_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
|
||||
void CubatureFilter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, ModelFunction* measurement_fcn, const arma::mat& noise_covariance)
|
||||
{
|
||||
// Compute number of cubature points
|
||||
int nx = x_pred.n_elem;
|
||||
@ -178,25 +178,25 @@ void Cubature_filter::update_sequential(const arma::vec& z_upd, const arma::vec&
|
||||
}
|
||||
|
||||
|
||||
arma::mat Cubature_filter::get_x_pred() const
|
||||
arma::mat CubatureFilter::get_x_pred() const
|
||||
{
|
||||
return x_pred_out;
|
||||
}
|
||||
|
||||
|
||||
arma::mat Cubature_filter::get_P_x_pred() const
|
||||
arma::mat CubatureFilter::get_P_x_pred() const
|
||||
{
|
||||
return P_x_pred_out;
|
||||
}
|
||||
|
||||
|
||||
arma::mat Cubature_filter::get_x_est() const
|
||||
arma::mat CubatureFilter::get_x_est() const
|
||||
{
|
||||
return x_est;
|
||||
}
|
||||
|
||||
|
||||
arma::mat Cubature_filter::get_P_x_est() const
|
||||
arma::mat CubatureFilter::get_P_x_est() const
|
||||
{
|
||||
return P_x_est;
|
||||
}
|
||||
@ -205,7 +205,7 @@ arma::mat Cubature_filter::get_P_x_est() const
|
||||
|
||||
/***************** UNSCENTED KALMAN FILTER *****************/
|
||||
|
||||
Unscented_filter::Unscented_filter()
|
||||
UnscentedFilter::UnscentedFilter()
|
||||
{
|
||||
int nx = 1;
|
||||
x_pred_out = arma::zeros(nx, 1);
|
||||
@ -216,7 +216,7 @@ Unscented_filter::Unscented_filter()
|
||||
}
|
||||
|
||||
|
||||
Unscented_filter::Unscented_filter(int nx)
|
||||
UnscentedFilter::UnscentedFilter(int nx)
|
||||
{
|
||||
x_pred_out = arma::zeros(nx, 1);
|
||||
P_x_pred_out = arma::eye(nx, nx) * (nx + 1);
|
||||
@ -226,7 +226,7 @@ Unscented_filter::Unscented_filter(int nx)
|
||||
}
|
||||
|
||||
|
||||
Unscented_filter::Unscented_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
|
||||
UnscentedFilter::UnscentedFilter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0)
|
||||
{
|
||||
x_pred_out = x_pred_0;
|
||||
P_x_pred_out = P_x_pred_0;
|
||||
@ -236,10 +236,10 @@ Unscented_filter::Unscented_filter(const arma::vec& x_pred_0, const arma::mat& P
|
||||
}
|
||||
|
||||
|
||||
Unscented_filter::~Unscented_filter() = default;
|
||||
UnscentedFilter::~UnscentedFilter() = default;
|
||||
|
||||
|
||||
void Unscented_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
|
||||
void UnscentedFilter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0)
|
||||
{
|
||||
x_pred_out = x_pred_0;
|
||||
P_x_pred_out = P_x_pred_0;
|
||||
@ -252,7 +252,7 @@ void Unscented_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_
|
||||
/*
|
||||
* Perform the prediction step of the Unscented Kalman filter
|
||||
*/
|
||||
void Unscented_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
|
||||
void UnscentedFilter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, ModelFunction* transition_fcn, const arma::mat& noise_covariance)
|
||||
{
|
||||
// Compute number of sigma points
|
||||
int nx = x_post.n_elem;
|
||||
@ -307,7 +307,7 @@ void Unscented_filter::predict_sequential(const arma::vec& x_post, const arma::m
|
||||
/*
|
||||
* Perform the update step of the Unscented Kalman filter
|
||||
*/
|
||||
void Unscented_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
|
||||
void UnscentedFilter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, ModelFunction* measurement_fcn, const arma::mat& noise_covariance)
|
||||
{
|
||||
// Compute number of sigma points
|
||||
int nx = x_pred.n_elem;
|
||||
@ -364,25 +364,25 @@ void Unscented_filter::update_sequential(const arma::vec& z_upd, const arma::vec
|
||||
}
|
||||
|
||||
|
||||
arma::mat Unscented_filter::get_x_pred() const
|
||||
arma::mat UnscentedFilter::get_x_pred() const
|
||||
{
|
||||
return x_pred_out;
|
||||
}
|
||||
|
||||
|
||||
arma::mat Unscented_filter::get_P_x_pred() const
|
||||
arma::mat UnscentedFilter::get_P_x_pred() const
|
||||
{
|
||||
return P_x_pred_out;
|
||||
}
|
||||
|
||||
|
||||
arma::mat Unscented_filter::get_x_est() const
|
||||
arma::mat UnscentedFilter::get_x_est() const
|
||||
{
|
||||
return x_est;
|
||||
}
|
||||
|
||||
|
||||
arma::mat Unscented_filter::get_P_x_est() const
|
||||
arma::mat UnscentedFilter::get_P_x_est() const
|
||||
{
|
||||
return P_x_est;
|
||||
}
|
||||
|
||||
@ -2,9 +2,9 @@
|
||||
* \file nonlinear_tracking.h
|
||||
* \brief Interface of a library for nonlinear tracking algorithms
|
||||
*
|
||||
* Cubature_Filter implements the functionality of the Cubature Kalman
|
||||
* CubatureFilter implements the functionality of the Cubature Kalman
|
||||
* Filter, which uses multidimensional cubature rules to estimate the
|
||||
* time evolution of a nonlinear system. Unscented_filter implements
|
||||
* time evolution of a nonlinear system. UnscentedFilter implements
|
||||
* an Unscented Kalman Filter which uses Unscented Transform rules to
|
||||
* perform a similar estimation.
|
||||
*
|
||||
@ -47,29 +47,29 @@
|
||||
#include <gnuradio/gr_complex.h>
|
||||
|
||||
// Abstract model function
|
||||
class Model_Function
|
||||
class ModelFunction
|
||||
{
|
||||
public:
|
||||
Model_Function(){};
|
||||
virtual arma::vec operator()(arma::vec input) = 0;
|
||||
virtual ~Model_Function() = default;
|
||||
ModelFunction(){};
|
||||
virtual arma::vec operator()(const arma::vec& input) = 0;
|
||||
virtual ~ModelFunction() = default;
|
||||
};
|
||||
|
||||
class Cubature_filter
|
||||
class CubatureFilter
|
||||
{
|
||||
public:
|
||||
// Constructors and destructors
|
||||
Cubature_filter();
|
||||
Cubature_filter(int nx);
|
||||
Cubature_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0);
|
||||
~Cubature_filter();
|
||||
CubatureFilter();
|
||||
CubatureFilter(int nx);
|
||||
CubatureFilter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0);
|
||||
~CubatureFilter();
|
||||
|
||||
// Reinitialization function
|
||||
void initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0);
|
||||
|
||||
// Prediction and estimation
|
||||
void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance);
|
||||
void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance);
|
||||
void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, ModelFunction* transition_fcn, const arma::mat& noise_covariance);
|
||||
void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, ModelFunction* measurement_fcn, const arma::mat& noise_covariance);
|
||||
|
||||
// Getters
|
||||
arma::mat get_x_pred() const;
|
||||
@ -84,21 +84,21 @@ private:
|
||||
arma::mat P_x_est;
|
||||
};
|
||||
|
||||
class Unscented_filter
|
||||
class UnscentedFilter
|
||||
{
|
||||
public:
|
||||
// Constructors and destructors
|
||||
Unscented_filter();
|
||||
Unscented_filter(int nx);
|
||||
Unscented_filter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0);
|
||||
~Unscented_filter();
|
||||
UnscentedFilter();
|
||||
UnscentedFilter(int nx);
|
||||
UnscentedFilter(const arma::vec& x_pred_0, const arma::mat& P_x_pred_0);
|
||||
~UnscentedFilter();
|
||||
|
||||
// Reinitialization function
|
||||
void initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0);
|
||||
|
||||
// Prediction and estimation
|
||||
void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance);
|
||||
void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance);
|
||||
void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, ModelFunction* transition_fcn, const arma::mat& noise_covariance);
|
||||
void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, ModelFunction* measurement_fcn, const arma::mat& noise_covariance);
|
||||
|
||||
// Getters
|
||||
arma::mat get_x_pred() const;
|
||||
|
||||
@ -161,6 +161,11 @@ if(ENABLE_FPGA)
|
||||
add_definitions(-DFPGA_BLOCKS_TEST=1)
|
||||
endif()
|
||||
|
||||
if(ARMADILLO_VERSION_STRING VERSION_GREATER 8.400)
|
||||
# mvnrnd() requires 8.400
|
||||
add_definitions(-DARMADILLO_HAVE_MVNRND=1)
|
||||
endif()
|
||||
|
||||
find_package(Gnuplot)
|
||||
if(GNUPLOT_FOUND)
|
||||
add_definitions(-DGNUPLOT_EXECUTABLE="${GNUPLOT_EXECUTABLE}")
|
||||
@ -793,14 +798,20 @@ endif()
|
||||
|
||||
#########################################################
|
||||
if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
|
||||
set(NONLINEAR_SOURCES "")
|
||||
if(ARMADILLO_VERSION_STRING VERSION_GREATER 8.400)
|
||||
set(NONLINEAR_SOURCES
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
|
||||
)
|
||||
endif()
|
||||
add_executable(trk_test
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/tracking_loop_filter_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
|
||||
${NONLINEAR_SOURCES}
|
||||
)
|
||||
if(${FILESYSTEM_FOUND})
|
||||
target_compile_definitions(trk_test PRIVATE -DHAS_STD_FILESYSTEM=1)
|
||||
|
||||
@ -99,8 +99,10 @@ DECLARE_string(log_dir);
|
||||
#endif
|
||||
|
||||
#include "unit-tests/signal-processing-blocks/tracking/bayesian_estimation_test.cc"
|
||||
#if ARMADILLO_HAVE_MVNRND
|
||||
#include "unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc"
|
||||
#endif
|
||||
#include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc"
|
||||
|
||||
@ -36,21 +36,21 @@
|
||||
#define CUBATURE_TEST_N_TRIALS 1000
|
||||
#define CUBATURE_TEST_TOLERANCE 0.01
|
||||
|
||||
class Transition_Model : public Model_Function
|
||||
class TransitionModel : public ModelFunction
|
||||
{
|
||||
public:
|
||||
Transition_Model(arma::mat kf_F) { coeff_mat = kf_F; };
|
||||
virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
|
||||
TransitionModel(const arma::mat& kf_F) { coeff_mat = kf_F; };
|
||||
virtual arma::vec operator()(const arma::vec& input) { return coeff_mat * input; };
|
||||
|
||||
private:
|
||||
arma::mat coeff_mat;
|
||||
};
|
||||
|
||||
class Measurement_Model : public Model_Function
|
||||
class MeasurementModel : public ModelFunction
|
||||
{
|
||||
public:
|
||||
Measurement_Model(arma::mat kf_H) { coeff_mat = kf_H; };
|
||||
virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
|
||||
MeasurementModel(const arma::mat& kf_H) { coeff_mat = kf_H; };
|
||||
virtual arma::vec operator()(const arma::vec& input) { return coeff_mat * input; };
|
||||
|
||||
private:
|
||||
arma::mat coeff_mat;
|
||||
@ -58,7 +58,7 @@ private:
|
||||
|
||||
TEST(CubatureFilterComputationTest, CubatureFilterTest)
|
||||
{
|
||||
Cubature_filter kf_cubature;
|
||||
CubatureFilter kf_cubature;
|
||||
|
||||
arma::vec kf_x;
|
||||
arma::mat kf_P_x;
|
||||
@ -88,8 +88,8 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
|
||||
arma::mat kf_P_y;
|
||||
arma::mat kf_K;
|
||||
|
||||
Model_Function* transition_function;
|
||||
Model_Function* measurement_function;
|
||||
ModelFunction* transition_function;
|
||||
ModelFunction* measurement_function;
|
||||
|
||||
//--- Perform initializations ------------------------------
|
||||
|
||||
@ -97,14 +97,15 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
|
||||
std::default_random_engine e1(r());
|
||||
std::normal_distribution<float> normal_dist(0, 5);
|
||||
std::uniform_real_distribution<float> uniform_dist(0.1, 5.0);
|
||||
std::uniform_int_distribution<> uniform_dist_int(1, 5);
|
||||
|
||||
uint8_t nx = 0;
|
||||
uint8_t ny = 0;
|
||||
|
||||
for (uint16_t k = 0; k < CUBATURE_TEST_N_TRIALS; k++)
|
||||
{
|
||||
nx = std::rand() % 5 + 1;
|
||||
ny = std::rand() % 5 + 1;
|
||||
nx = static_cast<uint8_t>(uniform_dist_int(e1));
|
||||
ny = static_cast<uint8_t>(uniform_dist_int(e1));
|
||||
|
||||
kf_x = arma::randn<arma::vec>(nx, 1);
|
||||
|
||||
@ -117,7 +118,7 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
|
||||
kf_F = arma::randu<arma::mat>(nx, nx);
|
||||
kf_Q = arma::diagmat(arma::randu<arma::vec>(nx, 1));
|
||||
|
||||
transition_function = new Transition_Model(kf_F);
|
||||
transition_function = new TransitionModel(kf_F);
|
||||
arma::mat ttx = (*transition_function)(kf_x_post);
|
||||
|
||||
kf_cubature.predict_sequential(kf_x_post, kf_P_x_post, transition_function, kf_Q);
|
||||
@ -140,7 +141,7 @@ TEST(CubatureFilterComputationTest, CubatureFilterTest)
|
||||
|
||||
kf_y = kf_H * (kf_F * kf_x + eta) + nu;
|
||||
|
||||
measurement_function = new Measurement_Model(kf_H);
|
||||
measurement_function = new MeasurementModel(kf_H);
|
||||
kf_cubature.update_sequential(kf_y, kf_x_pre, kf_P_x_pre, measurement_function, kf_R);
|
||||
|
||||
ckf_x_post = kf_cubature.get_x_est();
|
||||
|
||||
@ -36,21 +36,21 @@
|
||||
#define UNSCENTED_TEST_N_TRIALS 10
|
||||
#define UNSCENTED_TEST_TOLERANCE 10
|
||||
|
||||
class Transition_Model_UKF : public Model_Function
|
||||
class TransitionModelUKF : public ModelFunction
|
||||
{
|
||||
public:
|
||||
Transition_Model_UKF(arma::mat kf_F) { coeff_mat = kf_F; };
|
||||
virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
|
||||
TransitionModelUKF(const arma::mat& kf_F) { coeff_mat = kf_F; };
|
||||
virtual arma::vec operator()(const arma::vec& input) { return coeff_mat * input; };
|
||||
|
||||
private:
|
||||
arma::mat coeff_mat;
|
||||
};
|
||||
|
||||
class Measurement_Model_UKF : public Model_Function
|
||||
class MeasurementModelUKF : public ModelFunction
|
||||
{
|
||||
public:
|
||||
Measurement_Model_UKF(arma::mat kf_H) { coeff_mat = kf_H; };
|
||||
virtual arma::vec operator()(arma::vec input) { return coeff_mat * input; };
|
||||
MeasurementModelUKF(const arma::mat& kf_H) { coeff_mat = kf_H; };
|
||||
virtual arma::vec operator()(const arma::vec& input) { return coeff_mat * input; };
|
||||
|
||||
private:
|
||||
arma::mat coeff_mat;
|
||||
@ -58,7 +58,7 @@ private:
|
||||
|
||||
TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
|
||||
{
|
||||
Unscented_filter kf_unscented;
|
||||
UnscentedFilter kf_unscented;
|
||||
|
||||
arma::vec kf_x;
|
||||
arma::mat kf_P_x;
|
||||
@ -88,8 +88,8 @@ TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
|
||||
arma::mat kf_P_y;
|
||||
arma::mat kf_K;
|
||||
|
||||
Model_Function* transition_function;
|
||||
Model_Function* measurement_function;
|
||||
ModelFunction* transition_function;
|
||||
ModelFunction* measurement_function;
|
||||
|
||||
//--- Perform initializations ------------------------------
|
||||
|
||||
@ -97,14 +97,15 @@ TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
|
||||
std::default_random_engine e1(r());
|
||||
std::normal_distribution<float> normal_dist(0, 5);
|
||||
std::uniform_real_distribution<float> uniform_dist(0.1, 5.0);
|
||||
std::uniform_int_distribution<> uniform_dist_int(1, 5);
|
||||
|
||||
uint8_t nx = 0;
|
||||
uint8_t ny = 0;
|
||||
|
||||
for (uint16_t k = 0; k < UNSCENTED_TEST_N_TRIALS; k++)
|
||||
{
|
||||
nx = std::rand() % 5 + 1;
|
||||
ny = std::rand() % 5 + 1;
|
||||
nx = static_cast<uint8_t>(uniform_dist_int(e1));
|
||||
ny = static_cast<uint8_t>(uniform_dist_int(e1));
|
||||
|
||||
kf_x = arma::randn<arma::vec>(nx, 1);
|
||||
|
||||
@ -117,7 +118,7 @@ TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
|
||||
kf_F = arma::randu<arma::mat>(nx, nx);
|
||||
kf_Q = arma::diagmat(arma::randu<arma::vec>(nx, 1));
|
||||
|
||||
transition_function = new Transition_Model_UKF(kf_F);
|
||||
transition_function = new TransitionModelUKF(kf_F);
|
||||
arma::mat ttx = (*transition_function)(kf_x_post);
|
||||
|
||||
kf_unscented.predict_sequential(kf_x_post, kf_P_x_post, transition_function, kf_Q);
|
||||
@ -140,7 +141,7 @@ TEST(UnscentedFilterComputationTest, UnscentedFilterTest)
|
||||
|
||||
kf_y = kf_H * (kf_F * kf_x + eta) + nu;
|
||||
|
||||
measurement_function = new Measurement_Model_UKF(kf_H);
|
||||
measurement_function = new MeasurementModelUKF(kf_H);
|
||||
kf_unscented.update_sequential(kf_y, kf_x_pre, kf_P_x_pre, measurement_function, kf_R);
|
||||
|
||||
ukf_x_post = kf_unscented.get_x_est();
|
||||
|
||||
@ -99,3 +99,5 @@ else()
|
||||
message(STATUS "Boost Iostreams library not found.")
|
||||
message(STATUS " rinex2assist will not be built.")
|
||||
endif()
|
||||
|
||||
set(Boost_FOUND TRUE) # trick for summary report
|
||||
|
||||
Loading…
Reference in New Issue
Block a user