Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into release_0010

2024-12-15 04:30:33 +00:00 · 2018-12-12 01:27:53 +01:00 · 2018-12-12 01:27:53 +01:00 · 4c125ecad2
commit 4c125ecad2
parent 3ffaba6d6a 6cf83f67e7
40 changed files with 878 additions and 70 deletions
--- a/.clang-tidy
+++ b/.clang-tidy
@ -1,3 +1,3 @@
 ---
-Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-move-const-arg,performance-type-promotion-in-math-fn,performance-unnecessary-copy-initialization,performance-unnecessary-value-param,readability-named-parameter,readability-string-compare'
+Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-bool-literals,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,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-container-size-empty,readability-named-parameter,readability-non-const-parameter,readability-string-compare'
 HeaderFilterRegex: '.*'
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@ -0,0 +1,748 @@
+# This script sets up a Continuous Reproducibility system for GNSS-SDR at GitLab
+#
+# Useful links:
+# Website: https://gnss-sdr.org
+# Upstream repository: https://github.com/gnss-sdr/gnss-sdr.git
+# Dockerfile at https://github.com/carlesfernandez/docker-gnsssdr
+# Docker cloud image: carlesfernandez/docker-gnsssdr
+#
+# In order to use this system and be able to make changes, you will need:
+#  - A GitHub account https://github.com
+#  - A GitLab account https://gitlab.com
+#  - A Docker Hub account https://hub.docker.com
+#  - A repository at Docker Hub.
+#
+# In order to use this system, please fork at GitHub the upstream
+# repository; import that forked repo at GitLab; then add, commit and push to
+# your GitLab repo this .gitlab-ci.yml file; and finally go to your project page
+# at GitLab and set up the following secret variables. In the left panel:
+# Settings > CI / CD > Secret variables
+#
+# DOCKER_HUB_USER
+# DOCKER_HUB_REPO
+# DOCKER_HUB_PASSWORD
+#
+# You will need either to protect your branch, or to leave those variables
+# unproctected.
+#
+# For instance, my settings are:
+# DOCKER_HUB_USER = carlesfernandez
+# DOCKER_HUB_REPO = docker-gnsssdr
+# DOCKER_HUB_PASSWORD = ********************
+#
+# If you want to make changes in the source code, branch-off from the 'next'
+# branch of your forked repository and, if needed, add new jobs in this
+# file at the 'deploy' and 'experiment' stages. Please do not use the next
+# branch for your changes, always open a new branch from next and work there.
+#
+# Feel free to delete the docker-gnsssdr and docker-pybombs-gnsssdr jobs,
+# they are for developers' team only. Actually, this is their CI/CD system.
+#
+# More info about how to contribute to GNSS-SDR at
+# https://github.com/gnss-sdr/gnss-sdr/blob/master/CONTRIBUTING.md
+#
+# (C) Carles Fernandez-Prades, 2018 cfernandez@cttc.cat
+
+
+# This is performed before the scripts in the stages step
+before_script:
+  - source /etc/profile
+
+
+# Defines stages which are to be executed
+stages:
+  - build
+  - test
+  - deploy
+  - experiment
+
+
+# Stage "build"
+archlinux:
+  image: base/devel:latest
+  stage: build
+  before_script:
+    - pwd
+  script:
+    - pacman -Syu --noconfirm
+    - pacman -S --noconfirm cmake git boost boost-libs log4cpp libvolk gnuradio gnuradio-osmosdr libpcap blas lapack gflags google-glog openssl python-mako python-six pugixml libmatio gtest
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+centos7:
+  image: centos:centos7
+  stage: build
+  before_script:
+    - pwd
+  script:
+    - yum install -y wget
+    - wget https://dl.fedoraproject.org/pub/epel/epel-release-latest-7.noarch.rpm
+    - rpm -Uvh epel-release-latest-7.noarch.rpm
+    - yum install -y make automake gcc gcc-c++ kernel-devel libtool hdf5-devel cmake git boost-devel boost-date-time boost-system boost-filesystem boost-thread boost-chrono boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel pugixml-devel libpcap-devel blas-devel lapack-devel armadillo-devel openssl-devel python-mako python-six
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+crosscompile:
+  image: ubuntu:xenial
+  stage: build
+  tags:
+    - kepler
+  script:
+    - apt-get update
+    - apt-get install -y build-essential xz-utils curl gawk wget git-core diffstat unzip texinfo gcc-multilib chrpath socat cpio python python3 python3-pip python3-pexpect debianutils iputils-ping
+    - curl -k https://sites.cttc.es/gnss_files/SDK/Sumo/oecore-x86_64-armv7ahf-neon-toolchain-nodistro.0.sh --output oecore-x86_64-armv7ahf-neon-toolchain-nodistro.0.sh
+    - echo "d25313709bc8c13eba01f7f9a589d8c6  oecore-x86_64-armv7ahf-neon-toolchain-nodistro.0.sh" > sdk.md5
+    - md5sum -c sdk.md5
+    - chmod +x ./oecore-x86_64-armv7ahf-neon-toolchain-nodistro.0.sh
+    - sh ./oecore-x86_64-armv7ahf-neon-toolchain-nodistro.0.sh -y
+    - . /usr/local/oecore-x86_64/environment-setup-armv7ahf-neon-oe-linux-gnueabi
+    - cd build
+    - cmake -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchains/oe-sdk_cross.cmake -DENABLE_OSMOSDR=ON -DENABLE_UNIT_TESTING_EXTRA=ON -DENABLE_SYSTEM_TESTING_EXTRA=ON -DCMAKE_INSTALL_PREFIX=/usr -DENABLE_FMCOMMS2=ON -DENABLE_AD9361=ON -DENABLE_RAW_UDP=ON -DENABLE_INSTALL_TESTS=ON -DCMAKE_C_FLAGS_RELEASE="-s" -DCMAKE_CXX_FLAGS_RELEASE="-s" -DENABLE_PACKAGING=ON  ..
+    - make -j
+    - mkdir local_install
+    - make install DESTDIR=./local_install
+    - rm ./local_install/usr/bin/front-end-cal
+    - rm ./local_install/usr/bin/ttff
+    - cd ..
+    - mkdir binaries
+    - mkdir binaries/bin
+    - mkdir binaries/share
+    - cp build/local_install/usr/bin/* binaries/bin/
+    - cp build/local_install/usr/share/gnss-sim/* binaries/share/
+  allow_failure: true
+  artifacts:
+    paths:
+      - binaries/*
+
+
+debian8.11:
+  image: debian:8.11-slim
+  stage: build
+  script:
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential libtool automake libhdf5-dev cmake git ca-certificates libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev gr-osmosdr libpugixml-dev libpcap-dev libblas-dev liblapack-dev libgfortran-4.9-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libgtest-dev
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+debian9.5:
+  image: debian:9.5-slim
+  stage: build
+  script:
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential cmake git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev gr-osmosdr libpugixml-dev libpcap-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev googletest
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+
+
+debian10:
+  image: debian:buster
+  stage: build
+  script:
+    - apt-get update
+    - apt-get upgrade -y
+    - apt-get install -y --no-install-recommends build-essential cmake git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev gr-osmosdr libiio-dev gr-iio libpugixml-dev libpcap-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev libgtest-dev
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -DENABLE_RAW_UDP=ON -DENABLE_FMCOMMS2=ON -DENABLE_AD9361=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+fedora26:
+  image: fedora:26
+  stage: build
+  before_script:
+    - source ~/.bash_profile
+  script:
+    - yum install -y make automake gcc gcc-c++ kernel-devel cmake git boost-devel boost-date-time boost-system boost-filesystem boost-thread boost-chrono boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel pugixml-devel libpcap-devel blas-devel lapack-devel armadillo-devel gflags-devel glog-devel openssl-devel python-mako python-six matio-devel
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+fedora28:
+  image: fedora:28
+  stage: build
+  before_script:
+    - source ~/.bash_profile
+  script:
+    - yum install -y make automake gcc gcc-c++ kernel-devel cmake git boost-devel boost-date-time boost-system boost-filesystem boost-thread boost-chrono boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel pugixml-devel libpcap-devel blas-devel lapack-devel armadillo-devel gflags-devel glog-devel openssl-devel python-mako python-six matio-devel
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+
+
+fedora29:
+  image: fedora:29
+  stage: build
+  before_script:
+    - source ~/.bash_profile
+  script:
+    - yum install -y make gcc gcc-c++ kernel-devel cmake git boost-devel boost-date-time boost-system boost-filesystem boost-thread boost-chrono boost-serialization log4cpp-devel gnuradio-devel pugixml-devel libpcap-devel blas-devel lapack-devel armadillo-devel gflags-devel glog-devel openssl-devel python3-mako python3-six matio-devel
+    - cd build
+    - cmake -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+fedora-rawhide:
+  image: fedora:rawhide
+  stage: build
+  before_script:
+    - source ~/.bash_profile
+  script:
+    - dnf upgrade -y --nogpgcheck
+    - yum install -y automake gcc gcc-c++ kernel-devel make cmake git boost-devel boost-date-time boost-system boost-filesystem boost-thread boost-chrono boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel pugixml-devel libpcap-devel blas-devel lapack-devel armadillo-devel gflags-devel glog-devel openssl-devel python-mako python-six matio-devel
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+opensuse42.3:
+  image: opensuse/leap:42.3
+  stage: build
+  before_script:
+    - pwd
+  script:
+    - zypper -n up
+    - zypper -n install cmake git gcc-c++ boost-devel log4cpp-devel gnuradio-devel pugixml-devel libpcap-devel armadillo-devel libtool automake hdf5-devel openssl-devel python-Mako python-six
+    - cd build
+    - cmake -DENABLE_PACKAGING=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+opensuse-leap15.0:
+  image: opensuse/leap:15.0
+  stage: build
+  before_script:
+    - pwd
+  script:
+    - zypper -n up
+    - zypper -n install cmake git gcc-c++ boost-devel libboost_chrono-devel libboost_thread-devel libboost_system-devel libboost_filesystem-devel libboost_serialization-devel log4cpp-devel gnuradio-devel pugixml-devel libpcap-devel armadillo-devel libtool automake hdf5-devel openssl-devel python-Mako python-six
+    - cd build
+    - cmake -DENABLE_PACKAGING=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+opensuse-tumbleweed:
+  image: opensuse/tumbleweed
+  stage: build
+  before_script:
+    - pwd
+  script:
+    - zypper -n dup
+    - zypper -n install cmake git gcc-c++ boost-devel libboost_system-devel libboost_filesystem-devel libboost_date_time-devel libboost_thread-devel libboost_chrono-devel libboost_serialization-devel log4cpp-devel gtest gnuradio-devel pugixml-devel libpcap-devel armadillo-devel libtool automake hdf5-devel openssl-devel python-Mako python-six
+    - cd build
+    - cmake -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+ubuntu14.04:
+  image: ubuntu:trusty
+  stage: build
+  script:
+    - apt-get update
+    - apt-get install -y apt-file
+    - apt-file update
+    - apt-get install -y software-properties-common
+    - add-apt-repository -y ppa:myriadrf/gnuradio
+    - add-apt-repository -y ppa:myriadrf/drivers
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential libtool automake libhdf5-dev cmake git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev libpugixml-dev libpcap-dev libblas-dev liblapack-dev libgfortran-4.7-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libgtest-dev
+    - cd build
+    - cmake -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+ubuntu16.04:
+  image: ubuntu:xenial
+  stage: build
+  script:
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential cmake git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev gr-osmosdr libpugixml-dev libpcap-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev libgtest-dev
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+ubuntu18.04:
+  image: ubuntu:bionic
+  stage: build
+  script:
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential cmake git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev gr-osmosdr libpugixml-dev libpcap-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev googletest
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+
+
+ubuntu18.10:
+  image: ubuntu:cosmic
+  stage: build
+  script:
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential cmake git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev gr-osmosdr libpugixml-dev libpcap-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev libgtest-dev
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -DENABLE_RAW_UDP=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    - make check
+    - make install
+  allow_failure: true
+
+
+coverity-scan:
+  image: ubuntu:xenial
+  stage: build
+  script:
+    - apt-get update
+    - apt-get install -y wget curl
+    - wget -O ./cov-analysis-linux64.tgz https://scan.coverity.com/download/linux64 --post-data "project=$COVERITY_SCAN_USER%2Fgnss-sdr&token=$COVERITY_SCAN_TOKEN"
+    - tar xvzf cov-analysis-linux64.tgz
+    - export PATH=$PATH:$(pwd)/cov-analysis-linux64-2017.07/bin
+    - apt-get install -y --no-install-recommends build-essential cmake git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev gr-osmosdr libpugixml-dev libpcap-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev libgtest-dev
+    - cd build
+    - cmake -DENABLE_OSMOSDR=ON -ENABLE_RAW_UDP=ON ..
+    - cov-build --dir cov-int make -j2
+    - tar cvzf gnss-sdr.tgz cov-int
+    - curl --form token=$COVERITY_SCAN_TOKEN --form email=$COVERITY_SCAN_EMAIL --form file=@$(pwd)/gnss-sdr.tgz --form version="0.0.9-next" --form description=" " https://scan.coverity.com/builds?project=$COVERITY_SCAN_USER%2Fgnss-sdr --progress-bar | tee -a "log_upload.txt" ; test ${PIPESTATUS[0]} -eq 0
+  when: manual
+  allow_failure: true
+
+
+# Stage "test"
+run-tests-x86_64:
+  image: debian:9.3-slim
+  stage: test
+  script:
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential cmake ca-certificates git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev libpugixml-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev googletest
+    - mkdir build-test
+    - mkdir build64
+    - cd build-test
+    - cmake -DENABLE_SYSTEM_TESTING_EXTRA=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    # Execute Unit Tests
+    - ../install/run_tests --gtest_output=xml
+    - mv *.xml ../build64/
+    # Execute System Tests
+    - ../install/position_test
+    - mv position_test*.txt ../build64/
+    - cd ..
+    - rm -rf build-test
+  artifacts:
+    paths:
+      - build64/*.xml
+      - build64/*.txt
+
+
+run-tests-i386:
+  image: i386/debian:9.3-slim
+  stage: test
+  script:
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential cmake ca-certificates git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev libpugixml-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev googletest
+    - mkdir build-test
+    - mkdir build32
+    - cd build-test
+    - cmake -DENABLE_PACKAGING=ON -DENABLE_SYSTEM_TESTING_EXTRA=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    # Execute Unit Tests
+    - ../install/run_tests --gtest_output=xml
+    - mv *.xml ../build32/
+    # Execute System Tests
+    - ../install/position_test
+    - mv position_test*.txt ../build32/
+    - cd ..
+    - rm -rf build-test
+  artifacts:
+    paths:
+      - build32/*.xml
+      - build32/*.txt
+
+
+observables-test-180417100529:
+  image: ubuntu:bionic
+  stage: test
+  tags:
+    - kepler
+  when: manual
+  script:
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential cmake ca-certificates git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev libpugixml-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev googletest gnuplot
+    - mkdir build-test
+    - mkdir build64
+    - cd build-test
+    - cmake -DENABLE_UNIT_TESTING_EXTRA=ON -DENABLE_SYSTEM_TESTING_EXTRA=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    # Execute Unit Tests
+    - export DISPLAY=unknown
+    - echo "Running HybridObservablesTest for GPS L1 CA..."
+    - ../install/run_tests --gtest_filter=HybridObservablesTest* -PLL_bw_hz_start=25.0 --DLL_bw_hz_start=1.5  --PLL_narrow_bw_hz=10.0 --DLL_narrow_bw_hz=0.75 --disable_generator=1 --enable_external_signal_file=1 --signal_file=/captures/gitlab_test_signals/static/180417100529.A_L1E1_12500000Hz_ichar.dat --fs_gen_sps=12500000 --skip_samples=125000000 --external_signal_acquisition_threshold=4.0 --extend_correlation_symbols=5 --external_signal_acquisition_doppler_step_hz=10 --trk_test_implementation=GPS_L1_CA_DLL_PLL_Tracking --show_plots=0 --filename_rinex_obs=/captures/gitlab_test_signals/static/true_data_180417100529/rinex_obs/rinex-obs_V1_A1-static_vehicle.txt --skip_trk_transitory_s=30 --gtest_output=xml:test_results.xml
+    - echo "Running HybridObservablesTest for Galileo E1..."
+    - ../install/run_tests --gtest_filter=HybridObservablesTest* --PLL_bw_hz_start=5.0 --DLL_bw_hz_start=0.75 --disable_generator=1 --enable_external_signal_file=1 --show_plots=true --fs_gen_sps=12500000 --skip_samples=50000000 --external_signal_acquisition_threshold=2.5 --trk_test_implementation=Galileo_E1_DLL_PLL_VEML_Tracking --external_signal_acquisition_doppler_step_hz=25  --show_plots=0 --signal_file=/captures/gitlab_test_signals/static/180417100529.A_L1E1_12500000Hz_ichar.dat --filename_rinex_obs=/captures/gitlab_test_signals/static/true_data_180417100529/rinex_obs/rinex-obs_V1_A1-static_vehicle.txt --skip_trk_transitory_s=15 --gtest_output=xml:test_results.xml
+    - echo "Running HybridObservablesTest for GPS L5..."
+    - ../install/run_tests --gtest_filter=HybridObservablesTest* --PLL_bw_hz_start=25.0 --DLL_bw_hz_start=2.5 --disable_generator=1 --enable_external_signal_file=1 --show_plots=true --fs_gen_sps=12500000 --skip_samples=250000000 --external_signal_acquisition_threshold=2.4 --trk_test_implementation=GPS_L5_DLL_PLL_Tracking --external_signal_acquisition_dwells=10 --external_signal_acquisition_doppler_step_hz=10  --show_plots=0 --signal_file=/captures/gitlab_test_signals/static/180417100529.A_L5E5_12500000Hz_ichar.dat --filename_rinex_obs=/captures/gitlab_test_signals/static/true_data_180417100529/rinex_obs/rinex-obs_V1_A1-static_vehicle.txt --skip_trk_transitory_s=5 --gtest_output=xml:test_results.xml
+    - echo "Running HybridObservablesTest for Galileo E5a..."
+    - ../install/run_tests --gtest_filter=HybridObservablesTest* --PLL_bw_hz_start=30.0 --DLL_bw_hz_start=1.0 --disable_generator=1 --enable_external_signal_file=1 --show_plots=true --fs_gen_sps=12500000 --skip_samples=125000000 --external_signal_acquisition_threshold=2.2 --trk_test_implementation=Galileo_E5a_DLL_PLL_Tracking --external_signal_acquisition_doppler_step_hz=10  --show_plots=0 --signal_file=/captures/gitlab_test_signals/static/180417100529.A_L5E5_12500000Hz_ichar.dat --filename_rinex_obs=/captures/gitlab_test_signals/static/true_data_180417100529/rinex_obs/rinex-obs_V1_A1-static_vehicle.txt --skip_trk_transitory_s=5 --gtest_output=xml:test_results.xml
+    - mv *.xml ../build64/
+    - cd ..
+    - rm -rf build-test
+  artifacts:
+    paths:
+      - build64/*.xml
+
+
+leo-observables-test-180417120737:
+  image: ubuntu:bionic
+  stage: test
+  tags:
+    - kepler
+  when: manual
+  script:
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential cmake ca-certificates git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev libpugixml-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev googletest gnuplot
+    - mkdir build-test
+    - mkdir build64
+    - cd build-test
+    - cmake -DENABLE_UNIT_TESTING_EXTRA=ON -DENABLE_SYSTEM_TESTING_EXTRA=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    # Execute Unit Tests
+    - export DISPLAY=unknown
+    - echo "Running HybridObservablesTest for GPS L1 CA..."
+    - ../install/run_tests --gtest_filter=HybridObservablesTest*  -PLL_bw_hz_start=30.0  --DLL_bw_hz_start=1.0 --disable_generator=1 --enable_external_signal_file=1 --show_plots=true --fs_gen_sps=12500000 --skip_samples=125000000 --external_signal_acquisition_threshold=2.5 --trk_test_implementation=GPS_L1_CA_DLL_PLL_Tracking --external_signal_acquisition_dwells=5 --external_signal_acquisition_doppler_step_hz=50  --show_plots=0 --signal_file=/captures/gitlab_test_signals/dynamic/180417120737.A_L1E1_12500000Hz_ichar.dat --filename_rinex_obs=/captures/gitlab_test_signals/dynamic/leo_pvt_test/2018_04_17_12_44_39/rinex_obs/rinex-obs_V1_A1-spacecraft.txt skip_trk_transitory_s=20 --external_signal_acquisition_doppler_max_hz=50000 --gtest_output=xml:test_results.xml
+    - echo "Running HybridObservablesTest for Galileo E1..."
+    - ../../install/run_tests --gtest_filter=HybridObservablesTest*  -PLL_bw_hz_start=15 --DLL_bw_hz_start=0.5 --disable_generator=1 --enable_external_signal_file=1 --show_plots=true --fs_gen_sps=12500000 --skip_samples=125000000 --external_signal_acquisition_threshold=2.5 --trk_test_implementation=Galileo_E1_DLL_PLL_VEML_Tracking --external_signal_acquisition_dwells=1 --external_signal_acquisition_doppler_step_hz=50  --show_plots=0 --signal_file=/captures/gitlab_test_signals/dynamic/180417120737.A_L1E1_12500000Hz_ichar.dat --filename_rinex_obs=/captures/gitlab_test_signals/dynamic/leo_pvt_test/2018_04_17_12_44_39/rinex_obs/rinex-obs_V1_A1-spacecraft.txt skip_trk_transitory_s=5 --external_signal_acquisition_doppler_max_hz=50000 --gtest_output=xml:test_results.xml
+    - mv *.xml ../build64/
+    - cd ..
+    - rm -rf build-test
+  artifacts:
+    paths:
+      - build64/*.xml
+
+
+position-test-180417100529:
+  image: ubuntu:bionic
+  stage: test
+  tags:
+    - kepler
+  script:
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential cmake ca-certificates git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev libpugixml-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev googletest gnuplot
+    - mkdir build-test
+    - mkdir position-test
+    - cd build-test
+    - cmake -DENABLE_SYSTEM_TESTING_EXTRA=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    # Execute System Tests
+    - export DISPLAY=unknown
+    - ../install/position_test --config_file_ptest=/captures/gitlab_test_signals/static/gnss-sdr_180417100529.A_L1.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/static/true_data_180417100529/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --plot_position_test --show_plots=0
+    - mkdir ../position-test/L1 && rm PVT_*.* && mv *.ps ../position-test/L1/ && mv GSDR* ../position-test/L1/
+    - ../install/position_test --config_file_ptest=/captures/gitlab_test_signals/static/gnss-sdr_180417100529.A_E1.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/static/true_data_180417100529/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --plot_position_test --show_plots=0
+    - mkdir ../position-test/E1 && rm PVT_*.* && mv *.ps ../position-test/E1 && mv GSDR* ../position-test/E1
+    - ../install/position_test -config_file_ptest=/captures/gitlab_test_signals/static/gnss-sdr_180417100529.A_L1E1.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/static/true_data_180417100529/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --plot_position_test --show_plots=0
+    - mkdir ../position-test/L1E1 && rm PVT_*.* && mv *.ps ../position-test/L1E1/ && mv GSDR* ../position-test/L1E1/
+    - ../install/position_test --config_file_ptest=/captures/gitlab_test_signals/static/gnss-sdr_180417100529.A_L5.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/static/true_data_180417100529/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --dynamic_3D_velocity_RMSE=6 --plot_position_test --show_plots=0
+    - mkdir ../position-test/L5 && rm PVT_*.* && mv *.ps ../position-test/L5/ && mv GSDR* ../position-test/L5/
+    - ../install/position_test --config_file_ptest=/captures/gitlab_test_signals/static/gnss-sdr_180417100529.A_E5.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/static/true_data_180417100529/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --dynamic_3D_velocity_RMSE=6 --plot_position_test --show_plots=0
+    - mkdir ../position-test/E5 && rm PVT_*.* && mv *.ps ../position-test/E5 && mv GSDR* ../position-test/E5
+    - ../install/position_test --config_file_ptest=/captures/gitlab_test_signals/static/gnss-sdr_180417100529.A_L5E5.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/static/true_data_180417100529/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --dynamic_3D_velocity_RMSE=6 --plot_position_test --show_plots=0
+    - mkdir ../position-test/L5E5 && rm PVT_*.* && mv *.ps ../position-test/L5E5 && [ -f GSDR* ] && mv GSDR* ../position-test/L5E5
+    - ../install/position_test --config_file_ptest=/captures/gitlab_test_signals/static/gnss-sdr_180417100529.A_L1L5.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/static/true_data_180417100529/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --dynamic_3D_velocity_RMSE=6 --plot_position_test --show_plots=0
+    - mkdir ../position-test/L1L5 && rm PVT_*.* && mv *.ps ../position-test/L1L5 && [ -f GSDR* ] && mv GSDR* ../position-test/L1L5
+    - ../install/position_test --config_file_ptest=/captures/gitlab_test_signals/static/gnss-sdr_180417100529.A_E1E5.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/static/true_data_180417100529/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --dynamic_3D_velocity_RMSE=6 --plot_position_test --show_plots=0
+    - mkdir ../position-test/E1E5 && rm PVT_*.* && mv *.ps ../position-test/E1E5 && [ -f GSDR* ] && mv GSDR* ../position-test/E1E5
+    - ../install/position_test --config_file_ptest=/captures/gitlab_test_signals/static/gnss-sdr_180417100529.A_L1E1L5E5.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/static/true_data_180417100529/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --dynamic_3D_velocity_RMSE=6 --plot_position_test --show_plots=0
+    - mkdir ../position-test/L1E1L5E5 && rm PVT_*.* && mv *.ps ../position-test/L1E1L5E5 && [ -f GSDR* ] && mv GSDR* ../position-test/L1E1L5E5
+    - mv *.xml ../position-test/
+    - cd ..
+    - rm -rf build-test
+  artifacts:
+    paths:
+      - position-test/*
+      - position-test/L1/*
+      - position-test/E1/*
+      - position-test/L1E1/*
+      - position-test/L5/*
+      - position-test/L5E5/*
+      - position-test/L1L5/*
+      - position-test/E1E5/*
+      - position-test/L1E1L5E5/*
+  allow_failure: true
+
+
+leo-position-test-180417120737:
+  image: ubuntu:bionic
+  stage: test
+  when: manual
+  tags:
+    - kepler
+  script:
+    - apt-get update
+    - apt-get install -y --no-install-recommends build-essential cmake ca-certificates git libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev libpugixml-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev python-mako python-six libmatio-dev googletest gnuplot
+    - mkdir build-test
+    - mkdir leo_position
+    - cd build-test
+    - cmake -DENABLE_SYSTEM_TESTING_EXTRA=ON ..
+    - NPROC=$(grep -c ^processor /proc/cpuinfo)
+    - make -j$(($NPROC+1))
+    # Execute System Tests
+    - export DISPLAY=unknown
+    - mkdir gpsL1 && cd gpsL1
+    - ../../install/position_test --config_file_ptest=/captures/gitlab_test_signals/dynamic/gnss-sdr_180417120737.A_L1.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/dynamic/leo_pvt_test/2018_04_17_12_44_39/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --plot_position_test=1 --show_plots=0
+    - cd .. && cp -r gpsL1 /../leo_position
+    - mkdir galE1 && cd galE1
+    - ../../install/position_test --config_file_ptest=/captures/gitlab_test_signals/dynamic/gnss-sdr_180417120737.A_E1.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/dynamic/leo_pvt_test/2018_04_17_12_44_39/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --plot_position_test=1 --show_plots=0
+    - cd .. && cp -r galE1 /../leo_position
+    - mkdir gpsL1galE1 && cd gpsL1galE1
+    - ../../install/position_test --config_file_ptest=/captures/gitlab_test_signals/dynamic/gnss-sdr_180417120737.A_L1E1.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/dynamic/leo_pvt_test/2018_04_17_12_44_39/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --plot_position_test=1 --show_plots=0
+    - cd .. && cp -r gpsL1galE1 /../leo_position
+    - mkdir gpsL5 && cd gpsL5
+    - ../../install/position_test --config_file_ptest=/captures/gitlab_test_signals/dynamic/gnss-sdr_180417120737.A_L5.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/dynamic/leo_pvt_test/2018_04_17_12_44_39/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --plot_position_test=1 --show_plots=0
+    - cd .. && cp -r gpsL5 /../leo_position
+    - mkdir galE5a && cd galE5a
+    - ../../install/position_test --config_file_ptest=/captures/gitlab_test_signals/dynamic/gnss-sdr_180417120737.A_E5.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/dynamic/leo_pvt_test/2018_04_17_12_44_39/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --plot_position_test --show_plots=0
+    - cd .. && cp -r galE5a /../leo_position
+    - mkdir galE5a && cd galE5a
+    - ../../install/position_test --config_file_ptest=/captures/gitlab_test_signals/dynamic/gnss-sdr_180417120737.A_L5E5.conf --static_scenario=0 --use_ref_motion_file=1 --ref_motion_filename=/captures/gitlab_test_signals/dynamic/leo_pvt_test/2018_04_17_12_44_39/motion_V1.csv --pvt_solver_dump_filename=./PVT.dat --plot_position_test --show_plots=0
+    - cd .. && cp -r galE5a /../leo_position
+  artifacts:
+    paths:
+      - leo_position/*
+  allow_failure: true
+
+
+run-tests-armhf:
+  image: carlesfernandez/gnsssdr-dev-arm32v7:sumo
+  stage: test
+  tags:
+    - arm
+  when: manual
+  dependencies:
+    - crosscompile
+  script:
+    - cp binaries/bin/* /usr/bin/
+    - mkdir /usr/share/gnss-sim/
+    - cp -f binaries/share/* /usr/share/gnss-sim/
+    - export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib
+    - ldconfig
+    - volk_profile -v 8111
+    - volk_gnsssdr_profile
+    - position_test
+    - run_tests --gtest_filter=Matio*
+    - run_tests --gtest_filter=HybridObservablesTest* --PLL_bw_hz_start=25.0 --DLL_bw_hz_start=1.5  --PLL_narrow_bw_hz=10.0 --DLL_narrow_bw_hz=0.75 --disable_generator=1 --enable_external_signal_file=1 --signal_file=/captures/gitlab_test_signals/static/180417100529.A_L1E1_12500000Hz_ichar.dat --fs_gen_sps=12500000 --skip_samples=125000000 --external_signal_acquisition_threshold=4.0 --extend_correlation_symbols=5 --external_signal_acquisition_doppler_step_hz=10 --trk_test_implementation=GPS_L1_CA_DLL_PLL_Tracking --show_plots=0 --filename_rinex_obs=/captures/gitlab_test_signals/static/true_data_180417100529/rinex_obs/rinex-obs_V1_A1-static_vehicle.txt --skip_trk_transitory_s=30 --gtest_output=xml:test_results.xml
+  allow_failure: true
+
+
+# Stage "deploy"
+docker-gnsssdr:
+  image: docker:latest
+  stage: deploy
+  services:
+    - docker:dind
+  script:
+    - wget https://raw.githubusercontent.com/carlesfernandez/docker-gnsssdr/master/Dockerfile
+    - docker login -u "$DOCKER_HUB_USER" -p "$DOCKER_HUB_PASSWORD"
+    - mkdir docker-build
+    - cd docker-build
+    - cp ../Dockerfile .
+    - docker build -t carlesfernandez/docker-gnsssdr .
+    - docker push carlesfernandez/docker-gnsssdr
+  only:
+    - next
+  allow_failure: true
+
+
+docker-gnsssdr-v0.0.10:
+  image: docker:18.05
+  stage: deploy
+  services:
+    - docker:dind
+  script:
+    - wget https://raw.githubusercontent.com/carlesfernandez/docker-gnsssdr/v0.0.10/Dockerfile
+    - docker login -u "$DOCKER_HUB_USER" -p "$DOCKER_HUB_PASSWORD"
+    - mkdir docker-build
+    - cd docker-build
+    - cp ../Dockerfile .
+    - docker build -t $DOCKER_HUB_USER/$DOCKER_HUB_REPO .
+    - docker tag $DOCKER_HUB_USER/$DOCKER_HUB_REPO:latest $DOCKER_HUB_USER/$DOCKER_HUB_REPO:0.0.10
+    - docker push $DOCKER_HUB_USER/$DOCKER_HUB_REPO:0.0.10
+  only:
+    - v0.0.10
+  allow_failure: true
+
+
+docker-pybombs-gnsssdr:
+  image: docker:latest
+  stage: deploy
+  services:
+    - docker:dind
+  script:
+    - wget https://raw.githubusercontent.com/carlesfernandez/docker-pybombs-gnsssdr/master/Dockerfile
+    - docker login -u "$DOCKER_HUB_USER" -p "$DOCKER_HUB_PASSWORD"
+    - mkdir docker-build
+    - cd docker-build
+    - cp ../Dockerfile .
+    - docker build -t carlesfernandez/docker-pybombs-gnsssdr .
+    - docker push carlesfernandez/docker-pybombs-gnsssdr
+  only:
+    - next
+  allow_failure: true
+
+
+docker-access18:
+  image: docker:latest
+  stage: deploy
+  services:
+    - docker:dind
+  script:
+    - mkdir docker-build
+    - cd docker-build
+    - echo -e "FROM phusion/baseimage:0.11\nMAINTAINER carles.fernandez@cttc.es\nCMD [\"/sbin/my_init\"]\nWORKDIR /home/src\nRUN apt-get update && apt-get install -y --no-install-recommends build-essential cmake curl nano libarmadillo-dev libblas-dev libboost-chrono-dev libboost-dev libboost-date-time-dev libboost-filesystem-dev libboost-serialization-dev libboost-system-dev libboost-thread-dev libpugixml-dev libgflags-dev libgoogle-glog-dev googletest libgnutls-openssl-dev liblapack-dev liblog4cpp5-dev libmatio-dev git ca-certificates gnuradio-dev python-mako python-six texlive-latex-base texlive-fonts-recommended texlive-font-utils texlive-pictures epstool fig2dev octave pstoedit gnuplot-x11 && rm -rf /var/lib/apt/lists/*\nRUN git clone https://gitlab.com/gnss-sdr/gnss-sdr && cd gnss-sdr/build && git checkout $CI_COMMIT_SHA && cmake -DENABLE_PACKAGING=ON -DENABLE_INSTALL_TESTS=ON .. && NPROC=$(grep -c ^processor /proc/cpuinfo) && make -j$(($NPROC+1)) && make install && rm -rf /home/src\nWORKDIR /home\nRUN /usr/bin/volk_profile -v 8111\nRUN /usr/local/bin/volk_gnsssdr_profile\nRUN rm -rf /tmp/* /var/tmp/*\nCMD [\"bash\"]" > Dockerfile
+    - docker login -u "$DOCKER_HUB_USER" -p "$DOCKER_HUB_PASSWORD"
+    - docker build -t $DOCKER_HUB_USER/$DOCKER_HUB_REPO .
+    - docker tag $DOCKER_HUB_USER/$DOCKER_HUB_REPO:latest $DOCKER_HUB_USER/$DOCKER_HUB_REPO:access18
+    - docker push $DOCKER_HUB_USER/$DOCKER_HUB_REPO:access18
+
+
+docker-access18-0.0.10:
+  image: docker:18.05
+  stage: deploy
+  services:
+    - docker:dind
+  script:
+    - mkdir docker-build
+    - cd docker-build
+    - echo -e "FROM phusion/baseimage:0.11\nMAINTAINER carles.fernandez@cttc.es\nCMD [\"/sbin/my_init\"]\nWORKDIR /home/src\nRUN apt-get update && apt-get install -y --no-install-recommends build-essential cmake curl nano libarmadillo-dev libblas-dev libboost-chrono-dev libboost-dev libboost-date-time-dev libboost-filesystem-dev libboost-serialization-dev libboost-system-dev libboost-thread-dev libpugixml-dev libgflags-dev libgoogle-glog-dev googletest libgnutls-openssl-dev liblapack-dev liblog4cpp5-dev libmatio-dev git ca-certificates gnuradio-dev python-mako python-six texlive-latex-base texlive-fonts-recommended texlive-font-utils texlive-pictures epstool fig2dev octave pstoedit gnuplot-x11 && rm -rf /var/lib/apt/lists/*\nRUN git clone https://gitlab.com/gnss-sdr/gnss-sdr && cd gnss-sdr/build && git checkout v0.0.10 && cmake -DENABLE_PACKAGING=ON -DENABLE_INSTALL_TESTS=ON .. && NPROC=$(grep -c ^processor /proc/cpuinfo) && make -j$(($NPROC+1)) && make install && rm -rf /home/src\nWORKDIR /home\nRUN /usr/bin/volk_profile -v 8111\nRUN /usr/local/bin/volk_gnsssdr_profile\nRUN rm -rf /tmp/* /var/tmp/*\nCMD [\"bash\"]" > Dockerfile
+    - docker login -u "$DOCKER_HUB_USER" -p "$DOCKER_HUB_PASSWORD"
+    - docker build -t $DOCKER_HUB_USER/$DOCKER_HUB_REPO .
+    - docker tag $DOCKER_HUB_USER/$DOCKER_HUB_REPO:latest $DOCKER_HUB_USER/$DOCKER_HUB_REPO:access18-0.0.10
+    - docker push $DOCKER_HUB_USER/$DOCKER_HUB_REPO:access18-0.0.10
+  only:
+    - v0.0.10
+  allow_failure: true
+
+
+# Stage "experiment"
+run-access18:
+  image: $DOCKER_HUB_USER/$DOCKER_HUB_REPO:access18
+  stage: experiment
+  script:
+    - apt-get update
+    # Grab the data set
+    - mkdir -p exp-access18/data
+    - cd exp-access18/data
+    - curl https://zenodo.org/record/1184601/files/L2_signal_samples.tar.xz --output L2_signal_samples.tar.xz
+    - tar xvfJ L2_signal_samples.tar.xz
+    - echo "3a04c1eeb970776bb77f5e3b7eaff2df  L2_signal_samples.tar.xz" > data.md5
+    - md5sum -c data.md5
+    - cd ..
+    # Execute the experiment
+    - cp ../src/utils/reproducibility/ieee-access18/L2-access18.conf .
+    - cp ../src/utils/reproducibility/ieee-access18/plot_dump.m .
+    - cp -r ../src/utils/matlab/libs/geoFunctions .
+    - gnss-sdr --c=L2-access18.conf
+    - octave --no-gui plot_dump.m
+    - epspdf Figure2.eps Figure2.pdf
+    - cd ..
+    - mkdir access18
+    - cp exp-access18/*.pdf access18/
+  artifacts:
+    paths:
+      - access18/*.pdf
+
+
+run-access18-0.0.10:
+  image: $DOCKER_HUB_USER/$DOCKER_HUB_REPO:access18-0.0.10
+  stage: experiment
+  script:
+    - apt-get update
+    # Grab the data set
+    - mkdir -p exp-access18/data
+    - cd exp-access18/data
+    - curl https://zenodo.org/record/1184601/files/L2_signal_samples.tar.xz --output L2_signal_samples.tar.xz
+    - tar xvfJ L2_signal_samples.tar.xz
+    - echo "3a04c1eeb970776bb77f5e3b7eaff2df  L2_signal_samples.tar.xz" > data.md5
+    - md5sum -c data.md5
+    - cd ..
+    # Execute the experiment
+    - cp ../src/utils/reproducibility/ieee-access18/L2-access18.conf .
+    - cp ../src/utils/reproducibility/ieee-access18/plot_dump.m .
+    - cp -r ../src/utils/matlab/libs/geoFunctions .
+    - gnss-sdr --c=L2-access18.conf
+    - octave --no-gui plot_dump.m
+    - epspdf Figure2.eps Figure2.pdf
+    - cd ..
+    - mkdir access18
+    - cp exp-access18/*.pdf access18/
+  artifacts:
+    paths:
+      - access18/*.pdf
+  only:
+    - v0.0.10
--- a/docs/xml-schemas/gal_almanac_map.xsd
+++ b/docs/xml-schemas/gal_almanac_map.xsd
@ -12,10 +12,10 @@
                  <xs:sequence>
                    <xs:element type="xs:byte" name="first"/>
                    <xs:element name="second">
-                      <xs:complexType mixed="true">
+                      <xs:complexType>
                        <xs:sequence>
                          <xs:element type="xs:byte" name="i_satellite_PRN"/>
-                          <xs:element type="xs:byte" name="i_Toa"/>
+                          <xs:element type="xs:int" name="i_Toa"/>
                          <xs:element type="xs:byte" name="i_WNa"/>
                          <xs:element type="xs:byte" name="i_IODa"/>
                          <xs:element type="xs:float" name="d_Delta_i"/>
--- a/docs/xml-schemas/gal_ephemeris_map.xsd
+++ b/docs/xml-schemas/gal_ephemeris_map.xsd
@ -1,4 +1,4 @@
-<<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
+<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
  <xs:element name="boost_serialization">
    <xs:complexType>
      <xs:sequence>
--- a/docs/xml-schemas/gal_utc_model.xsd
+++ b/docs/xml-schemas/gal_utc_model.xsd
@ -10,8 +10,8 @@
              <xs:element type="xs:float" name="Delta_tLS_6"/>
              <xs:element type="xs:float" name="t0t_6"/>
              <xs:element type="xs:float" name="WNot_6"/>
-              <xs:element type="xs:float" name="WN_LSF_6"/>
-              <xs:element type="xs:float" name="DN_6"/>
+              <xs:element type="xs:short" name="WN_LSF_6"/>
+              <xs:element type="xs:byte" name="DN_6"/>
              <xs:element type="xs:float" name="Delta_tLSF_6"/>
              <xs:element type="xs:byte" name="flag_utc_model"/>
            </xs:sequence>
--- a/src/algorithms/PVT/adapters/rtklib_pvt.cc
+++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc
@ -214,6 +214,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
    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) && (glo_1G_count == 0) && (glo_2G_count != 0)) pvt_output_parameters.type_of_receiver = 31;

    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) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 32;  // L1+E1+L5+E5a
+    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) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 33;  // L1+E1+E5a

    // RTKLIB PVT solver options
    // Settings 1
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
@ -1410,6 +1410,16 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                                                                    b_rinex_header_written = true;  // do not write header anymore
                                                                }
                                                            break;
+                                                        case 33:  // L1+E1+E5a
+                                                            if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and
+                                                                (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+                                                                {
+                                                                    std::string gal_signal("1B 5X");
+                                                                    rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
+                                                                    rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+                                                                    b_rinex_header_written = true;  // do not write header anymore
+                                                                }
+                                                            break;
                                                        default:
                                                            break;
                                                        }
@ -1490,6 +1500,9 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                                                                case 32:  // L1+E1+L5+E5a
                                                                    rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
                                                                    break;
+                                                                case 33:  // L1+E1+E5a
+                                                                    rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
+                                                                    break;
                                                                default:
                                                                    break;
                                                                }
@ -1784,6 +1797,20 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                                                                            b_rinex_header_updated = true;  // do not write header anymore
                                                                        }
                                                                    break;
+                                                                case 33:  // L1+E1+E5a
+                                                                    if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
+                                                                        {
+                                                                            rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
+                                                                        }
+                                                                    if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
+                                                                        {
+                                                                            rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
+                                                                            rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
+                                                                            b_rinex_header_updated = true;  // do not write header anymore
+                                                                        }
+                                                                    break;
+                                                                default:
+                                                                    break;
                                                                }
                                                        }
                                                }
@ -2441,7 +2468,25 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                                                                }
                                                            if (d_rtcm_MSM_rate_ms != 0)
                                                                {
+                                                                    std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
                                                                    std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
+                                                                    int gal_channel = 0;
+                                                                    for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
+                                                                        {
+                                                                            std::string system(&gnss_observables_iter->second.System, 1);
+                                                                            if (gal_channel == 0)
+                                                                                {
+                                                                                    if (system == "E")
+                                                                                        {
+                                                                                            gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+                                                                                            if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
+                                                                                                {
+                                                                                                    gal_channel = 1;
+                                                                                                }
+                                                                                        }
+                                                                                }
+                                                                        }
+
                                                                    if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
                                                                        {
                                                                            d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@ -7057,7 +7057,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
    double int_sec = 0;

    // Avoid compiler warning
-    if (glonass_band.size())
+    if (!glonass_band.empty())
        {
        }

--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@ -820,7 +820,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                }
                        }

-                    if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_);
+                    if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_.data());
                    this->set_valid_position(true);
                    arma::vec rx_position_and_time(4);
                    rx_position_and_time(0) = pvt_sol.rr[0];  // [m]
--- a/src/algorithms/PVT/libs/rtklib_solver.h
+++ b/src/algorithms/PVT/libs/rtklib_solver.h
@ -63,6 +63,7 @@
 #include "gps_navigation_message.h"
 #include "pvt_solution.h"
 #include "rtklib_rtkpos.h"
+#include <array>
 #include <fstream>
 #include <map>
 #include <string>
@ -82,7 +83,7 @@ private:
    bool d_flag_dump_enabled;
    bool d_flag_dump_mat_enabled;
    int d_nchannels;  // Number of available channels for positioning
-    double dop_[4];
+    std::array<double, 4> dop_;

 public:
    sol_t pvt_sol;
@ -99,7 +100,7 @@ public:
    std::map<int, Galileo_Ephemeris> galileo_ephemeris_map;            //!< Map storing new Galileo_Ephemeris
    std::map<int, Gps_Ephemeris> gps_ephemeris_map;                    //!< Map storing new GPS_Ephemeris
    std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map;          //!< Map storing new GPS_CNAV_Ephemeris
-    std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map;  //!< Map storing new GLONASS GNAV Ephmeris
+    std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map;  //!< Map storing new GLONASS GNAV Ephemeris

    Galileo_Utc_Model galileo_utc_model;
    Galileo_Iono galileo_iono;
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
@ -247,7 +247,7 @@ void pcps_quicksync_acquisition_cc::set_state(int32_t state)
            d_mag = 0.0;
            d_input_power = 0.0;
            d_test_statistics = 0.0;
-            d_active = 1;
+            d_active = true;
        }
    else if (d_state == 0)
        {
--- a/src/algorithms/libs/galileo_e1_signal_processing.cc
+++ b/src/algorithms/libs/galileo_e1_signal_processing.cc
@ -68,7 +68,7 @@ void galileo_e1_code_gen_int(int* _dest, char _Signal[3], int32_t _prn)
 }


-void galileo_e1_sinboc_11_gen_int(int* _dest, int* _prn, uint32_t _length_out)
+void galileo_e1_sinboc_11_gen_int(int* _dest, const int* _prn, uint32_t _length_out)
 {
    const uint32_t _length_in = Galileo_E1_B_CODE_LENGTH_CHIPS;
    auto _period = static_cast<uint32_t>(_length_out / _length_in);
@ -86,7 +86,7 @@ void galileo_e1_sinboc_11_gen_int(int* _dest, int* _prn, uint32_t _length_out)
 }


-void galileo_e1_sinboc_61_gen_int(int* _dest, int* _prn, uint32_t _length_out)
+void galileo_e1_sinboc_61_gen_int(int* _dest, const int* _prn, uint32_t _length_out)
 {
    const uint32_t _length_in = Galileo_E1_B_CODE_LENGTH_CHIPS;
    auto _period = static_cast<uint32_t>(_length_out / _length_in);
--- a/src/algorithms/libs/galileo_e5_signal_processing.cc
+++ b/src/algorithms/libs/galileo_e5_signal_processing.cc
@ -37,7 +37,7 @@
 #include <gnuradio/gr_complex.h>


-void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, char _Signal[3])
+void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, const char _Signal[3])
 {
    uint32_t prn = _prn - 1;
    uint32_t index = 0;
--- a/src/algorithms/libs/galileo_e5_signal_processing.h
+++ b/src/algorithms/libs/galileo_e5_signal_processing.h
@ -42,7 +42,7 @@
 * \brief Generates Galileo E5a code at 1 sample/chip
 * bool _pilot generates E5aQ code if true and E5aI (data signal) if false.
 */
-void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, char _Signal[3]);
+void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, const char _Signal[3]);

 void galileo_e5_a_code_gen_tiered(std::complex<float>* _dest, std::complex<float>* _primary, uint32_t _prn, char _Signal[3]);

--- a/src/algorithms/libs/glonass_l1_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l1_signal_processing.cc
@ -46,7 +46,7 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /* int32_t  _prn

    for (lcv = 0; lcv < 9; lcv++)
        {
-            G1_register[lcv] = 1;
+            G1_register[lcv] = true;
        }

    /* Generate G1 Register */
--- a/src/algorithms/libs/glonass_l2_signal_processing.cc
+++ b/src/algorithms/libs/glonass_l2_signal_processing.cc
@ -46,7 +46,7 @@ void glonass_l2_ca_code_gen_complex(std::complex<float>* _dest, /* int32_t _prn,

    for (lcv = 0; lcv < 9; lcv++)
        {
-            G1_register[lcv] = 1;
+            G1_register[lcv] = true;
        }

    /* Generate G1 Register */
--- a/src/algorithms/libs/gps_l5_signal.cc
+++ b/src/algorithms/libs/gps_l5_signal.cc
@ -40,9 +40,9 @@

 std::deque<bool> l5i_xa_shift(std::deque<bool> xa)
 {
-    if (xa == std::deque<bool>{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1})
+    if (xa == std::deque<bool>{true, true, true, true, true, true, true, true, true, true, true, false, true})
        {
-            return std::deque<bool>{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
+            return std::deque<bool>{true, true, true, true, true, true, true, true, true, true, true, true, true};
        }
    std::deque<bool> out(xa.begin(), xa.end() - 1);
    out.push_front(xa[12] xor xa[11] xor xa[9] xor xa[8]);
@ -52,9 +52,9 @@ std::deque<bool> l5i_xa_shift(std::deque<bool> xa)

 std::deque<bool> l5q_xa_shift(std::deque<bool> xa)
 {
-    if (xa == std::deque<bool>{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1})
+    if (xa == std::deque<bool>{true, true, true, true, true, true, true, true, true, true, true, false, true})
        {
-            return std::deque<bool>{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
+            return std::deque<bool>{true, true, true, true, true, true, true, true, true, true, true, true, true};
        }
    std::deque<bool> out(xa.begin(), xa.end() - 1);
    out.push_front(xa[12] xor xa[11] xor xa[9] xor xa[8]);
@ -80,8 +80,8 @@ std::deque<bool> l5q_xb_shift(std::deque<bool> xb)

 std::deque<bool> make_l5i_xa()
 {
-    std::deque<bool> xa = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
-    std::deque<bool> y(GPS_L5i_CODE_LENGTH_CHIPS, 0);
+    std::deque<bool> xa = {true, true, true, true, true, true, true, true, true, true, true, true, true};
+    std::deque<bool> y(GPS_L5i_CODE_LENGTH_CHIPS, false);

    for (int32_t i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
        {
@ -94,8 +94,8 @@ std::deque<bool> make_l5i_xa()

 std::deque<bool> make_l5i_xb()
 {
-    std::deque<bool> xb = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
-    std::deque<bool> y(GPS_L5i_CODE_LENGTH_CHIPS, 0);
+    std::deque<bool> xb = {true, true, true, true, true, true, true, true, true, true, true, true, true};
+    std::deque<bool> y(GPS_L5i_CODE_LENGTH_CHIPS, false);

    for (int32_t i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
        {
@ -108,8 +108,8 @@ std::deque<bool> make_l5i_xb()

 std::deque<bool> make_l5q_xa()
 {
-    std::deque<bool> xa = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
-    std::deque<bool> y(GPS_L5q_CODE_LENGTH_CHIPS, 0);
+    std::deque<bool> xa = {true, true, true, true, true, true, true, true, true, true, true, true, true};
+    std::deque<bool> y(GPS_L5q_CODE_LENGTH_CHIPS, false);

    for (int32_t i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
        {
@ -122,8 +122,8 @@ std::deque<bool> make_l5q_xa()

 std::deque<bool> make_l5q_xb()
 {
-    std::deque<bool> xb = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
-    std::deque<bool> y(GPS_L5q_CODE_LENGTH_CHIPS, 0);
+    std::deque<bool> xb = {true, true, true, true, true, true, true, true, true, true, true, true, true};
+    std::deque<bool> y(GPS_L5q_CODE_LENGTH_CHIPS, false);

    for (int32_t i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
        {
@ -140,13 +140,13 @@ void make_l5i(int32_t* _dest, int32_t prn)

    std::deque<bool> xb = make_l5i_xb();
    std::deque<bool> xa = make_l5i_xa();
-    std::deque<bool> xb_shift(GPS_L5i_CODE_LENGTH_CHIPS, 0);
+    std::deque<bool> xb_shift(GPS_L5i_CODE_LENGTH_CHIPS, false);

    for (int32_t n = 0; n < GPS_L5i_CODE_LENGTH_CHIPS; n++)
        {
            xb_shift[n] = xb[(xb_offset + n) % GPS_L5i_CODE_LENGTH_CHIPS];
        }
-    std::deque<bool> out_code(GPS_L5i_CODE_LENGTH_CHIPS, 0);
+    std::deque<bool> out_code(GPS_L5i_CODE_LENGTH_CHIPS, false);
    for (int32_t n = 0; n < GPS_L5i_CODE_LENGTH_CHIPS; n++)
        {
            _dest[n] = xa[n] xor xb_shift[n];
@ -160,13 +160,13 @@ void make_l5q(int32_t* _dest, int32_t prn)

    std::deque<bool> xb = make_l5q_xb();
    std::deque<bool> xa = make_l5q_xa();
-    std::deque<bool> xb_shift(GPS_L5q_CODE_LENGTH_CHIPS, 0);
+    std::deque<bool> xb_shift(GPS_L5q_CODE_LENGTH_CHIPS, false);

    for (int32_t n = 0; n < GPS_L5q_CODE_LENGTH_CHIPS; n++)
        {
            xb_shift[n] = xb[(xb_offset + n) % GPS_L5q_CODE_LENGTH_CHIPS];
        }
-    std::deque<bool> out_code(GPS_L5q_CODE_LENGTH_CHIPS, 0);
+    std::deque<bool> out_code(GPS_L5q_CODE_LENGTH_CHIPS, false);
    for (int32_t n = 0; n < GPS_L5q_CODE_LENGTH_CHIPS; n++)
        {
            _dest[n] = xa[n] xor xb_shift[n];
--- a/src/algorithms/libs/gps_sdr_signal_processing.cc
+++ b/src/algorithms/libs/gps_sdr_signal_processing.cc
@ -68,8 +68,8 @@ void gps_l1_ca_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift)

    for (lcv = 0; lcv < 10; lcv++)
        {
-            G1_register[lcv] = 1;
-            G2_register[lcv] = 1;
+            G1_register[lcv] = true;
+            G2_register[lcv] = true;
        }

    /* Generate G1 & G2 Register */
--- a/src/algorithms/libs/rtklib/rtklib_preceph.cc
+++ b/src/algorithms/libs/rtklib/rtklib_preceph.cc
@ -146,7 +146,7 @@ int addpeph(nav_t *nav, peph_t *peph)


 /* read sp3 body -------------------------------------------------------------*/
-void readsp3b(FILE *fp, char type, int *sats __attribute__((unused)), int ns, double *bfact,
+void readsp3b(FILE *fp, char type, int *sats __attribute__((unused)), int ns, const double *bfact,
    char *tsys, int index, int opt, nav_t *nav)
 {
    peph_t peph;
--- a/src/algorithms/libs/rtklib/rtklib_preceph.h
+++ b/src/algorithms/libs/rtklib/rtklib_preceph.h
@ -75,7 +75,7 @@ int code2sys(char code);
 int readsp3h(FILE *fp, gtime_t *time, char *type, int *sats,
    double *bfact, char *tsys);
 int addpeph(nav_t *nav, peph_t *peph);
-void readsp3b(FILE *fp, char type, int *sats, int ns, double *bfact,
+void readsp3b(FILE *fp, char type, int *sats, int ns, const double *bfact,
    char *tsys, int index, int opt, nav_t *nav);
 int cmppeph(const void *p1, const void *p2);
 void combpeph(nav_t *nav, int opt);
--- a/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtkpos.cc
@ -541,7 +541,7 @@ void initx_rtk(rtk_t *rtk, double xi, double var, int i)


 /* select common satellites between rover and reference station --------------*/
-int selsat(const obsd_t *obs, double *azel, int nu, int nr,
+int selsat(const obsd_t *obs, const double *azel, int nu, int nr,
    const prcopt_t *opt, int *sat, int *iu, int *ir)
 {
    int i, j, k = 0;
@ -1155,7 +1155,7 @@ int zdres(int base, const obsd_t *obs, int n, const double *rs,


 /* test valid observation data -----------------------------------------------*/
-int validobs(int i, int j, int f, int nf, double *y)
+int validobs(int i, int j, int f, int nf, const double *y)
 {
    /* if no phase observable, psudorange is also unusable */
    return y[f + i * nf * 2] != 0.0 && y[f + j * nf * 2] != 0.0 &&
@ -1302,7 +1302,7 @@ int test_sys(int sys, int m)

 /* double-differenced phase/code residuals -----------------------------------*/
 int ddres(rtk_t *rtk, const nav_t *nav, double dt, const double *x,
-    const double *P, const int *sat, double *y, double *e,
+    const double *P, const int *sat, double *y, const double *e,
    double *azel, const int *iu, const int *ir, int ns, double *v,
    double *H, double *R, int *vflg)
 {
--- a/src/algorithms/libs/rtklib/rtklib_rtkpos.h
+++ b/src/algorithms/libs/rtklib/rtklib_rtkpos.h
@ -108,7 +108,7 @@ double baseline(const double *ru, const double *rb, double *dr);

 void initx_rtk(rtk_t *rtk, double xi, double var, int i);

-int selsat(const obsd_t *obs, double *azel, int nu, int nr,
+int selsat(const obsd_t *obs, const double *azel, int nu, int nr,
    const prcopt_t *opt, int *sat, int *iu, int *ir);

 void udpos(rtk_t *rtk, double tt);
@ -144,7 +144,7 @@ int zdres(int base, const obsd_t *obs, int n, const double *rs,
    const double *rr, const prcopt_t *opt, int index, double *y,
    double *e, double *azel);

-int validobs(int i, int j, int f, int nf, double *y);
+int validobs(int i, int j, int f, int nf, const double *y);

 void ddcov(const int *nb, int n, const double *Ri, const double *Rj,
    int nv, double *R);
@ -162,7 +162,7 @@ double gloicbcorr(int sat1, int sat2, const prcopt_t *opt, double lam1,
 int test_sys(int sys, int m);

 int ddres(rtk_t *rtk, const nav_t *nav, double dt, const double *x,
-    const double *P, const int *sat, double *y, double *e,
+    const double *P, const int *sat, double *y, const double *e,
    double *azel, const int *iu, const int *ir, int ns, double *v,
    double *H, double *R, int *vflg);

--- a/src/algorithms/libs/rtklib/rtklib_rtksvr.cc
+++ b/src/algorithms/libs/rtklib/rtklib_rtksvr.cc
@ -424,7 +424,7 @@ void decodefile(rtksvr_t *svr, int index)
        { /* precise clock */

            /* read rinex clock */  // Disabled!!
-            if (1 /*readrnxc(file, &nav)<=0 */)
+            if (true /*readrnxc(file, &nav)<=0 */)
                {
                    tracet(1, "rinex clock file read error: %s\n", file);
                    return;
@ -730,7 +730,7 @@ void rtksvrunlock(rtksvr_t *svr) { rtk_unlock(&svr->lock); }
 * return : status (1:ok 0:error)
 *-----------------------------------------------------------------------------*/
 int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
-    char **paths, int *formats, int navsel, char **cmds,
+    char **paths, const int *formats, int navsel, char **cmds,
    char **rcvopts, int nmeacycle, int nmeareq,
    const double *nmeapos, prcopt_t *prcopt,
    solopt_t *solopt, stream_t *moni)
--- a/src/algorithms/libs/rtklib/rtklib_rtksvr.h
+++ b/src/algorithms/libs/rtklib/rtklib_rtksvr.h
@ -116,7 +116,7 @@ void rtksvrlock(rtksvr_t *svr);
 void rtksvrunlock(rtksvr_t *svr);

 int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
-    char **paths, int *formats, int navsel, char **cmds,
+    char **paths, const int *formats, int navsel, char **cmds,
    char **rcvopts, int nmeacycle, int nmeareq,
    const double *nmeapos, prcopt_t *prcopt,
    solopt_t *solopt, stream_t *moni);
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc
@ -60,7 +60,7 @@ void galileo_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, in
 }


-void galileo_telemetry_decoder_cc::deinterleaver(int32_t rows, int32_t cols, double *in, double *out)
+void galileo_telemetry_decoder_cc::deinterleaver(int32_t rows, int32_t cols, const double *in, double *out)
 {
    for (int32_t r = 0; r < rows; r++)
        {
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
@ -78,7 +78,7 @@ private:

    void viterbi_decoder(double *page_part_symbols, int32_t *page_part_bits);

-    void deinterleaver(int32_t rows, int32_t cols, double *in, double *out);
+    void deinterleaver(int32_t rows, int32_t cols, const double *in, double *out);

    void decode_INAV_word(double *symbols, int32_t frame_length);
    void decode_FNAV_word(double *page_symbols, int32_t frame_length);
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
@ -124,7 +124,7 @@ glonass_l1_ca_telemetry_decoder_cc::~glonass_l1_ca_telemetry_decoder_cc()
 }


-void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, int32_t frame_length)
+void glonass_l1_ca_telemetry_decoder_cc::decode_string(const double *frame_symbols, int32_t frame_length)
 {
    double chip_acc = 0.0;
    int32_t chip_acc_counter = 0;
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
@ -76,7 +76,7 @@ private:
    glonass_l1_ca_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
    glonass_l1_ca_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);

-    void decode_string(double *symbols, int32_t frame_length);
+    void decode_string(const double *symbols, int32_t frame_length);

    //!< Help with coherent tracking
    double d_preamble_time_samples;
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc
@ -124,7 +124,7 @@ glonass_l2_ca_telemetry_decoder_cc::~glonass_l2_ca_telemetry_decoder_cc()
 }


-void glonass_l2_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, int32_t frame_length)
+void glonass_l2_ca_telemetry_decoder_cc::decode_string(const double *frame_symbols, int32_t frame_length)
 {
    double chip_acc = 0.0;
    int32_t chip_acc_counter = 0;
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.h
@ -74,7 +74,7 @@ private:
    glonass_l2_ca_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
    glonass_l2_ca_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);

-    void decode_string(double *symbols, int32_t frame_length);
+    void decode_string(const double *symbols, int32_t frame_length);

    //!< Help with coherent tracking
    double d_preamble_time_samples;
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
@ -321,7 +321,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
    current_symbol = in[0][0];

    // record the oldest subframe symbol before inserting a new symbol into the circular buffer
-    if (d_current_subframe_symbol < GPS_SUBFRAME_MS and d_symbol_history.size() > 0)
+    if (d_current_subframe_symbol < GPS_SUBFRAME_MS and !d_symbol_history.empty())
        {
            d_subframe_symbols[d_current_subframe_symbol] = d_symbol_history[0].Prompt_I;
            d_current_subframe_symbol++;
--- a/src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc
+++ b/src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc
@ -354,7 +354,7 @@ int Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decodi
 nn                    The length of the received vector

 This function is used by siso()  */
-float Viterbi_Decoder::gamma(float rec_array[], int symbol, int nn)
+float Viterbi_Decoder::gamma(const float rec_array[], int symbol, int nn)
 {
    float rm = 0;
    int i;
--- a/src/algorithms/telemetry_decoder/libs/viterbi_decoder.h
+++ b/src/algorithms/telemetry_decoder/libs/viterbi_decoder.h
@ -116,7 +116,7 @@ private:
    int do_tb_and_decode(int traceback_length, int requested_decoding_length, int state, int bits[], float& indicator_metric);

    // branch metric function
-    float gamma(float rec_array[], int symbol, int nn);
+    float gamma(const float rec_array[], int symbol, int nn);

    // trellis generation
    void nsc_transit(int output_p[], int trans_p[], int input, const int g[], int KK, int nn);
--- a/src/core/receiver/control_thread.cc
+++ b/src/core/receiver/control_thread.cc
@ -197,8 +197,12 @@ ControlThread::~ControlThread()

 void ControlThread::telecommand_listener()
 {
-    int tcp_cmd_port = configuration_->property("GNSS-SDR.telecontrol_tcp_port", 3333);
+    bool telecommand_enabled = configuration_->property("GNSS-SDR.telecommand_enabled", false);
+    if (telecommand_enabled)
+        {
+            int tcp_cmd_port = configuration_->property("GNSS-SDR.telecommand_tcp_port", 3333);
            cmd_interface_.run_cmd_server(tcp_cmd_port);
+        }
 }


@ -295,7 +299,7 @@ int ControlThread::run()
 }


-void ControlThread::set_control_queue(const gr::msg_queue::sptr& control_queue)
+void ControlThread::set_control_queue(const gr::msg_queue::sptr &control_queue)
 {
    if (flowgraph_->running())
        {
--- a/src/core/receiver/tcp_cmd_interface.cc
+++ b/src/core/receiver/tcp_cmd_interface.cc
@ -1,7 +1,7 @@
 /*!
 * \file tcp_cmd_interface.cc
 *
- * \brief Class that implements a TCP telecontrol command line interface
+ * \brief Class that implements a TCP/IP telecommand command line interface
 * for GNSS-SDR
 * \author Javier Arribas jarribas (at) cttc.es
 * -------------------------------------------------------------------------
--- a/src/core/receiver/tcp_cmd_interface.h
+++ b/src/core/receiver/tcp_cmd_interface.h
@ -1,7 +1,7 @@
 /*!
 * \file tcp_cmd_interface.h
 *
- * \brief Class that implements a TCP telecontrol command line interface
+ * \brief Class that implements a TCP/IP telecommand command line interface
 * for GNSS-SDR
 * \author Javier Arribas jarribas (at) cttc.es
 * -------------------------------------------------------------------------
--- a/src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc
@ -87,6 +87,8 @@ DEFINE_int32(acq_test_iterations, 1, "Number of iterations (same signal, differe
 DEFINE_bool(plot_acq_test, false, "Plots results with gnuplot, if available");
 DEFINE_int32(acq_test_skiphead, 0, "Number of samples to skip in the input file");

+DEFINE_bool(acq_test_dump, false, "Dump the results of an acquisition block into .mat files.");
+
 // ######## GNURADIO BLOCK MESSAGE RECEVER #########
 class AcqPerfTest_msg_rx;

@ -523,8 +525,15 @@ int AcquisitionPerformanceTest::configure_receiver(double cn0, float pfa, unsign
                    config->set_property("Acquisition.make_two_steps", "false");
                }

-
+            if (FLAGS_acq_test_dump)
+                {
                    config->set_property("Acquisition.dump", "true");
+                }
+            else
+                {
+                    config->set_property("Acquisition.dump", "false");
+                }
+
            std::string dump_file = path_str + std::string("/acquisition_") + std::to_string(cn0) + "_" + std::to_string(iter) + "_" + std::to_string(pfa);
            config->set_property("Acquisition.dump_filename", dump_file);
            config->set_property("Acquisition.dump_channel", std::to_string(dump_channel));
--- a/src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/libs/tracking_true_obs_reader.cc
@ -92,7 +92,7 @@ bool tracking_true_obs_reader::open_obs_file(std::string out_file)
                }
            catch (const std::ifstream::failure &e)
                {
-                    std::cout << "Problem opening Tracking dump Log file: " << d_dump_filename.c_str() << " Error: " << e.what() << std::endl;
+                    std::cout << "Problem opening Tracking dump Log file: " << d_dump_filename.c_str() << std::endl;
                    return false;
                }
        }
--- a/src/utils/front-end-cal/main.cc
+++ b/src/utils/front-end-cal/main.cc
@ -191,7 +191,7 @@ bool front_end_capture(const std::shared_ptr<ConfigurationInterface>& configurat
    catch (const boost::exception_ptr& e)
        {
            std::cout << "Exception caught in creating source " << e << std::endl;
-            return 0;
+            return false;
        }

    std::shared_ptr<GNSSBlockInterface> conditioner;
@ -202,7 +202,7 @@ bool front_end_capture(const std::shared_ptr<ConfigurationInterface>& configurat
    catch (const boost::exception_ptr& e)
        {
            std::cout << "Exception caught in creating signal conditioner " << e << std::endl;
-            return 0;
+            return false;
        }
    gr::block_sptr sink;
    sink = gr::blocks::file_sink::make(sizeof(gr_complex), "tmp_capture.dat");
@ -430,7 +430,7 @@ int main(int argc, char** argv)
                    std::cout << "[";
                    start_msg = false;
                }
-            if (gnss_sync_vector.size() > 0)
+            if (!gnss_sync_vector.empty())
                {
                    std::cout << " " << PRN << " ";
                    double doppler_measurement_hz = 0;
@ -523,7 +523,7 @@ int main(int argc, char** argv)
    std::cout << "Longitude=" << lon_deg << " [º]" << std::endl;
    std::cout << "Altitude=" << altitude_m << " [m]" << std::endl;

-    if (doppler_measurements_map.size() == 0)
+    if (doppler_measurements_map.empty())
        {
            std::cout << "Sorry, no GPS satellites detected in the front-end capture, please check the antenna setup..." << std::endl;
            delete acquisition;
--- a/src/utils/rinex2assist/main.cc
+++ b/src/utils/rinex2assist/main.cc
@ -260,15 +260,15 @@ int main(int argc, char** argv)
                            eph.d_TGD = rne.Tgd;
                            eph.d_IODC = rne.IODC;
                            eph.i_AODO = 0;  //
-                            eph.b_fit_interval_flag = (rne.fitint > 4) ? 1 : 0;
+                            eph.b_fit_interval_flag = (rne.fitint > 4) ? true : false;
                            eph.d_spare1 = 0.0;
                            eph.d_spare2 = 0.0;
                            eph.d_A_f0 = rne.af0;
                            eph.d_A_f1 = rne.af1;
                            eph.d_A_f2 = rne.af2;
-                            eph.b_integrity_status_flag = 0;  //
-                            eph.b_alert_flag = 0;             //
-                            eph.b_antispoofing_flag = 0;      //
+                            eph.b_integrity_status_flag = false;  //
+                            eph.b_alert_flag = false;             //
+                            eph.b_antispoofing_flag = false;      //
                            eph_map[i] = eph;
                            i++;
                        }