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Switch to GNU Radio 3.7.x API 

git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@368 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas 2013-07-04 13:47:40 +00:00
parent 1e242e3e61
commit 58b280afb6
206 changed files with 4239 additions and 4751 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

238
CMakeLists.txt
View File

@ -39,8 +39,8 @@ list(APPEND CMAKE_MODULE_PATH ${gnss-sdr_project_SOURCE_DIR}/cmake/Modules)
# Set the version information here
set(VERSION_INFO_MAJOR_VERSION 0)
set(VERSION_INFO_API_COMPAT 0)
set(VERSION_INFO_MINOR_VERSION 1)
set(VERSION_INFO_API_COMPAT 2)
set(VERSION_INFO_MINOR_VERSION 0.svn)
set(VERSION ${VERSION_INFO_MAJOR_VERSION}.${VERSION_INFO_API_COMPAT}.${VERSION_INFO_MINOR_VERSION})
# Append -O2 optimization flag for Debug builds
@ -50,6 +50,7 @@ option(INSTALL_GNURADIO "Install GNU Radio and all its dependencies" OFF)
file(RELATIVE_PATH RELATIVE_CMAKE_CALL ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR})
########################################################################
# Environment setup
########################################################################
@ -65,7 +66,7 @@ endif(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
set(OperatingSystem "Mac OS X")
set(OS_IS_MACOSX TRUE)
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++0x")
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++11")
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LIBRARY "libc++")
endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
@ -86,108 +87,6 @@ else()
endif(GTEST_DIR)
################################################################################
# GNU Radio - http://gnuradio.org/redmine/projects/gnuradio/wiki
################################################################################
if(INSTALL_GNURADIO)
if(OperatingSystem MATCHES "Linux")
message("Trying to install GNU Radio and all its dependencies.")
message("This process can take a long time.")
set(GNURADIO_RELEASE "3.6.3")
set(UHD_RELEASE "003_005_000")
set(INSTALL_GNURADIO CACHE BOOL OFF FORCE)
file(DOWNLOAD http://www.sbrac.org/files/build-gnuradio
${CMAKE_CURRENT_BINARY_DIR}/download/build-gnuradio
)
file(COPY ${CMAKE_CURRENT_BINARY_DIR}/download/build-gnuradio
DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty
FILE_PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
)
execute_process(
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/build-gnuradio -l ${CMAKE_CURRENT_BINARY_DIR}/build-gnuradio.log
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty
)
# The flags -gt v${GNURADIO_RELEASE} -ut release_${UHD_RELEASE} do not work :-(
else(OperatingSystem MATCHES "Linux")
message( "The script http://www.sbrac.org/files/build-gnuradio does not work in your operating system.")
message( "Please visit http://gnuradio.org and find out how to install GNU Radio.")
message( "Once installed, run 'cmake ${RELATIVE_CMAKE_CALL}' again.")
endif(OperatingSystem MATCHES "Linux")
endif(INSTALL_GNURADIO)
find_package(GnuradioCore)
if(NOT GNURADIO_CORE_FOUND)
if(OperatingSystem MATCHES "Linux")
message( "If you are using Ubuntu, Fedora, RedHat, Debian or Mint")
message( "use 'cmake ${RELATIVE_CMAKE_CALL} -DINSTALL_GNURADIO=ON' to install GNU Radio and all its dependencies." )
endif(OperatingSystem MATCHES "Linux")
message(FATAL_ERROR "Please install GNU Radio and all its dependencies. Visit http://gnuradio.org")
endif(NOT GNURADIO_CORE_FOUND)
find_library(
GNURADIO_CORE_LIBRARIES
NAMES gnuradio-core
PATHS usr/local/lib
/usr/local/lib64
/usr/lib
/usr/lib64
)
find_library(
GR_FILTER_LIBRARIES
NAMES gnuradio-filter
PATHS usr/local/lib
/usr/local/lib64
/usr/lib
/usr/lib64
)
find_library(
GR_FFT_LIBRARIES
NAMES gnuradio-fft
PATHS usr/local/lib
/usr/local/lib64
/usr/lib
/usr/lib64
)
find_library(
GR_BLOCKS_LIBRARIES
NAMES gnuradio-blocks
PATHS usr/local/lib
/usr/local/lib64
/usr/lib
/usr/lib64
)
find_package(Gruel)
if(NOT GRUEL_FOUND)
message(FATAL_ERROR "Gruel required to build gnss-sdr")
endif()
link_libraries(${GRUEL_LIBRARIES})
include_directories(${GRUEL_INCLUDE_DIRS})
find_package(UHD)
if(NOT UHD_FOUND)
message(FATAL_ERROR "UHD required to build gnss-sdr")
endif()
find_package(GnuradioUHD)
if(NOT GNURADIO_UHD_FOUND)
message(FATAL_ERROR "Gnuradio UHD required to build gnss-sdr")
endif()
find_package(Volk)
if(NOT VOLK_FOUND)
message(FATAL_ERROR "Volk required to build gnss-sdr")
endif()
find_library(
VOLK_LIBRARIES
NAMES volk
PATHS usr/local/lib
/usr/local/lib64
/usr/lib
/usr/lib64
)
################################################################################
# Boost - http://www.boost.org
@ -210,24 +109,67 @@ find_package(Boost COMPONENTS date_time system filesystem thread serialization R
if(NOT Boost_FOUND)
message(FATAL_ERROR "Fatal error: Boost (version >=1.42.0) required.")
endif(NOT Boost_FOUND)
include_directories(${Boost_INCLUDE_DIRS})
################################################################################
# GNU Radio - http://gnuradio.org/redmine/projects/gnuradio/wiki
################################################################################
if(INSTALL_GNURADIO)
if(OperatingSystem MATCHES "Linux")
message("Trying to install GNU Radio and all its dependencies.")
message("This process can take a long time.")
#set(GNURADIO_RELEASE "3.6.3")
#set(UHD_RELEASE "003_005_000")
set(INSTALL_GNURADIO CACHE BOOL OFF FORCE)
file(DOWNLOAD http://www.sbrac.org/files/build-gnuradio
${CMAKE_CURRENT_BINARY_DIR}/download/build-gnuradio
)
file(COPY ${CMAKE_CURRENT_BINARY_DIR}/download/build-gnuradio
DESTINATION ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty
FILE_PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
)
execute_process(
COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/build-gnuradio -l ${CMAKE_CURRENT_BINARY_DIR}/build-gnuradio.log
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty
)
# The flags -gt v${GNURADIO_RELEASE} -ut release_${UHD_RELEASE} do not work :-(
else(OperatingSystem MATCHES "Linux")
message( "The script http://www.sbrac.org/files/build-gnuradio does not work in your operating system.")
message( "Please visit http://gnuradio.org and find out how to install GNU Radio.")
message( "Once installed, run 'cmake ${RELATIVE_CMAKE_CALL}' again.")
endif(OperatingSystem MATCHES "Linux")
endif(INSTALL_GNURADIO)
find_package(GnuradioRuntime)
find_package(GnuradioBlocks)
find_package(UHD)
find_package(GnuradioUHD)
#find_library(GnuradioAnalog)
find_package(GnuradioFilter)
find_package(GnuradioFft)
find_package(Volk)
if(NOT GNURADIO_RUNTIME_FOUND)
message(FATAL_ERROR "gnuradio-runtime 3.7 or later is required to build gnss-sdr")
endif()
################################################################################
# gflags - http://code.google.com/p/gflags/
################################################################################
set(LOCAL_GFLAGS false CACHE STRING "GFlags installed on the system")
find_package(GFlags)
if (NOT GFlags_FOUND OR LOCAL_GFLAGS)
if (NOT GFlags_FOUND)
message (" gflags library has not been found.")
message (" gflags will be downloaded and built automatically ")
message (" when doing 'make'. ")
set(gflags_RELEASE 2.0 CACHE STRING "Local gflags release")
set(gflags_MD5 "5fd4554d2ba84bf222a2fec0870d28df")
ExternalProject_Add(
gflags-${gflags_RELEASE}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/gflags-${gflags_RELEASE}
@ -256,10 +198,8 @@ if (NOT GFlags_FOUND OR LOCAL_GFLAGS)
link_directories(${GFlags_LIBRARY_PATH})
set(GFlags_lib ${GFlags_LIBS} CACHE FILEPATH "Local Gflags library")
set(GFlags_LIBRARY_PATH ${GFlags_LIBS})
set(LOCAL_GFLAGS true CACHE STRING "GFlags downloaded and build automatically")
endif(NOT GFlags_FOUND OR LOCAL_GFLAGS)
include_directories(${GFlags_INCLUDE_DIRS})
set(LOCAL_GFLAGS true CACHE STRING "GFlags downloaded and build automatically" FORCE)
endif(NOT GFlags_FOUND)
@ -270,14 +210,14 @@ include_directories(${GFlags_INCLUDE_DIRS})
find_package(GLOG)
if (NOT GLOG_FOUND OR LOCAL_GFLAGS)
message (" glog library has not been found")
if(LOCAL_GFLAGS)
if(NOT GFlags_FOUND)
message(" or it is likely not linked to gflags.")
endif(LOCAL_GFLAGS)
endif(NOT GFlags_FOUND)
message (" glog will be downloaded and built automatically ")
message (" when doing 'make'. ")
set(glog_RELEASE 0.3.3)
set(glog_MD5 "a6fd2c22f8996846e34c763422717c18")
if(LOCAL_GFLAGS)
if(LOCAL_GFLAGS)
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}/tmp/configure_with_gflags
"#!/bin/sh
export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
@ -288,11 +228,20 @@ export LIBS=${GFlags_SHARED_LIBS}
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}
FILE_PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ
GROUP_EXECUTE WORLD_READ WORLD_EXECUTE)
set(GLOG_CONFIGURE ${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}/configure_with_gflags)
else(LOCAL_GFLAGS)
set(GLOG_CONFIGURE ../../thirdparty/glog/glog-${glog_RELEASE}/configure)
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}/tmp/configure_with_gflags
"#!/bin/sh
export CPPFLAGS=-I${GFlags_INCLUDE_DIRS}
export LDFLAGS=-L${GFlags_LIBRARY_DIRS}
export LIBS=${GFlags_LIBS}
../../thirdparty/glog/glog-${glog_RELEASE}/configure")
file(COPY ${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}/tmp/configure_with_gflags
DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}
FILE_PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ
GROUP_EXECUTE WORLD_READ WORLD_EXECUTE)
endif(LOCAL_GFLAGS)
set(GLOG_CONFIGURE ${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}/configure_with_gflags)
ExternalProject_Add(
glog-${glog_RELEASE}
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}
@ -301,7 +250,7 @@ export LIBS=${GFlags_SHARED_LIBS}
URL_MD5 ${glog_MD5}
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${glog_RELEASE}
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}
CONFIGURE_COMMAND ${GLOG_CONFIGURE} --prefix=<INSTALL_DIR>
CONFIGURE_COMMAND ${GLOG_CONFIGURE} --prefix=<INSTALL_DIR>
BUILD_COMMAND make
UPDATE_COMMAND ""
PATCH_COMMAND ""
@ -315,8 +264,8 @@ export LIBS=${GFlags_SHARED_LIBS}
set(GLOG_LIBRARIES
${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}/.libs/${CMAKE_FIND_LIBRARY_PREFIXES}glog.a
)
set(LOCAL_GLOG true)
endif(NOT GLOG_FOUND OR LOCAL_GFLAGS)
include_directories(${GLOG_INCLUDE_DIRS})
@ -328,7 +277,7 @@ set(GCC_GPERFTOOLS_FLAGS "")
find_package(Gperftools)
if ( NOT GPERFTOOLS_FOUND )
message("The optional library GPerftools has not been found.")
else()
else( NOT GPERFTOOLS_FOUND )
message ( "GPerftools library found." )
link_libraries(profiler tcmalloc)
endif( NOT GPERFTOOLS_FOUND )
@ -401,23 +350,23 @@ if(NOT ARMADILLO_FOUND)
message (" Armadillo has not been found.")
message (" Armadillo will be downloaded and built automatically ")
message (" when doing 'make'. ")
set(armadillo_RELEASE 3.6.2)
set(armadillo_MD5 "0ccb90f5f40d936a59785eff10c362ad")
set(armadillo_RELEASE 3.810.2)
set(armadillo_MD5 "f91e3aff360d6a21fa7db36bb3dfe35f")
if(EXISTS ${CMAKE_CURRENT_BINARY_DIR}/download/armadillo-${armadillo_RELEASE}/armadillo-${armadillo_RELEASE}.tar.gz)
set(ARMADILLO_PATCH_FILE ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}/armadillo_no.patch)
file(WRITE ${ARMADILLO_PATCH_FILE} "")
else(EXISTS ${CMAKE_CURRENT_BINARY_DIR}/download/armadillo-${armadillo_RELEASE}/armadillo-${armadillo_RELEASE}.tar.gz)
set(ARMADILLO_PATCH_FILE ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}/armadillo_staticlib.patch)
file(WRITE ${ARMADILLO_PATCH_FILE}
"43c43
< set(ARMA_USE_WRAPPER true ) # set this to false if you prefer to directly link with LAPACK and/or BLAS (eg. -llapack -lblas) instead of -larmadillo
"35c35
< set(ARMA_USE_WRAPPER true )
---
> set(ARMA_USE_WRAPPER false) # set this to false if you prefer to directly link with LAPACK and/or BLAS (eg. -llapack -lblas) instead of -larmadillo
274c274
> set(ARMA_USE_WRAPPER false)
292c292
< add_library( armadillo SHARED src/wrap_libs )
---
> add_library( armadillo STATIC src/wrap_libs )
")
")
endif(EXISTS ${CMAKE_CURRENT_BINARY_DIR}/download/armadillo-${armadillo_RELEASE}/armadillo-${armadillo_RELEASE}.tar.gz)
ExternalProject_Add(
armadillo-${armadillo_RELEASE}
@ -460,8 +409,8 @@ endif($ENV{GN3S_DRIVER} )
if( $ENV{RTLSDR_DRIVER} )
message( "RTLSDR_DRIVER variable found." )
# find libosmosdr
# find gr-osmosdr
# find libosmosdr (done in src/algorithms/signal_sources/adapters)
# find gr-osmosdr (done in src/algorithms/signal_sources/adapters)
endif($ENV{RTLSDR_DRIVER} )
@ -469,13 +418,19 @@ endif($ENV{RTLSDR_DRIVER} )
# Setup the include paths
########################################################################
include_directories(
${GNURADIO_CORE_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${UHD_INCLUDE_DIRS}
${GPERFTOOLS_INCLUDE_DIRS}
)
#include_directories(
# ${Boost_INCLUDE_DIRS}
# ${GNURADIO_RUNTIME_INCLUDE_DIRS}
# ${GNURADIO_BLOCKS_INCLUDE_DIRS}
# ${UHD_INCLUDE_DIRS}
# ${GNURADIO_UHD_INCLUDE_DIRS}
# ${GNURADIO_FILTER_INCLUDE_DIRS}
# ${GNURADIO_FFT_INCLUDE_DIRS}
# ${ARMADILLO_INCLUDE_DIRS}
# ${GLOG_INCLUDE_DIRS}
# ${GFlags_INCLUDE_DIRS}
# ${GPERFTOOLS_INCLUDE_DIRS}
#)
########################################################################
@ -487,6 +442,9 @@ include_directories(
if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++0x")
endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11 -stdlib=libc++ -Wno-c++11-narrowing")
endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
# Add warning flags
# For "-Wall" see http://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
@ -514,18 +472,18 @@ endif(GPERFTOOLS_FOUND)
# Detect 64-bits machine
if( CMAKE_SIZEOF_VOID_P EQUAL 8 )
# message("64-bits architecture detected.")
#set(MY_CXX_FLAGS "${MY_CXX_FLAGS} ...")
# link_libraries(pthread) # Needed by Fedora 18
message("64-bits architecture detected.")
endif( CMAKE_SIZEOF_VOID_P EQUAL 8 )
list(APPEND CMAKE_CXX_FLAGS ${MY_CXX_FLAGS})
#add_definitions( -DGNSS_SDR_VERSION="${VERSION}" )
########################################################################
# Add subdirectories (in order of deps)
########################################################################
add_subdirectory(src)

6
cmake/Modules/FindGnuradioAnalog.cmake Normal file
View File

@ -0,0 +1,6 @@
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(GNURADIO_ANALOG gnuradio-analog>=3.7)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_ANALOG DEFAULT_MSG GNURADIO_ANALOG_LIBRARIES GNURADIO_ANALOG_INCLUDE_DIRS)
MARK_AS_ADVANCED(GNURADIO_ANALOG_LIBRARIES GNURADIO_ANALOG_INCLUDE_DIRS)

6
cmake/Modules/FindGnuradioBlocks.cmake Normal file
View File

@ -0,0 +1,6 @@
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(GNURADIO_BLOCKS gnuradio-blocks>=3.7)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_BLOCKS DEFAULT_MSG GNURADIO_BLOCKS_LIBRARIES GNURADIO_BLOCKS_INCLUDE_DIRS)
MARK_AS_ADVANCED(GNURADIO_BLOCKS_LIBRARIES GNURADIO_BLOCKS_INCLUDE_DIRS)

26
cmake/Modules/FindGnuradioCore.cmake
View File

@ -1,26 +0,0 @@
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_GNURADIO_CORE gnuradio-core)
FIND_PATH(
GNURADIO_CORE_INCLUDE_DIRS
NAMES gr_random.h
HINTS $ENV{GNURADIO_CORE_DIR}/include/gnuradio
${PC_GNURADIO_CORE_INCLUDEDIR}
PATHS /usr/local/include/gnuradio
/usr/include/gnuradio
)
FIND_LIBRARY(
GNURADIO_CORE_LIBRARIES
NAMES gnuradio-core
HINTS $ENV{GNURADIO_CORE_DIR}/lib
${PC_GNURADIO_CORE_LIBDIR}
PATHS /usr/local/lib
/usr/local/lib64
/usr/lib
/usr/lib64
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_CORE DEFAULT_MSG GNURADIO_CORE_LIBRARIES GNURADIO_CORE_INCLUDE_DIRS)
MARK_AS_ADVANCED(GNURADIO_CORE_LIBRARIES GNURADIO_CORE_INCLUDE_DIRS)

6
cmake/Modules/FindGnuradioFft.cmake Normal file
View File

@ -0,0 +1,6 @@
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(GNURADIO_FFT gnuradio-fft>=3.7)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_FFT DEFAULT_MSG GNURADIO_FFT_LIBRARIES GNURADIO_FFT_INCLUDE_DIRS)
MARK_AS_ADVANCED(GNURADIO_FFT_LIBRARIES GNURADIO_FFT_INCLUDE_DIRS)

6
cmake/Modules/FindGnuradioFilter.cmake Normal file
View File

@ -0,0 +1,6 @@
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(GNURADIO_FILTER gnuradio-filter>=3.7)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_FILTER DEFAULT_MSG GNURADIO_FILTER_LIBRARIES GNURADIO_FILTER_INCLUDE_DIRS)
MARK_AS_ADVANCED(GNURADIO_FILTER_LIBRARIES GNURADIO_FILTER_INCLUDE_DIRS)

7
cmake/Modules/FindGnuradioRuntime.cmake Normal file
View File

@ -0,0 +1,7 @@
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(GNURADIO_RUNTIME gnuradio-runtime>=3.7)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_RUNTIME DEFAULT_MSG GNURADIO_RUNTIME_LIBRARIES GNURADIO_RUNTIME_INCLUDE_DIRS)
MARK_AS_ADVANCED(GNURADIO_RUNTIME_LIBRARIES GNURADIO_RUNTIME_INCLUDE_DIRS)

22
cmake/Modules/FindGnuradioUHD.cmake
View File

@ -1,25 +1,5 @@
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_GNURADIO_UHD gnuradio-uhd)
FIND_PATH(
GNURADIO_UHD_INCLUDE_DIRS
NAMES gnuradio/gr_uhd_api.h
HINTS $ENV{GNURADIO_UHD_DIR}/include
${PC_GNURADIO_UHD_INCLUDEDIR}
PATHS /usr/local/include
/usr/include
)
FIND_LIBRARY(
GNURADIO_UHD_LIBRARIES
NAMES gnuradio-uhd
HINTS $ENV{GNURADIO_UHD_DIR}/lib
${PC_GNURADIO_UHD_LIBDIR}
PATHS /usr/local/lib
/usr/local/lib64
/usr/lib
/usr/lib64
)
PKG_CHECK_MODULES(GNURADIO_UHD gnuradio-uhd>=3.7)
if(GNURADIO_UHD_INCLUDE_DIRS AND GNURADIO_UHD_LIBRARIES)
set(GNURADIO_UHD_FOUND TRUE CACHE INTERNAL "gnuradio-uhd found")

4
cmake/Modules/FindGrOsmoSDR.cmake
View File

@ -20,8 +20,8 @@
FIND_PATH(GROSMOSDR_INCLUDE_DIR
NAMES osmosdr/osmosdr_source_c.h
osmosdr/osmosdr_api.h
NAMES osmosdr/source_c.h
osmosdr/api.h
HINTS ${GrOsmoSDR_ROOT_DIR}/include
PATHS /usr/local/include
/usr/include

26
cmake/Modules/FindGruel.cmake
View File

@ -1,26 +0,0 @@
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_GRUEL gruel)
FIND_PATH(
GRUEL_INCLUDE_DIRS
NAMES gruel/attributes.h
HINTS $ENV{GRUEL_DIR}/include
${PC_GRUEL_INCLUDEDIR}
PATHS /usr/local/include
/usr/include
)
FIND_LIBRARY(
GRUEL_LIBRARIES
NAMES gruel
HINTS $ENV{GRUEL_DIR}/lib
${PC_GRUEL_LIBDIR}
PATHS /usr/local/lib
/usr/local/lib64
/usr/lib
/usr/lib64
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GRUEL DEFAULT_MSG GRUEL_LIBRARIES GRUEL_INCLUDE_DIRS)
MARK_AS_ADVANCED(GRUEL_LIBRARIES GRUEL_INCLUDE_DIRS)

210
cmake/Modules/GrMiscUtils.cmake
View File

@ -1,210 +0,0 @@
# Copyright 2010-2011 Free Software Foundation, Inc.
#
# This file is part of GNU Radio
#
# GNU Radio is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3, or (at your option)
# any later version.
#
# GNU Radio is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GNU Radio; see the file COPYING. If not, write to
# the Free Software Foundation, Inc., 51 Franklin Street,
# Boston, MA 02110-1301, USA.
if(DEFINED __INCLUDED_GR_MISC_UTILS_CMAKE)
return()
endif()
set(__INCLUDED_GR_MISC_UTILS_CMAKE TRUE)
########################################################################
# Set global variable macro.
# Used for subdirectories to export settings.
# Example: include and library paths.
########################################################################
function(GR_SET_GLOBAL var)
set(${var} ${ARGN} CACHE INTERNAL "" FORCE)
endfunction(GR_SET_GLOBAL)
########################################################################
# Set the pre-processor definition if the condition is true.
# - def the pre-processor definition to set and condition name
########################################################################
function(GR_ADD_COND_DEF def)
if(${def})
add_definitions(-D${def})
endif(${def})
endfunction(GR_ADD_COND_DEF)
########################################################################
# Check for a header and conditionally set a compile define.
# - hdr the relative path to the header file
# - def the pre-processor definition to set
########################################################################
function(GR_CHECK_HDR_N_DEF hdr def)
include(CheckIncludeFileCXX)
CHECK_INCLUDE_FILE_CXX(${hdr} ${def})
GR_ADD_COND_DEF(${def})
endfunction(GR_CHECK_HDR_N_DEF)
########################################################################
# Include subdirectory macro.
# Sets the CMake directory variables,
# includes the subdirectory CMakeLists.txt,
# resets the CMake directory variables.
#
# This macro includes subdirectories rather than adding them
# so that the subdirectory can affect variables in the level above.
# This provides a work-around for the lack of convenience libraries.
# This way a subdirectory can append to the list of library sources.
########################################################################
macro(GR_INCLUDE_SUBDIRECTORY subdir)
#insert the current directories on the front of the list
list(INSERT _cmake_source_dirs 0 ${CMAKE_CURRENT_SOURCE_DIR})
list(INSERT _cmake_binary_dirs 0 ${CMAKE_CURRENT_BINARY_DIR})
#set the current directories to the names of the subdirs
set(CMAKE_CURRENT_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/${subdir})
set(CMAKE_CURRENT_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/${subdir})
#include the subdirectory CMakeLists to run it
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
include(${CMAKE_CURRENT_SOURCE_DIR}/CMakeLists.txt)
#reset the value of the current directories
list(GET _cmake_source_dirs 0 CMAKE_CURRENT_SOURCE_DIR)
list(GET _cmake_binary_dirs 0 CMAKE_CURRENT_BINARY_DIR)
#pop the subdir names of the front of the list
list(REMOVE_AT _cmake_source_dirs 0)
list(REMOVE_AT _cmake_binary_dirs 0)
endmacro(GR_INCLUDE_SUBDIRECTORY)
########################################################################
# Check if a compiler flag works and conditionally set a compile define.
# - flag the compiler flag to check for
# - have the variable to set with result
########################################################################
macro(GR_ADD_CXX_COMPILER_FLAG_IF_AVAILABLE flag have)
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG(${flag} ${have})
if(${have})
add_definitions(${flag})
endif(${have})
endmacro(GR_ADD_CXX_COMPILER_FLAG_IF_AVAILABLE)
########################################################################
# Generates the .la libtool file
# This appears to generate libtool files that cannot be used by auto*.
# Usage GR_LIBTOOL(TARGET [target] DESTINATION [dest])
# Notice: there is not COMPONENT option, these will not get distributed.
########################################################################
function(GR_LIBTOOL)
if(NOT DEFINED GENERATE_LIBTOOL)
set(GENERATE_LIBTOOL OFF) #disabled by default
endif()
if(GENERATE_LIBTOOL)
include(CMakeParseArgumentsCopy)
CMAKE_PARSE_ARGUMENTS(GR_LIBTOOL "" "TARGET;DESTINATION" "" ${ARGN})
find_program(LIBTOOL libtool)
if(LIBTOOL)
include(CMakeMacroLibtoolFile)
CREATE_LIBTOOL_FILE(${GR_LIBTOOL_TARGET} /${GR_LIBTOOL_DESTINATION})
endif(LIBTOOL)
endif(GENERATE_LIBTOOL)
endfunction(GR_LIBTOOL)
########################################################################
# Do standard things to the library target
# - set target properties
# - make install rules
# Also handle gnuradio custom naming conventions w/ extras mode.
########################################################################
function(GR_LIBRARY_FOO target)
#parse the arguments for component names
include(CMakeParseArgumentsCopy)
CMAKE_PARSE_ARGUMENTS(GR_LIBRARY "" "RUNTIME_COMPONENT;DEVEL_COMPONENT" "" ${ARGN})
#set additional target properties
set_target_properties(${target} PROPERTIES SOVERSION ${LIBVER})
#install the generated files like so...
install(TARGETS ${target}
LIBRARY DESTINATION ${GR_LIBRARY_DIR} COMPONENT ${GR_LIBRARY_RUNTIME_COMPONENT} # .so/.dylib file
ARCHIVE DESTINATION ${GR_LIBRARY_DIR} COMPONENT ${GR_LIBRARY_DEVEL_COMPONENT} # .lib file
RUNTIME DESTINATION ${GR_RUNTIME_DIR} COMPONENT ${GR_LIBRARY_RUNTIME_COMPONENT} # .dll file
)
#extras mode enabled automatically on linux
if(NOT DEFINED LIBRARY_EXTRAS)
set(LIBRARY_EXTRAS ${LINUX})
endif()
#special extras mode to enable alternative naming conventions
if(LIBRARY_EXTRAS)
#create .la file before changing props
GR_LIBTOOL(TARGET ${target} DESTINATION ${GR_LIBRARY_DIR})
#give the library a special name with ultra-zero soversion
set_target_properties(${target} PROPERTIES LIBRARY_OUTPUT_NAME ${target}-${LIBVER} SOVERSION "0.0.0")
set(target_name lib${target}-${LIBVER}.so.0.0.0)
#custom command to generate symlinks
add_custom_command(
TARGET ${target}
POST_BUILD
COMMAND ${CMAKE_COMMAND} -E create_symlink ${target_name} ${CMAKE_CURRENT_BINARY_DIR}/lib${target}.so
COMMAND ${CMAKE_COMMAND} -E create_symlink ${target_name} ${CMAKE_CURRENT_BINARY_DIR}/lib${target}-${LIBVER}.so.0
COMMAND ${CMAKE_COMMAND} -E touch ${target_name} #so the symlinks point to something valid so cmake 2.6 will install
)
#and install the extra symlinks
install(
FILES
${CMAKE_CURRENT_BINARY_DIR}/lib${target}.so
${CMAKE_CURRENT_BINARY_DIR}/lib${target}-${LIBVER}.so.0
DESTINATION ${GR_LIBRARY_DIR} COMPONENT ${GR_LIBRARY_RUNTIME_COMPONENT}
)
endif(LIBRARY_EXTRAS)
endfunction(GR_LIBRARY_FOO)
########################################################################
# Create a dummy custom command that depends on other targets.
# Usage:
# GR_GEN_TARGET_DEPS(unique_name target_deps <target1> <target2> ...)
# ADD_CUSTOM_COMMAND(<the usual args> ${target_deps})
#
# Custom command cant depend on targets, but can depend on executables,
# and executables can depend on targets. So this is the process:
########################################################################
function(GR_GEN_TARGET_DEPS name var)
file(
WRITE ${CMAKE_CURRENT_BINARY_DIR}/${name}.cpp.in
"int main(void){return 0;}\n"
)
execute_process(
COMMAND ${CMAKE_COMMAND} -E copy_if_different
${CMAKE_CURRENT_BINARY_DIR}/${name}.cpp.in
${CMAKE_CURRENT_BINARY_DIR}/${name}.cpp
)
add_executable(${name} ${CMAKE_CURRENT_BINARY_DIR}/${name}.cpp)
if(ARGN)
add_dependencies(${name} ${ARGN})
endif(ARGN)
if(CMAKE_CROSSCOMPILING)
set(${var} "DEPENDS;${name}" PARENT_SCOPE) #cant call command when cross
else()
set(${var} "DEPENDS;${name};COMMAND;${name}" PARENT_SCOPE)
endif()
endfunction(GR_GEN_TARGET_DEPS)

46
cmake/Modules/GrPlatform.cmake
View File

@ -1,46 +0,0 @@
# Copyright 2011 Free Software Foundation, Inc.
#
# This file is part of GNU Radio
#
# GNU Radio is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3, or (at your option)
# any later version.
#
# GNU Radio is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GNU Radio; see the file COPYING. If not, write to
# the Free Software Foundation, Inc., 51 Franklin Street,
# Boston, MA 02110-1301, USA.
if(DEFINED __INCLUDED_GR_PLATFORM_CMAKE)
return()
endif()
set(__INCLUDED_GR_PLATFORM_CMAKE TRUE)
########################################################################
# Setup additional defines for OS types
########################################################################
if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
set(LINUX TRUE)
endif()
if(LINUX AND EXISTS "/etc/debian_version")
set(DEBIAN TRUE)
endif()
if(LINUX AND EXISTS "/etc/redhat-release")
set(REDHAT TRUE)
endif()
########################################################################
# when the library suffix should be 64 (applies to redhat linux family)
########################################################################
if(NOT DEFINED LIB_SUFFIX AND REDHAT AND CMAKE_SYSTEM_PROCESSOR MATCHES "64$")
set(LIB_SUFFIX 64)
endif()
set(LIB_SUFFIX ${LIB_SUFFIX} CACHE STRING "lib directory suffix")

227
cmake/Modules/GrPython.cmake
View File

@ -1,227 +0,0 @@
# Copyright 2010-2011 Free Software Foundation, Inc.
#
# This file is part of GNU Radio
#
# GNU Radio is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3, or (at your option)
# any later version.
#
# GNU Radio is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GNU Radio; see the file COPYING. If not, write to
# the Free Software Foundation, Inc., 51 Franklin Street,
# Boston, MA 02110-1301, USA.
if(DEFINED __INCLUDED_GR_PYTHON_CMAKE)
return()
endif()
set(__INCLUDED_GR_PYTHON_CMAKE TRUE)
########################################################################
# Setup the python interpreter:
# This allows the user to specify a specific interpreter,
# or finds the interpreter via the built-in cmake module.
########################################################################
#this allows the user to override PYTHON_EXECUTABLE
if(PYTHON_EXECUTABLE)
set(PYTHONINTERP_FOUND TRUE)
#otherwise if not set, try to automatically find it
else(PYTHON_EXECUTABLE)
#use the built-in find script
find_package(PythonInterp)
#and if that fails use the find program routine
if(NOT PYTHONINTERP_FOUND)
find_program(PYTHON_EXECUTABLE NAMES python python2.7 python2.6 python2.5)
if(PYTHON_EXECUTABLE)
set(PYTHONINTERP_FOUND TRUE)
endif(PYTHON_EXECUTABLE)
endif(NOT PYTHONINTERP_FOUND)
endif(PYTHON_EXECUTABLE)
#make the path to the executable appear in the cmake gui
set(PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE} CACHE FILEPATH "python interpreter")
#make sure we can use -B with python (introduced in 2.6)
if(PYTHON_EXECUTABLE)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} -B -c ""
OUTPUT_QUIET ERROR_QUIET
RESULT_VARIABLE PYTHON_HAS_DASH_B_RESULT
)
if(PYTHON_HAS_DASH_B_RESULT EQUAL 0)
set(PYTHON_DASH_B "-B")
endif()
endif(PYTHON_EXECUTABLE)
########################################################################
# Check for the existence of a python module:
# - desc a string description of the check
# - mod the name of the module to import
# - cmd an additional command to run
# - have the result variable to set
########################################################################
macro(GR_PYTHON_CHECK_MODULE desc mod cmd have)
message(STATUS "")
message(STATUS "Python checking for ${desc}")
execute_process(
COMMAND ${PYTHON_EXECUTABLE} -c "
#########################################
try: import ${mod}
except: exit(-1)
try: assert ${cmd}
except: exit(-1)
#########################################"
RESULT_VARIABLE ${have}
)
if(${have} EQUAL 0)
message(STATUS "Python checking for ${desc} - found")
set(${have} TRUE)
else(${have} EQUAL 0)
message(STATUS "Python checking for ${desc} - not found")
set(${have} FALSE)
endif(${have} EQUAL 0)
endmacro(GR_PYTHON_CHECK_MODULE)
########################################################################
# Sets the python installation directory GR_PYTHON_DIR
########################################################################
execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "
from distutils import sysconfig
print sysconfig.get_python_lib(plat_specific=True, prefix='')
" OUTPUT_VARIABLE GR_PYTHON_DIR OUTPUT_STRIP_TRAILING_WHITESPACE
)
file(TO_CMAKE_PATH ${GR_PYTHON_DIR} GR_PYTHON_DIR)
########################################################################
# Create an always-built target with a unique name
# Usage: GR_UNIQUE_TARGET(<description> <dependencies list>)
########################################################################
function(GR_UNIQUE_TARGET desc)
file(RELATIVE_PATH reldir ${CMAKE_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR})
execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import re, hashlib
unique = hashlib.md5('${reldir}${ARGN}').hexdigest()[:5]
print(re.sub('\\W', '_', '${desc} ${reldir} ' + unique))"
OUTPUT_VARIABLE _target OUTPUT_STRIP_TRAILING_WHITESPACE)
add_custom_target(${_target} ALL DEPENDS ${ARGN})
endfunction(GR_UNIQUE_TARGET)
########################################################################
# Install python sources (also builds and installs byte-compiled python)
########################################################################
function(GR_PYTHON_INSTALL)
include(CMakeParseArgumentsCopy)
CMAKE_PARSE_ARGUMENTS(GR_PYTHON_INSTALL "" "DESTINATION;COMPONENT" "FILES;PROGRAMS" ${ARGN})
####################################################################
if(GR_PYTHON_INSTALL_FILES)
####################################################################
install(${ARGN}) #installs regular python files
#create a list of all generated files
unset(pysrcfiles)
unset(pycfiles)
unset(pyofiles)
foreach(pyfile ${GR_PYTHON_INSTALL_FILES})
get_filename_component(pyfile ${pyfile} ABSOLUTE)
list(APPEND pysrcfiles ${pyfile})
#determine if this file is in the source or binary directory
file(RELATIVE_PATH source_rel_path ${CMAKE_CURRENT_SOURCE_DIR} ${pyfile})
string(LENGTH "${source_rel_path}" source_rel_path_len)
file(RELATIVE_PATH binary_rel_path ${CMAKE_CURRENT_BINARY_DIR} ${pyfile})
string(LENGTH "${binary_rel_path}" binary_rel_path_len)
#and set the generated path appropriately
if(${source_rel_path_len} GREATER ${binary_rel_path_len})
set(pygenfile ${CMAKE_CURRENT_BINARY_DIR}/${binary_rel_path})
else()
set(pygenfile ${CMAKE_CURRENT_BINARY_DIR}/${source_rel_path})
endif()
list(APPEND pycfiles ${pygenfile}c)
list(APPEND pyofiles ${pygenfile}o)
#ensure generation path exists
get_filename_component(pygen_path ${pygenfile} PATH)
file(MAKE_DIRECTORY ${pygen_path})
endforeach(pyfile)
#the command to generate the pyc files
add_custom_command(
DEPENDS ${pysrcfiles} OUTPUT ${pycfiles}
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_BINARY_DIR}/python_compile_helper.py ${pysrcfiles} ${pycfiles}
)
#the command to generate the pyo files
add_custom_command(
DEPENDS ${pysrcfiles} OUTPUT ${pyofiles}
COMMAND ${PYTHON_EXECUTABLE} -O ${CMAKE_BINARY_DIR}/python_compile_helper.py ${pysrcfiles} ${pyofiles}
)
#create install rule and add generated files to target list
set(python_install_gen_targets ${pycfiles} ${pyofiles})
install(FILES ${python_install_gen_targets}
DESTINATION ${GR_PYTHON_INSTALL_DESTINATION}
COMPONENT ${GR_PYTHON_INSTALL_COMPONENT}
)
####################################################################
elseif(GR_PYTHON_INSTALL_PROGRAMS)
####################################################################
file(TO_NATIVE_PATH ${PYTHON_EXECUTABLE} pyexe_native)
foreach(pyfile ${GR_PYTHON_INSTALL_PROGRAMS})
get_filename_component(pyfile_name ${pyfile} NAME)
get_filename_component(pyfile ${pyfile} ABSOLUTE)
string(REPLACE "${CMAKE_SOURCE_DIR}" "${CMAKE_BINARY_DIR}" pyexefile "${pyfile}.exe")
list(APPEND python_install_gen_targets ${pyexefile})
get_filename_component(pyexefile_path ${pyexefile} PATH)
file(MAKE_DIRECTORY ${pyexefile_path})
add_custom_command(
OUTPUT ${pyexefile} DEPENDS ${pyfile}
COMMAND ${PYTHON_EXECUTABLE} -c
\"open('${pyexefile}', 'w').write('\#!${pyexe_native}\\n'+open('${pyfile}').read())\"
COMMENT "Shebangin ${pyfile_name}"
)
#on windows, python files need an extension to execute
get_filename_component(pyfile_ext ${pyfile} EXT)
if(WIN32 AND NOT pyfile_ext)
set(pyfile_name "${pyfile_name}.py")
endif()
install(PROGRAMS ${pyexefile} RENAME ${pyfile_name}
DESTINATION ${GR_PYTHON_INSTALL_DESTINATION}
COMPONENT ${GR_PYTHON_INSTALL_COMPONENT}
)
endforeach(pyfile)
endif()
GR_UNIQUE_TARGET("pygen" ${python_install_gen_targets})
endfunction(GR_PYTHON_INSTALL)
########################################################################
# Write the python helper script that generates byte code files
########################################################################
file(WRITE ${CMAKE_BINARY_DIR}/python_compile_helper.py "
import sys, py_compile
files = sys.argv[1:]
srcs, gens = files[:len(files)/2], files[len(files)/2:]
for src, gen in zip(srcs, gens):
py_compile.compile(file=src, cfile=gen, doraise=True)
")

229
cmake/Modules/GrSwig.cmake
View File

@ -1,229 +0,0 @@
# Copyright 2010-2011 Free Software Foundation, Inc.
#
# This file is part of GNU Radio
#
# GNU Radio is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3, or (at your option)
# any later version.
#
# GNU Radio is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GNU Radio; see the file COPYING. If not, write to
# the Free Software Foundation, Inc., 51 Franklin Street,
# Boston, MA 02110-1301, USA.
if(DEFINED __INCLUDED_GR_SWIG_CMAKE)
return()
endif()
set(__INCLUDED_GR_SWIG_CMAKE TRUE)
include(GrPython)
########################################################################
# Builds a swig documentation file to be generated into python docstrings
# Usage: GR_SWIG_MAKE_DOCS(output_file input_path input_path....)
#
# Set the following variable to specify extra dependent targets:
# - GR_SWIG_DOCS_SOURCE_DEPS
# - GR_SWIG_DOCS_TARGET_DEPS
########################################################################
function(GR_SWIG_MAKE_DOCS output_file)
find_package(Doxygen)
if(DOXYGEN_FOUND)
#setup the input files variable list, quote formated
set(input_files)
unset(INPUT_PATHS)
foreach(input_path ${ARGN})
if (IS_DIRECTORY ${input_path}) #when input path is a directory
file(GLOB input_path_h_files ${input_path}/*.h)
else() #otherwise its just a file, no glob
set(input_path_h_files ${input_path})
endif()
list(APPEND input_files ${input_path_h_files})
set(INPUT_PATHS "${INPUT_PATHS} \"${input_path}\"")
endforeach(input_path)
#determine the output directory
get_filename_component(name ${output_file} NAME_WE)
get_filename_component(OUTPUT_DIRECTORY ${output_file} PATH)
set(OUTPUT_DIRECTORY ${OUTPUT_DIRECTORY}/${name}_swig_docs)
make_directory(${OUTPUT_DIRECTORY})
#generate the Doxyfile used by doxygen
configure_file(
${CMAKE_SOURCE_DIR}/docs/doxygen/Doxyfile.swig_doc.in
${OUTPUT_DIRECTORY}/Doxyfile
@ONLY)
#Create a dummy custom command that depends on other targets
include(GrMiscUtils)
GR_GEN_TARGET_DEPS(_${name}_tag tag_deps ${GR_SWIG_DOCS_TARGET_DEPS})
#call doxygen on the Doxyfile + input headers
add_custom_command(
OUTPUT ${OUTPUT_DIRECTORY}/xml/index.xml
DEPENDS ${input_files} ${GR_SWIG_DOCS_SOURCE_DEPS} ${tag_deps}
COMMAND ${DOXYGEN_EXECUTABLE} ${OUTPUT_DIRECTORY}/Doxyfile
COMMENT "Generating doxygen xml for ${name} docs"
)
#call the swig_doc script on the xml files
add_custom_command(
OUTPUT ${output_file}
DEPENDS ${input_files} ${OUTPUT_DIRECTORY}/xml/index.xml
COMMAND ${PYTHON_EXECUTABLE} ${PYTHON_DASH_B}
${CMAKE_SOURCE_DIR}/docs/doxygen/swig_doc.py
${OUTPUT_DIRECTORY}/xml
${output_file}
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/docs/doxygen
)
else(DOXYGEN_FOUND)
file(WRITE ${output_file} "\n") #no doxygen -> empty file
endif(DOXYGEN_FOUND)
endfunction(GR_SWIG_MAKE_DOCS)
########################################################################
# Build a swig target for the common gnuradio use case. Usage:
# GR_SWIG_MAKE(target ifile ifile ifile...)
#
# Set the following variables before calling:
# - GR_SWIG_FLAGS
# - GR_SWIG_INCLUDE_DIRS
# - GR_SWIG_LIBRARIES
# - GR_SWIG_SOURCE_DEPS
# - GR_SWIG_TARGET_DEPS
# - GR_SWIG_DOC_FILE
# - GR_SWIG_DOC_DIRS
########################################################################
macro(GR_SWIG_MAKE name)
set(ifiles ${ARGN})
#do swig doc generation if specified
if (GR_SWIG_DOC_FILE)
set(GR_SWIG_DOCS_SOURCE_DEPS ${GR_SWIG_SOURCE_DEPS})
set(GR_SWIG_DOCS_TAREGT_DEPS ${GR_SWIG_TARGET_DEPS})
GR_SWIG_MAKE_DOCS(${GR_SWIG_DOC_FILE} ${GR_SWIG_DOC_DIRS})
list(APPEND GR_SWIG_SOURCE_DEPS ${GR_SWIG_DOC_FILE})
endif()
#append additional include directories
find_package(PythonLibs)
list(APPEND GR_SWIG_INCLUDE_DIRS ${PYTHON_INCLUDE_PATH}) #deprecated name (now dirs)
list(APPEND GR_SWIG_INCLUDE_DIRS ${PYTHON_INCLUDE_DIRS})
list(APPEND GR_SWIG_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR})
list(APPEND GR_SWIG_INCLUDE_DIRS ${CMAKE_CURRENT_BINARY_DIR})
#determine include dependencies for swig file
execute_process(
COMMAND ${PYTHON_EXECUTABLE}
${CMAKE_BINARY_DIR}/get_swig_deps.py
"${ifiles}" "${GR_SWIG_INCLUDE_DIRS}"
OUTPUT_STRIP_TRAILING_WHITESPACE
OUTPUT_VARIABLE SWIG_MODULE_${name}_EXTRA_DEPS
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
)
#Create a dummy custom command that depends on other targets
include(GrMiscUtils)
GR_GEN_TARGET_DEPS(_${name}_swig_tag tag_deps ${GR_SWIG_TARGET_DEPS})
set(tag_file ${CMAKE_CURRENT_BINARY_DIR}/${name}.tag)
add_custom_command(
OUTPUT ${tag_file}
DEPENDS ${GR_SWIG_SOURCE_DEPS} ${tag_deps}
COMMAND ${CMAKE_COMMAND} -E touch ${tag_file}
)
#append the specified include directories
include_directories(${GR_SWIG_INCLUDE_DIRS})
list(APPEND SWIG_MODULE_${name}_EXTRA_DEPS ${tag_file})
#setup the swig flags with flags and include directories
set(CMAKE_SWIG_FLAGS -fvirtual -modern -keyword -w511 -module ${name} ${GR_SWIG_FLAGS})
foreach(dir ${GR_SWIG_INCLUDE_DIRS})
list(APPEND CMAKE_SWIG_FLAGS "-I${dir}")
endforeach(dir)
#set the C++ property on the swig .i file so it builds
set_source_files_properties(${ifiles} PROPERTIES CPLUSPLUS ON)
#setup the actual swig library target to be built
include(UseSWIG)
SWIG_ADD_MODULE(${name} python ${ifiles})
SWIG_LINK_LIBRARIES(${name} ${PYTHON_LIBRARIES} ${GR_SWIG_LIBRARIES})
endmacro(GR_SWIG_MAKE)
########################################################################
# Install swig targets generated by GR_SWIG_MAKE. Usage:
# GR_SWIG_INSTALL(
# TARGETS target target target...
# [DESTINATION destination]
# [COMPONENT component]
# )
########################################################################
macro(GR_SWIG_INSTALL)
include(CMakeParseArgumentsCopy)
CMAKE_PARSE_ARGUMENTS(GR_SWIG_INSTALL "" "DESTINATION;COMPONENT" "TARGETS" ${ARGN})
foreach(name ${GR_SWIG_INSTALL_TARGETS})
install(TARGETS ${SWIG_MODULE_${name}_REAL_NAME}
DESTINATION ${GR_SWIG_INSTALL_DESTINATION}
COMPONENT ${GR_SWIG_INSTALL_COMPONENT}
)
include(GrPython)
GR_PYTHON_INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${name}.py
DESTINATION ${GR_SWIG_INSTALL_DESTINATION}
COMPONENT ${GR_SWIG_INSTALL_COMPONENT}
)
GR_LIBTOOL(
TARGET ${SWIG_MODULE_${name}_REAL_NAME}
DESTINATION ${GR_SWIG_INSTALL_DESTINATION}
)
endforeach(name)
endmacro(GR_SWIG_INSTALL)
########################################################################
# Generate a python file that can determine swig dependencies.
# Used by the make macro above to determine extra dependencies.
# When you build C++, CMake figures out the header dependencies.
# This code essentially performs that logic for swig includes.
########################################################################
file(WRITE ${CMAKE_BINARY_DIR}/get_swig_deps.py "
import os, sys, re
include_matcher = re.compile('[#|%]include\\s*[<|\"](.*)[>|\"]')
include_dirs = sys.argv[2].split(';')
def get_swig_incs(file_path):
file_contents = open(file_path, 'r').read()
return include_matcher.findall(file_contents, re.MULTILINE)
def get_swig_deps(file_path, level):
deps = [file_path]
if level == 0: return deps
for inc_file in get_swig_incs(file_path):
for inc_dir in include_dirs:
inc_path = os.path.join(inc_dir, inc_file)
if not os.path.exists(inc_path): continue
deps.extend(get_swig_deps(inc_path, level-1))
return deps
if __name__ == '__main__':
ifiles = sys.argv[1].split(';')
deps = sum([get_swig_deps(ifile, 3) for ifile in ifiles], [])
#sys.stderr.write(';'.join(set(deps)) + '\\n\\n')
print(';'.join(set(deps)))
")

154
conf/gnss-sdr_gn3s_realtime.conf
View File

@ -7,13 +7,7 @@
;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
; The sampling frequency of GN3S is 8183800 Hz, you can downsample by a natural number using te Signal Conditioner
; 8183800/5 = 1636760
; 8183800/4 = 2045950
; 8183800/3 = 2727933.33333333
; 8183800/2 = 4091900
GNSS-SDR.internal_fs_hz=2045950
GNSS-SDR.internal_fs_hz=2727933.33
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
@ -144,14 +138,12 @@ InputFilter.grid_density=16
;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
; 8183800/5 = 1636760
; 8183800/4 = 2045950
; 8183800/4 = 2727933.33
; 8183800/3 = 2727933.33333333
; 8183800/2 = 4091900
InputFilter.sampling_frequency=8183800
InputFilter.IF=-38400
InputFilter.IF=38400
InputFilter.decimation_factor=4
InputFilter.decimation_factor=3
@ -181,12 +173,14 @@ Resampler.sample_freq_out=2727933.33
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available satellite channels.
Channels.count=4
Channels.count=1
;#in_acquisition: Number of channels simultaneously acquiring
Channels.in_acquisition=1
;#system: GPS, GLONASS, Galileo, SBAS or Compass
;######### CHANNEL 0 CONFIG ############
;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
;#if the option is disabled by default is assigned GPS
Channel.system=GPS
Channel0.system=GPS
;#signal:
;# "1C" GPS L1 C/A
@ -245,24 +239,46 @@ Channel.system=GPS
;# "6Q" COMPASS E6 Q
;# "6X" COMPASS E6 IQ
;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel.signal=1C
;######### SPECIFIC CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;######### CHANNEL 0 CONFIG ############
Channel0.system=GPS
Channel0.signal=1C
;#satellite: Satellite PRN ID for this channel. Disable this option to random search
Channel0.satellite=11
Channel0.satellite=15
Channel0.repeat_satellite=false
;######### CHANNEL 1 CONFIG ############
Channel1.system=GPS
Channel1.signal=1C
Channel1.satellite=18
Channel1.repeat_satellite=false
;######### CHANNEL 2 CONFIG ############
Channel2.system=GPS
Channel2.signal=1C
Channel2.satellite=16
Channel2.repeat_satellite=false
;######### CHANNEL 3 CONFIG ############
Channel3.system=GPS
Channel3.signal=1C
Channel3.satellite=21
Channel3.repeat_satellite=false
;######### CHANNEL 4 CONFIG ############
Channel4.system=GPS
Channel4.signal=1C
Channel4.satellite=3
Channel4.repeat_satellite=false
;######### CHANNEL 5 CONFIG ############
Channel5.system=GPS
Channel5.signal=1C
;Channel5.satellite=21
;Channel5.repeat_satellite=false
;######### ACQUISITION GLOBAL CONFIG ############
@ -277,38 +293,76 @@ Acquisition.item_type=gr_complex
Acquisition.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition.sampled_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold
Acquisition.threshold=0.005
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition.pfa=0.0001
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition.doppler_max=10000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition.doppler_step=500
;######### ACQUISITION CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;######### ACQUISITION CH 0 CONFIG ############
;Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition
;Acquisition0.threshold=0.005
;Acquisition0.pfa=0.001
;Acquisition0.doppler_max=10000
;Acquisition0.doppler_step=250
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition]
Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold
Acquisition0.threshold=50
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition0.doppler_max=10000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition0.doppler_step=250
;#repeat_satellite: Use only jointly with the satellte PRN ID option.
;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false
;Acquisition0.repeat_satellite = false
;######### ACQUISITION CH 1 CONFIG ############
;Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition
;Acquisition1.threshold=0.005
;Acquisition1.pfa=0.001
;Acquisition1.doppler_max=10000
;Acquisition1.doppler_step=250
;Acquisition1.repeat_satellite = false
Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition1.threshold=30
Acquisition1.doppler_max=10000
Acquisition1.doppler_step=250
;######### ACQUISITION CH 2 CONFIG ############
Acquisition2.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition2.threshold=30
Acquisition2.doppler_max=10000
Acquisition2.doppler_step=250
;######### ACQUISITION CH 3 CONFIG ############
Acquisition3.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition3.threshold=30
Acquisition3.doppler_max=10000
Acquisition3.doppler_step=250
;######### ACQUISITION CH 4 CONFIG ############
Acquisition4.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition4.threshold=70
Acquisition4.doppler_max=10000
Acquisition4.doppler_step=250
;######### ACQUISITION CH 5 CONFIG ############
Acquisition5.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition5.threshold=70
Acquisition5.doppler_max=10000
Acquisition5.doppler_step=250
;######### ACQUISITION CH 6 CONFIG ############
Acquisition6.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition6.threshold=70
Acquisition6.doppler_max=10000
Acquisition6.doppler_step=250
;######### ACQUISITION CH 7 CONFIG ############
Acquisition7.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition7.threshold=70
Acquisition7.doppler_max=10000
Acquisition7.doppler_step=250
;######### ACQUISITION CH 8 CONFIG ############
Acquisition8.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition8.threshold=70
Acquisition8.doppler_max=10000
Acquisition8.doppler_step=250
;######### TRACKING GLOBAL CONFIG ############
@ -331,7 +385,7 @@ Tracking.dump_filename=./tracking_ch_
Tracking.pll_bw_hz=50.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking.dll_bw_hz=2.0;
Tracking.dll_bw_hz=4.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking.fll_bw_hz=10.0;

30
drivers/gr-gn3s/CMakeLists.txt
View File

@ -62,6 +62,19 @@ if(NOT Boost_FOUND)
message(FATAL_ERROR "Boost required to compile gn3s")
endif()
########################################################################
# Find libUSB
########################################################################
find_package(USB)
if(NOT LIBUSB_FOUND)
message(FATAL_ERROR "libusb required to compile gn3s")
endif(NOT LIBUSB_FOUND)
include_directories(${LIBUSB_INCLUDE_DIR})
#message (" kjhkhkjh ${LIBUSB_INCLUDE_DIR}")
if(APPLE)
include_directories(/usr/include/pcap)
endif(APPLE)
########################################################################
# Install directories
########################################################################
@ -82,15 +95,11 @@ set(GRC_BLOCKS_DIR ${GR_PKG_DATA_DIR}/grc/blocks)
########################################################################
# Find gnuradio build dependencies
########################################################################
find_package(Gruel)
find_package(GnuradioCore)
find_package(GnuradioRuntime)
if(NOT GRUEL_FOUND)
message(FATAL_ERROR "Gruel required to compile gn3s")
endif()
if(NOT GNURADIO_CORE_FOUND)
message(FATAL_ERROR "GnuRadio Core required to compile gn3s")
if(NOT GNURADIO_RUNTIME_FOUND)
message(FATAL_ERROR "gnuradio-runtime 3.7 or later is required to compile gr-gn3s")
endif()
@ -100,14 +109,13 @@ endif()
include_directories(
${CMAKE_SOURCE_DIR}/include
${Boost_INCLUDE_DIRS}
${GRUEL_INCLUDE_DIRS}
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${LIBUSB_INCLUDE_DIR}
)
link_directories(
${Boost_LIBRARY_DIRS}
${GRUEL_LIBRARY_DIRS}
${GNURADIO_CORE_LIBRARY_DIRS}
${GNURADIO_RUNTIME_LIBRARY_DIRS}
)
# Set component parameters

26
drivers/gr-gn3s/cmake/Modules/FindGnuradioCore.cmake
View File

@ -1,26 +0,0 @@
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_GNURADIO_CORE gnuradio-core)
FIND_PATH(
GNURADIO_CORE_INCLUDE_DIRS
NAMES gr_random.h
HINTS $ENV{GNURADIO_CORE_DIR}/include/gnuradio
${PC_GNURADIO_CORE_INCLUDEDIR}
PATHS /usr/local/include/gnuradio
/usr/include/gnuradio
)
FIND_LIBRARY(
GNURADIO_CORE_LIBRARIES
NAMES gnuradio-core
HINTS $ENV{GNURADIO_CORE_DIR}/lib
${PC_GNURADIO_CORE_LIBDIR}
PATHS /usr/local/lib
/usr/local/lib64
/usr/lib
/usr/lib64
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_CORE DEFAULT_MSG GNURADIO_CORE_LIBRARIES GNURADIO_CORE_INCLUDE_DIRS)
MARK_AS_ADVANCED(GNURADIO_CORE_LIBRARIES GNURADIO_CORE_INCLUDE_DIRS)

26
drivers/gr-gn3s/cmake/Modules/FindGruel.cmake
View File

@ -1,26 +0,0 @@
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_GRUEL gruel)
FIND_PATH(
GRUEL_INCLUDE_DIRS
NAMES gruel/attributes.h
HINTS $ENV{GRUEL_DIR}/include
${PC_GRUEL_INCLUDEDIR}
PATHS /usr/local/include
/usr/include
)
FIND_LIBRARY(
GRUEL_LIBRARIES
NAMES gruel
HINTS $ENV{GRUEL_DIR}/lib
${PC_GRUEL_LIBDIR}
PATHS /usr/local/lib
/usr/local/lib64
/usr/lib
/usr/lib64
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GRUEL DEFAULT_MSG GRUEL_LIBRARIES GRUEL_INCLUDE_DIRS)
MARK_AS_ADVANCED(GRUEL_LIBRARIES GRUEL_INCLUDE_DIRS)

29
drivers/gr-gn3s/cmake/Modules/FindUSB.cmake Normal file
View File

@ -0,0 +1,29 @@
INCLUDE(FindPkgConfig)
if(NOT LIBUSB_FOUND)
pkg_check_modules (LIBUSB_PKG libusb-1.0)
find_path(LIBUSB_INCLUDE_DIR NAMES libusb.h
PATHS
${LIBUSB_PKG_INCLUDE_DIRS}
/usr/include/libusb-1.0
/usr/include
/usr/local/include
)
find_library(LIBUSB_LIBRARIES NAMES usb-1.0
PATHS
${LIBUSB_PKG_LIBRARY_DIRS}
/usr/lib
/usr/local/lib
)
if(LIBUSB_INCLUDE_DIR AND LIBUSB_LIBRARIES)
set(LIBUSB_FOUND TRUE CACHE INTERNAL "libusb-1.0 found")
message(STATUS "Found libusb-1.0: ${LIBUSB_INCLUDE_DIR}, ${LIBUSB_LIBRARIES}")
else(LIBUSB_INCLUDE_DIR AND LIBUSB_LIBRARIES)
set(LIBUSB_FOUND FALSE CACHE INTERNAL "libusb-1.0 found")
message(STATUS "libusb-1.0 not found.")
endif(LIBUSB_INCLUDE_DIR AND LIBUSB_LIBRARIES)
mark_as_advanced(LIBUSB_INCLUDE_DIR LIBUSB_LIBRARIES)
endif(NOT LIBUSB_FOUND)

139
drivers/gr-gn3s/cmake/Modules/GrMiscUtils.cmake
View File

@ -155,7 +155,7 @@ function(GR_LIBRARY_FOO target)
GR_LIBTOOL(TARGET ${target} DESTINATION ${GR_LIBRARY_DIR})
#give the library a special name with ultra-zero soversion
set_target_properties(${target} PROPERTIES LIBRARY_OUTPUT_NAME ${target}-${LIBVER} SOVERSION "0.0.0")
set_target_properties(${target} PROPERTIES OUTPUT_NAME ${target}-${LIBVER} SOVERSION "0.0.0")
set(target_name lib${target}-${LIBVER}.so.0.0.0)
#custom command to generate symlinks
@ -208,3 +208,140 @@ function(GR_GEN_TARGET_DEPS name var)
set(${var} "DEPENDS;${name};COMMAND;${name}" PARENT_SCOPE)
endif()
endfunction(GR_GEN_TARGET_DEPS)
########################################################################
# Control use of gr_logger
# Usage:
# GR_LOGGING()
#
# Will set ENABLE_GR_LOG to 1 by default.
# Can manually set with -DENABLE_GR_LOG=0|1
########################################################################
function(GR_LOGGING)
find_package(Log4cpp)
OPTION(ENABLE_GR_LOG "Use gr_logger" ON)
if(ENABLE_GR_LOG)
# If gr_logger is enabled, make it usable
add_definitions( -DENABLE_GR_LOG )
# also test LOG4CPP; if we have it, use this version of the logger
# otherwise, default to the stdout/stderr model.
if(LOG4CPP_FOUND)
SET(HAVE_LOG4CPP True CACHE INTERNAL "" FORCE)
add_definitions( -DHAVE_LOG4CPP )
else(not LOG4CPP_FOUND)
SET(HAVE_LOG4CPP False CACHE INTERNAL "" FORCE)
SET(LOG4CPP_INCLUDE_DIRS "" CACHE INTERNAL "" FORCE)
SET(LOG4CPP_LIBRARY_DIRS "" CACHE INTERNAL "" FORCE)
SET(LOG4CPP_LIBRARIES "" CACHE INTERNAL "" FORCE)
endif(LOG4CPP_FOUND)
SET(ENABLE_GR_LOG ${ENABLE_GR_LOG} CACHE INTERNAL "" FORCE)
else(ENABLE_GR_LOG)
SET(HAVE_LOG4CPP False CACHE INTERNAL "" FORCE)
SET(LOG4CPP_INCLUDE_DIRS "" CACHE INTERNAL "" FORCE)
SET(LOG4CPP_LIBRARY_DIRS "" CACHE INTERNAL "" FORCE)
SET(LOG4CPP_LIBRARIES "" CACHE INTERNAL "" FORCE)
endif(ENABLE_GR_LOG)
message(STATUS "ENABLE_GR_LOG set to ${ENABLE_GR_LOG}.")
message(STATUS "HAVE_LOG4CPP set to ${HAVE_LOG4CPP}.")
message(STATUS "LOG4CPP_LIBRARIES set to ${LOG4CPP_LIBRARIES}.")
endfunction(GR_LOGGING)
########################################################################
# Run GRCC to compile .grc files into .py files.
#
# Usage: GRCC(filename, directory)
# - filenames: List of file name of .grc file
# - directory: directory of built .py file - usually in
# ${CMAKE_CURRENT_BINARY_DIR}
# - Sets PYFILES: output converted GRC file names to Python files.
########################################################################
function(GRCC)
# Extract directory from list of args, remove it for the list of filenames.
list(GET ARGV -1 directory)
list(REMOVE_AT ARGV -1)
set(filenames ${ARGV})
file(MAKE_DIRECTORY ${directory})
SET(GRCC_COMMAND ${CMAKE_SOURCE_DIR}/gr-utils/python/grcc)
# GRCC uses some stuff in grc and gnuradio-runtime, so we force
# the known paths here
list(APPEND PYTHONPATHS
${CMAKE_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/gnuradio-runtime/python
${CMAKE_SOURCE_DIR}/gnuradio-runtime/lib/swig
${CMAKE_BINARY_DIR}/gnuradio-runtime/lib/swig
)
if(WIN32)
#SWIG generates the python library files into a subdirectory.
#Therefore, we must append this subdirectory into PYTHONPATH.
#Only do this for the python directories matching the following:
foreach(pydir ${PYTHONPATHS})
get_filename_component(name ${pydir} NAME)
if(name MATCHES "^(swig|lib|src)$")
list(APPEND PYTHONPATHS ${pydir}/${CMAKE_BUILD_TYPE})
endif()
endforeach(pydir)
endif(WIN32)
file(TO_NATIVE_PATH "${PYTHONPATHS}" pypath)
if(UNIX)
list(APPEND pypath "$PYTHONPATH")
string(REPLACE ";" ":" pypath "${pypath}")
set(ENV{PYTHONPATH} ${pypath})
endif(UNIX)
if(WIN32)
list(APPEND pypath "%PYTHONPATH%")
string(REPLACE ";" "\\;" pypath "${pypath}")
#list(APPEND environs "PYTHONPATH=${pypath}")
set(ENV{PYTHONPATH} ${pypath})
endif(WIN32)
foreach(f ${filenames})
execute_process(
COMMAND ${GRCC_COMMAND} -d ${directory} ${f}
)
string(REPLACE ".grc" ".py" pyfile "${f}")
string(REPLACE "${CMAKE_CURRENT_SOURCE_DIR}" "${CMAKE_CURRENT_BINARY_DIR}" pyfile "${pyfile}")
list(APPEND pyfiles ${pyfile})
endforeach(f)
set(PYFILES ${pyfiles} PARENT_SCOPE)
endfunction(GRCC)
########################################################################
# Check if HAVE_PTHREAD_SETSCHEDPARAM and HAVE_SCHED_SETSCHEDULER
# should be defined
########################################################################
macro(GR_CHECK_LINUX_SCHED_AVAIL)
set(CMAKE_REQUIRED_LIBRARIES -lpthread)
CHECK_CXX_SOURCE_COMPILES("
#include <pthread.h>
int main(){
pthread_t pthread;
pthread_setschedparam(pthread, 0, 0);
return 0;
} " HAVE_PTHREAD_SETSCHEDPARAM
)
GR_ADD_COND_DEF(HAVE_PTHREAD_SETSCHEDPARAM)
CHECK_CXX_SOURCE_COMPILES("
#include <sched.h>
int main(){
pid_t pid;
sched_setscheduler(pid, 0, 0);
return 0;
} " HAVE_SCHED_SETSCHEDULER
)
GR_ADD_COND_DEF(HAVE_SCHED_SETSCHEDULER)
endmacro(GR_CHECK_LINUX_SCHED_AVAIL)

10
drivers/gr-gn3s/cmake/Modules/GrPlatform.cmake
View File

@ -37,10 +37,18 @@ if(LINUX AND EXISTS "/etc/redhat-release")
set(REDHAT TRUE)
endif()
if(LINUX AND EXISTS "/etc/slackware-version")
set(SLACKWARE TRUE)
endif()
########################################################################
# when the library suffix should be 64 (applies to redhat linux family)
########################################################################
if(NOT DEFINED LIB_SUFFIX AND REDHAT AND CMAKE_SYSTEM_PROCESSOR MATCHES "64$")
if (REDHAT OR SLACKWARE)
set(LIB64_CONVENTION TRUE)
endif()
if(NOT DEFINED LIB_SUFFIX AND LIB64_CONVENTION AND CMAKE_SYSTEM_PROCESSOR MATCHES "64$")
set(LIB_SUFFIX 64)
endif()
set(LIB_SUFFIX ${LIB_SUFFIX} CACHE STRING "lib directory suffix")

15
drivers/gr-gn3s/cmake/Modules/GrPython.cmake
View File

@ -76,10 +76,11 @@ macro(GR_PYTHON_CHECK_MODULE desc mod cmd have)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} -c "
#########################################
try: import ${mod}
except: exit(-1)
try: assert ${cmd}
except: exit(-1)
try:
import ${mod}
assert ${cmd}
except ImportError, AssertionError: exit(-1)
except: pass
#########################################"
RESULT_VARIABLE ${have}
)
@ -95,11 +96,13 @@ endmacro(GR_PYTHON_CHECK_MODULE)
########################################################################
# Sets the python installation directory GR_PYTHON_DIR
########################################################################
if(NOT DEFINED GR_PYTHON_DIR)
execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "
from distutils import sysconfig
print sysconfig.get_python_lib(plat_specific=True, prefix='')
" OUTPUT_VARIABLE GR_PYTHON_DIR OUTPUT_STRIP_TRAILING_WHITESPACE
)
endif()
file(TO_CMAKE_PATH ${GR_PYTHON_DIR} GR_PYTHON_DIR)
########################################################################
@ -181,6 +184,10 @@ function(GR_PYTHON_INSTALL)
####################################################################
file(TO_NATIVE_PATH ${PYTHON_EXECUTABLE} pyexe_native)
if (CMAKE_CROSSCOMPILING)
set(pyexe_native /usr/bin/env python)
endif()
foreach(pyfile ${GR_PYTHON_INSTALL_PROGRAMS})
get_filename_component(pyfile_name ${pyfile} NAME)
get_filename_component(pyfile ${pyfile} ABSOLUTE)

43
drivers/gr-gn3s/cmake/Modules/GrSwig.cmake
View File

@ -33,8 +33,7 @@ include(GrPython)
# - GR_SWIG_DOCS_TARGET_DEPS
########################################################################
function(GR_SWIG_MAKE_DOCS output_file)
find_package(Doxygen)
if(DOXYGEN_FOUND)
if(ENABLE_DOXYGEN)
#setup the input files variable list, quote formated
set(input_files)
@ -76,17 +75,18 @@ function(GR_SWIG_MAKE_DOCS output_file)
#call the swig_doc script on the xml files
add_custom_command(
OUTPUT ${output_file}
DEPENDS ${input_files} ${OUTPUT_DIRECTORY}/xml/index.xml
DEPENDS ${input_files} ${stamp-file} ${OUTPUT_DIRECTORY}/xml/index.xml
COMMAND ${PYTHON_EXECUTABLE} ${PYTHON_DASH_B}
${CMAKE_SOURCE_DIR}/docs/doxygen/swig_doc.py
${OUTPUT_DIRECTORY}/xml
${output_file}
COMMENT "Generating python docstrings for ${name}"
WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/docs/doxygen
)
else(DOXYGEN_FOUND)
else(ENABLE_DOXYGEN)
file(WRITE ${output_file} "\n") #no doxygen -> empty file
endif(DOXYGEN_FOUND)
endif(ENABLE_DOXYGEN)
endfunction(GR_SWIG_MAKE_DOCS)
########################################################################
@ -105,20 +105,35 @@ endfunction(GR_SWIG_MAKE_DOCS)
macro(GR_SWIG_MAKE name)
set(ifiles ${ARGN})
# Shimming this in here to take care of a SWIG bug with handling
# vector<size_t> and vector<unsigned int> (on 32-bit machines) and
# vector<long unsigned int> (on 64-bit machines). Use this to test
# the size of size_t, then set SIZE_T_32 if it's a 32-bit machine
# or not if it's 64-bit. The logic in gr_type.i handles the rest.
INCLUDE (CheckTypeSize)
CHECK_TYPE_SIZE("size_t" SIZEOF_SIZE_T)
CHECK_TYPE_SIZE("unsigned int" SIZEOF_UINT)
if(${SIZEOF_SIZE_T} EQUAL ${SIZEOF_UINT})
list(APPEND GR_SWIG_FLAGS -DSIZE_T_32)
endif(${SIZEOF_SIZE_T} EQUAL ${SIZEOF_UINT})
#do swig doc generation if specified
if (GR_SWIG_DOC_FILE)
set(GR_SWIG_DOCS_SOURCE_DEPS ${GR_SWIG_SOURCE_DEPS})
set(GR_SWIG_DOCS_TAREGT_DEPS ${GR_SWIG_TARGET_DEPS})
list(APPEND GR_SWIG_DOCS_TARGET_DEPS ${GR_SWIG_TARGET_DEPS})
GR_SWIG_MAKE_DOCS(${GR_SWIG_DOC_FILE} ${GR_SWIG_DOC_DIRS})
list(APPEND GR_SWIG_SOURCE_DEPS ${GR_SWIG_DOC_FILE})
add_custom_target(${name}_swig_doc DEPENDS ${GR_SWIG_DOC_FILE})
list(APPEND GR_SWIG_TARGET_DEPS ${name}_swig_doc ${GR_RUNTIME_SWIG_DOC_FILE})
endif()
#append additional include directories
find_package(PythonLibs)
list(APPEND GR_SWIG_INCLUDE_DIRS ${PYTHON_INCLUDE_PATH}) #deprecated name (now dirs)
list(APPEND GR_SWIG_INCLUDE_DIRS ${PYTHON_INCLUDE_DIRS})
list(APPEND GR_SWIG_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR})
list(APPEND GR_SWIG_INCLUDE_DIRS ${CMAKE_CURRENT_BINARY_DIR})
#prepend local swig directories
list(INSERT GR_SWIG_INCLUDE_DIRS 0 ${CMAKE_CURRENT_SOURCE_DIR})
list(INSERT GR_SWIG_INCLUDE_DIRS 0 ${CMAKE_CURRENT_BINARY_DIR})
#determine include dependencies for swig file
execute_process(
@ -204,21 +219,25 @@ file(WRITE ${CMAKE_BINARY_DIR}/get_swig_deps.py "
import os, sys, re
include_matcher = re.compile('[#|%]include\\s*[<|\"](.*)[>|\"]')
i_include_matcher = re.compile('%(include|import)\\s*[<|\"](.*)[>|\"]')
h_include_matcher = re.compile('#(include)\\s*[<|\"](.*)[>|\"]')
include_dirs = sys.argv[2].split(';')
def get_swig_incs(file_path):
if file_path.endswith('.i'): matcher = i_include_matcher
else: matcher = h_include_matcher
file_contents = open(file_path, 'r').read()
return include_matcher.findall(file_contents, re.MULTILINE)
return matcher.findall(file_contents, re.MULTILINE)
def get_swig_deps(file_path, level):
deps = [file_path]
if level == 0: return deps
for inc_file in get_swig_incs(file_path):
for keyword, inc_file in get_swig_incs(file_path):
for inc_dir in include_dirs:
inc_path = os.path.join(inc_dir, inc_file)
if not os.path.exists(inc_path): continue
deps.extend(get_swig_deps(inc_path, level-1))
break #found, we dont search in lower prio inc dirs
return deps
if __name__ == '__main__':

14
drivers/gr-gn3s/cmake/Modules/GrTest.cmake
View File

@ -30,10 +30,10 @@ set(__INCLUDED_GR_TEST_CMAKE TRUE)
# GR_TEST_TARGET_DEPS - built targets for the library path
# GR_TEST_LIBRARY_DIRS - directories for the library path
# GR_TEST_PYTHON_DIRS - directories for the python path
# GR_TEST_ENVIRONS - other environment key/value pairs
########################################################################
function(GR_ADD_TEST test_name)
if(WIN32)
#Ensure that the build exe also appears in the PATH.
list(APPEND GR_TEST_TARGET_DEPS ${ARGN})
@ -50,6 +50,7 @@ function(GR_ADD_TEST test_name)
endif(location)
endforeach(target)
if(WIN32)
#SWIG generates the python library files into a subdirectory.
#Therefore, we must append this subdirectory into PYTHONPATH.
#Only do this for the python directories matching the following:
@ -66,6 +67,7 @@ function(GR_ADD_TEST test_name)
file(TO_NATIVE_PATH "${GR_TEST_PYTHON_DIRS}" pypath) #ok to use on dir list?
set(environs "GR_DONT_LOAD_PREFS=1" "srcdir=${srcdir}")
list(APPEND environs ${GR_TEST_ENVIRONS})
#http://www.cmake.org/pipermail/cmake/2009-May/029464.html
#Replaced this add test + set environs code with the shell script generation.
@ -74,15 +76,19 @@ function(GR_ADD_TEST test_name)
#SET_TESTS_PROPERTIES(${test_name} PROPERTIES ENVIRONMENT "${environs}")
if(UNIX)
set(LD_PATH_VAR "LD_LIBRARY_PATH")
if(APPLE)
set(LD_PATH_VAR "DYLD_LIBRARY_PATH")
endif()
set(binpath "${CMAKE_CURRENT_BINARY_DIR}:$PATH")
#set both LD and DYLD paths to cover multiple UNIX OS library paths
list(APPEND libpath "$LD_LIBRARY_PATH" "$DYLD_LIBRARY_PATH")
list(APPEND libpath "$${LD_PATH_VAR}")
list(APPEND pypath "$PYTHONPATH")
#replace list separator with the path separator
string(REPLACE ";" ":" libpath "${libpath}")
string(REPLACE ";" ":" pypath "${pypath}")
list(APPEND environs "PATH=${binpath}" "LD_LIBRARY_PATH=${libpath}" "DYLD_LIBRARY_PATH=${libpath}" "PYTHONPATH=${pypath}")
list(APPEND environs "PATH=${binpath}" "${LD_PATH_VAR}=${libpath}" "PYTHONPATH=${pypath}")
#generate a bat file that sets the environment and runs the test
find_program(SHELL sh)

2
drivers/gr-gn3s/include/gn3s_api.h
View File

@ -31,7 +31,7 @@
#ifndef INCLUDED_GN3S_API_H
#define INCLUDED_GN3S_API_H
#include <gruel/attributes.h>
#include <gnuradio/attributes.h>
#ifdef gr_gn3s_EXPORTS
# define GN3S_API __GR_ATTR_EXPORT

4
drivers/gr-gn3s/include/gn3s_source_cc.h
View File

@ -31,7 +31,7 @@
#define INCLUDED_GN3S_SOURCE_CC_H
#include "gn3s_api.h"
#include <gr_block.h>
#include <gnuradio/block.h>
#include "gn3s_source.h"
#include "gn3s_defines.h"
@ -65,7 +65,7 @@ GN3S_API gn3s_source_cc_sptr gn3s_make_source_cc ();
*
* \sa gn3s_source for a version that subclasses gr_block.
*/
class GN3S_API gn3s_source_cc : public gr_block
class GN3S_API gn3s_source_cc : public gr::block
{
private:
// The friend declaration allows gn3s_source to

4
drivers/gr-gn3s/lib/CMakeLists.txt
View File

@ -23,7 +23,7 @@
include(GrPlatform) #define LIB_SUFFIX
add_library(gr-gn3s SHARED gn3s_source_cc.cc gn3s_source.cc gn3s.cc fusb.cc fusb_linux.cc)
target_link_libraries(gr-gn3s ${Boost_LIBRARIES} ${GRUEL_LIBRARIES} ${GNURADIO_CORE_LIBRARIES} "usb")
target_link_libraries(gr-gn3s ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES} "usb" ${LIBUSB_LIBRARIES})
set_target_properties(gr-gn3s PROPERTIES DEFINE_SYMBOL "gr_gn3s_EXPORTS")
########################################################################
@ -46,6 +46,6 @@ set(GR_TEST_TARGET_DEPS gr-gn3s)
add_definitions(-DBOOST_TEST_DYN_LINK -DBOOST_TEST_MAIN)
add_executable(qa_gn3s_source_cc qa_gn3s_source_cc.cc)
target_link_libraries(qa_gn3s_source_cc gr-gn3s ${Boost_LIBRARIES} "usb")
target_link_libraries(qa_gn3s_source_cc gr-gn3s ${Boost_LIBRARIES} "usb" ${LIBUSB_LIBRARIES})
GR_ADD_TEST(qa_gn3s_source_cc qa_gn3s_source_cc)

25
drivers/gr-gn3s/lib/gn3s_source_cc.cc
View File

@ -33,7 +33,7 @@
#include <gn3s_source_cc.h>
#include <gn3s_defines.h>
#include <gr_io_signature.h>
#include <gnuradio/io_signature.h>
/*
@ -49,7 +49,7 @@ gn3s_make_source_cc ()
/*
* Specify constraints on number of input and output streams.
* This info is used to construct the input and output signatures
* (2nd & 3rd args to gr_block's constructor). The input and
* (2nd & 3rd args to gr::block's constructor). The input and
* output signatures are used by the runtime system to
* check that a valid number and type of inputs and outputs
* are connected to this block. In this case, we accept
@ -64,9 +64,9 @@ static const int MAX_OUT = 1; // maximum number of output streams
* The private constructor
*/
gn3s_source_cc::gn3s_source_cc ()
: gr_block ("gn3s_cc",
gr_make_io_signature (MIN_IN, MAX_IN, sizeof (gr_complex)),
gr_make_io_signature (MIN_OUT, MAX_OUT, sizeof (gr_complex)))
: gr::block ("gn3s_cc",
gr::io_signature::make(MIN_IN, MAX_IN, sizeof (gr_complex)),
gr::io_signature::make(MIN_OUT, MAX_OUT, sizeof (gr_complex)))
{
// constructor code here
gn3s_drv = new gn3s_Source();
@ -99,13 +99,16 @@ int n_samples_rx;
if (noutput_items<=GN3S_SAMPS_5MS)
{
gn3s_drv->Read(&packet,noutput_items);
n_samples_rx=noutput_items;
}else{
gn3s_drv->Read(&packet,GN3S_SAMPS_5MS);
n_samples_rx=GN3S_SAMPS_5MS;
n_samples_rx = noutput_items;
}
for (int i = 0; i < n_samples_rx; i++){
out[i]=gr_complex(packet.data[i].i,packet.data[i].q);
else
{
gn3s_drv->Read(&packet,GN3S_SAMPS_5MS);
n_samples_rx = GN3S_SAMPS_5MS;
}
for (int i = 0; i < n_samples_rx; i++)
{
out[i] = gr_complex(packet.data[i].i, packet.data[i].q);
}
// Tell runtime system how many output items we produced.

16
drivers/gr-gn3s/swig/CMakeLists.txt
View File

@ -31,15 +31,15 @@ include(GrPython)
########################################################################
# Setup swig generation
########################################################################
foreach(incdir ${GNURADIO_CORE_INCLUDE_DIRS})
list(APPEND GR_SWIG_INCLUDE_DIRS ${incdir}/swig)
endforeach(incdir)
set(GNURADIO_RUNTIME_SWIG_INCLUDE_DIRS ${GNURADIO_RUNTIME_INCLUDE_DIRS}/gnuradio/swig)
foreach(incdir ${GRUEL_INCLUDE_DIRS})
list(APPEND GR_SWIG_INCLUDE_DIRS ${incdir}/gruel/swig)
endforeach(incdir)
set(GR_SWIG_INCLUDE_DIRS
${GR_GN3S_INCLUDE_DIRS}
${GNURADIO_RUNTIME_SWIG_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
set(GR_SWIG_LIBRARIES gr-gn3s)
set(GR_SWIG_LIBRARIES gr-gn3s gnuradio-runtime)
set(GR_SWIG_DOC_FILE ${CMAKE_CURRENT_BINARY_DIR}/gn3s_swig_doc.i)
set(GR_SWIG_DOC_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../include)
@ -57,5 +57,5 @@ install(
FILES
gn3s_swig.i
${CMAKE_CURRENT_BINARY_DIR}/gn3s_swig_doc.i
DESTINATION ${GR_INCLUDE_DIR}/gn3s/swig
DESTINATION ${GNURADIO_RUNTIME_INCLUDE_DIR}/gn3s/swig
)

5
src/algorithms/PVT/adapters/CMakeLists.txt
View File

@ -25,9 +25,10 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${GNURADIO_CORE_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(pvt_adapters ${PVT_ADAPTER_SOURCES})
target_link_libraries(pvt_adapters pvt_gr_blocks ${ARMADILLO_LIBRARIES})
target_link_libraries(pvt_adapters pvt_gr_blocks ${ARMADILLO_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})

21
src/algorithms/PVT/adapters/gps_l1_ca_pvt.cc
View File

@ -34,7 +34,6 @@
#include "gps_l1_ca_pvt.h"
#include "configuration_interface.h"
#include "gps_l1_ca_pvt_cc.h"
#include <gnuradio/gr_io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -44,11 +43,11 @@ GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
gr_msg_queue_sptr queue) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams),
queue_(queue)
boost::shared_ptr<gr::msg_queue> queue) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams),
queue_(queue)
{
// dump parameters
std::string default_dump_filename = "./pvt.dat";
@ -76,7 +75,7 @@ GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
std::string nmea_dump_devname;
nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// make PVT object
pvt_ = gps_l1_ca_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms,flag_nmea_tty_port,nmea_dump_filename,nmea_dump_devname);
pvt_ = gps_l1_ca_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}
@ -85,25 +84,25 @@ GpsL1CaPvt::~GpsL1CaPvt()
{}
void GpsL1CaPvt::connect(gr_top_block_sptr top_block)
void GpsL1CaPvt::connect(gr::top_block_sptr top_block)
{
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
}
void GpsL1CaPvt::disconnect(gr_top_block_sptr top_block)
void GpsL1CaPvt::disconnect(gr::top_block_sptr top_block)
{
// Nothing to disconnect
}
gr_basic_block_sptr GpsL1CaPvt::get_left_block()
gr::basic_block_sptr GpsL1CaPvt::get_left_block()
{
return pvt_;
}
gr_basic_block_sptr GpsL1CaPvt::get_right_block()
gr::basic_block_sptr GpsL1CaPvt::get_right_block()
{
return pvt_;
}

18
src/algorithms/PVT/adapters/gps_l1_ca_pvt.h
View File

@ -38,7 +38,7 @@
#include "pvt_interface.h"
#include "gps_l1_ca_pvt_cc.h"
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/msg_queue.h>
class ConfigurationInterface;
@ -52,7 +52,7 @@ public:
std::string role,
unsigned int in_streams,
unsigned int out_streams,
gr_msg_queue_sptr queue);
boost::shared_ptr<gr::msg_queue> queue);
virtual ~GpsL1CaPvt();
@ -61,23 +61,23 @@ public:
return role_;
}
//! return "GPS_L1_CA_PVT"
//! Returns "GPS_L1_CA_PVT"
std::string implementation()
{
return "GPS_L1_CA_PVT";
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
void reset()
{
return;
}
//! All blocks must have an item_size() function implementation
//! All blocks must have an item_size() function implementation. Returns sizeof(gr_complex)
size_t item_size()
{
return sizeof(gr_complex);
@ -91,7 +91,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
gr_msg_queue_sptr queue_;
boost::shared_ptr<gr::msg_queue> queue_;
};
#endif

5
src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
View File

@ -24,9 +24,10 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${GNURADIO_CORE_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(pvt_gr_blocks ${PVT_GR_BLOCKS_SOURCES})
target_link_libraries(pvt_gr_blocks pvt_lib ${ARMADILLO_LIBRARIES})
target_link_libraries(pvt_gr_blocks pvt_lib ${ARMADILLO_LIBRARIES})

183
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
View File

@ -34,9 +34,8 @@
#include <map>
#include <algorithm>
#include <bitset>
#include <cmath>
#include "math.h"
#include <gnuradio/gr_io_signature.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "control_message_factory.h"
@ -51,15 +50,15 @@ extern concurrent_map<Gps_Iono> global_gps_iono_map;
extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
gps_l1_ca_pvt_cc_sptr
gps_l1_ca_make_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname)
gps_l1_ca_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname)
{
return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname));
}
gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname) :
gr_block ("gps_l1_ca_pvt_cc", gr_make_io_signature (nchannels, nchannels, sizeof(Gnss_Synchro)),
gr_make_io_signature(1, 1, sizeof(gr_complex)))
gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname) :
gr::block("gps_l1_ca_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(gr_complex)))
{
d_output_rate_ms = output_rate_ms;
@ -88,8 +87,8 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr que
d_ls_pvt->set_averaging_depth(d_averaging_depth);
d_sample_counter = 0;
d_last_sample_nav_output=0;
d_rx_time=0.0;
d_last_sample_nav_output = 0;
d_rx_time = 0.0;
b_rinex_header_writen = false;
rp = new Rinex_Printer();
@ -111,7 +110,6 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr que
}
}
}
}
@ -153,102 +151,95 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
// ############ 1. READ EPHEMERIS/UTC_MODE/IONO FROM GLOBAL MAPS ####
d_ls_pvt->gps_ephemeris_map=global_gps_ephemeris_map.get_map_copy();
d_ls_pvt->gps_ephemeris_map = global_gps_ephemeris_map.get_map_copy();
if (global_gps_utc_model_map.size()>0)
{
// UTC MODEL data is shared for all the GPS satellites. Read always at ID=0
global_gps_utc_model_map.read(0,d_ls_pvt->gps_utc_model);
}
{
// UTC MODEL data is shared for all the GPS satellites. Read always at ID=0
global_gps_utc_model_map.read(0,d_ls_pvt->gps_utc_model);
}
if (global_gps_iono_map.size()>0)
{
// IONO data is shared for all the GPS satellites. Read always at ID=0
global_gps_iono_map.read(0,d_ls_pvt->gps_iono);
}
{
// IONO data is shared for all the GPS satellites. Read always at ID=0
global_gps_iono_map.read(0,d_ls_pvt->gps_iono);
}
// ############ 2 COMPUTE THE PVT ################################
if (gnss_pseudoranges_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() >0)
{
// The GPS TX time is directly the Time of Week (TOW) associated to the current symbol of the reference channel
// It is used to compute the SV positions at the TX instant
{
// compute on the fly PVT solution
//mod 8/4/2012 Set the PVT computation rate in this block
if ((d_sample_counter % d_output_rate_ms) == 0)
{
bool pvt_result;
pvt_result = d_ls_pvt->get_PVT(gnss_pseudoranges_map, d_rx_time, d_flag_averaging);
if (pvt_result==true)
{
d_kml_dump.print_position(d_ls_pvt, d_flag_averaging);
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
// compute on the fly PVT solution
//mod 8/4/2012 Set the PVT computation rate in this block
if ((d_sample_counter % d_output_rate_ms) == 0)
{
bool pvt_result;
pvt_result=d_ls_pvt->get_PVT(gnss_pseudoranges_map,d_rx_time,d_flag_averaging);
if (pvt_result==true)
{
d_kml_dump.print_position(d_ls_pvt, d_flag_averaging);
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
if (!b_rinex_header_writen) // & we have utc data in nav message!
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second,d_rx_time);
rp->rinex_nav_header(rp->navFile,d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_writen = true; // do not write header anymore
}
}
if(b_rinex_header_writen) // Put here another condition to separate annotations (e.g 30 s)
{
// Limit the RINEX navigation output rate to 1/6 seg
// Notice that d_sample_counter period is 1ms (for GPS correlators)
if ((d_sample_counter-d_last_sample_nav_output)>=6000)
{
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_ephemeris_map);
d_last_sample_nav_output=d_sample_counter;
}
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map);
}
}
}
}
if (!b_rinex_header_writen) // & we have utc data in nav message!
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second,d_rx_time);
rp->rinex_nav_header(rp->navFile,d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_writen = true; // do not write header anymore
}
}
if(b_rinex_header_writen) // Put here another condition to separate annotations (e.g 30 s)
{
// Limit the RINEX navigation output rate to 1/6 seg
// Notice that d_sample_counter period is 1ms (for GPS correlators)
// DEBUG MESSAGE: Display position in console output
if (((d_sample_counter % d_display_rate_ms) == 0) and d_ls_pvt->b_valid_position == true)
{
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
if ((d_sample_counter-d_last_sample_nav_output)>=6000)
{
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_ephemeris_map);
d_last_sample_nav_output=d_sample_counter;
}
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map);
}
}
}
}
// DEBUG MESSAGE: Display position in console output
if (((d_sample_counter % d_display_rate_ms) == 0) and d_ls_pvt->b_valid_position == true)
{
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " is HDOP = " << d_ls_pvt->d_HDOP << " and VDOP = " << d_ls_pvt->d_VDOP << std::endl;
}
// MULTIPLEXED FILE RECORDING - Record results to file
if(d_dump == true)
{
try
{
double tmp_double;
for (unsigned int i=0; i<d_nchannels ; i++)
{
tmp_double = in[i][0].Pseudorange_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = 0;
d_dump_file.write((char*)&tmp_double, sizeof(double));
d_dump_file.write((char*)&d_rx_time, sizeof(double));
}
}
catch (std::ifstream::failure e)
{
std::cout << "Exception writing observables dump file " << e.what() << std::endl;
}
}
}
std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
<< " is HDOP = " << d_ls_pvt->d_HDOP << " and VDOP = " << d_ls_pvt->d_VDOP << std::endl;
}
// MULTIPLEXED FILE RECORDING - Record results to file
if(d_dump == true)
{
try
{
double tmp_double;
for (unsigned int i=0; i<d_nchannels ; i++)
{
tmp_double = in[i][0].Pseudorange_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = 0;
d_dump_file.write((char*)&tmp_double, sizeof(double));
d_dump_file.write((char*)&d_rx_time, sizeof(double));
}
}
catch (std::ifstream::failure e)
{
std::cout << "Exception writing observables dump file " << e.what() << std::endl;
}
}
}
consume_each(1); //one by one
return 0;

14
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
View File

@ -31,8 +31,8 @@
#define GNSS_SDR_GPS_L1_CA_PVT_CC_H
#include <fstream>
#include <gnuradio/gr_block.h>
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include <queue>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
@ -51,18 +51,18 @@ class gps_l1_ca_pvt_cc;
typedef boost::shared_ptr<gps_l1_ca_pvt_cc> gps_l1_ca_pvt_cc_sptr;
gps_l1_ca_pvt_cc_sptr
gps_l1_ca_make_pvt_cc(unsigned int n_channels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname);
gps_l1_ca_make_pvt_cc(unsigned int n_channels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname);
/*!
* \brief This class implements a block that computes the PVT solution
*/
class gps_l1_ca_pvt_cc : public gr_block
class gps_l1_ca_pvt_cc : public gr::block
{
private:
friend gps_l1_ca_pvt_cc_sptr
gps_l1_ca_make_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname);
gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname);
gr_msg_queue_sptr d_queue;
gps_l1_ca_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname);
gps_l1_ca_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname);
boost::shared_ptr<gr::msg_queue> d_queue;
bool d_dump;
bool b_rinex_header_writen;
Rinex_Printer *rp;

6
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -29,11 +29,11 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/adapters
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
)
add_library(pvt_lib ${PVT_LIB_SOURCES})
target_link_libraries(pvt_lib ${Boost_LIBRARIES} ${GFlags_LIBS} ${ARMADILLO_LIBRARIES} )
target_link_libraries(pvt_lib ${Boost_LIBRARIES} ${GFlags_LIBS} ${GLOG_LIBRARIES} ${ARMADILLO_LIBRARIES} )

384
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
View File

@ -28,13 +28,12 @@
* -------------------------------------------------------------------------
*/
#include "armadillo"
#include <armadillo>
#include "gps_l1_ca_ls_pvt.h"
#include "GPS_L1_CA.h"
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "boost/date_time/posix_time/posix_time.hpp"
#include "gnss_synchro.h"
using google::LogMessage;
@ -141,10 +140,10 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
arma::mat omc;
arma::mat az;
arma::mat el;
A=arma::zeros(nmbOfSatellites, 4);
omc=arma::zeros(nmbOfSatellites, 1);
az=arma::zeros(1, nmbOfSatellites);
el=arma::zeros(1, nmbOfSatellites);
A = arma::zeros(nmbOfSatellites, 4);
omc = arma::zeros(nmbOfSatellites, 1);
az = arma::zeros(1, nmbOfSatellites);
el = arma::zeros(1, nmbOfSatellites);
for (int i = 0; i < nmbOfSatellites; i++)
{
for (int j = 0; j < 4; j++)
@ -202,7 +201,7 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i);
A(i,3) = 1.0;
}
//--- Find position update ---------------------------------------------
x = arma::solve(w*A, w*omc); // Armadillo
@ -214,7 +213,8 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
}
}
try{
try
{
//-- compute the Dilution Of Precision values
arma::mat Q;
Q = arma::inv(arma::htrans(A)*A);
@ -230,7 +230,7 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
d_PDOP = -1;
d_HDOP = -1;
d_VDOP = -1;
d_TDOP = -1;
d_TDOP = -1;
}
return pos;
}
@ -238,211 +238,209 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map, double GPS_current_time, bool flag_averaging)
{
std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
int valid_pseudoranges=gnss_pseudoranges_map.size();
std::map<int,Gnss_Synchro>::iterator gnss_pseudoranges_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
int valid_pseudoranges = gnss_pseudoranges_map.size();
arma::mat W = arma::eye(valid_pseudoranges,valid_pseudoranges); //channels weights matrix
arma::vec obs = arma::zeros(valid_pseudoranges); // pseudoranges observation vector
arma::mat satpos = arma::zeros(3,valid_pseudoranges); //satellite positions matrix
arma::mat W = arma::eye(valid_pseudoranges,valid_pseudoranges); //channels weights matrix
arma::vec obs = arma::zeros(valid_pseudoranges); // pseudoranges observation vector
arma::mat satpos = arma::zeros(3,valid_pseudoranges); //satellite positions matrix
int GPS_week = 0;
//double GPS_corrected_time = 0;
double utc = 0;
double SV_clock_drift_s = 0;
double SV_relativistic_clock_corr_s=0;
double TX_time_corrected_s;
double SV_clock_bias_s=0;
int GPS_week = 0;
double utc = 0;
double SV_clock_drift_s = 0;
double SV_relativistic_clock_corr_s = 0;
double TX_time_corrected_s;
double SV_clock_bias_s = 0;
d_flag_averaging = flag_averaging;
d_flag_averaging = flag_averaging;
// ********************************************************************************
// ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
// ********************************************************************************
int valid_obs = 0; //valid observations counter
int obs_counter=0;
for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin();
gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
gnss_pseudoranges_iter++)
{
// 1- find the ephemeris for the current SV observation. The SV PRN ID is the map key
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_pseudoranges_iter->first);
if (gps_ephemeris_iter != gps_ephemeris_map.end())
{
// ********************************************************************************
// ****** PREPARE THE LEAST SQUARES DATA (SV POSITIONS MATRIX AND OBS VECTORS) ****
// ********************************************************************************
int valid_obs = 0; //valid observations counter
int obs_counter = 0;
for(gnss_pseudoranges_iter = gnss_pseudoranges_map.begin();
gnss_pseudoranges_iter != gnss_pseudoranges_map.end();
gnss_pseudoranges_iter++)
{
// 1- find the ephemeris for the current SV observation. The SV PRN ID is the map key
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_pseudoranges_iter->first);
if (gps_ephemeris_iter != gps_ephemeris_map.end())
{
/*!
* \todo Place here the satellite CN0 (power level, or weight factor)
*/
W(obs_counter, obs_counter) = 1;
/*!
* \todo Place here the satellite CN0 (power level, or weight factor)
*/
W(obs_counter,obs_counter) = 1;
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
// first estimate of transmit time
double Rx_time = GPS_current_time;
double Tx_time = Rx_time - gnss_pseudoranges_iter->second.Pseudorange_m/GPS_C_m_s;
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
// first estimate of transmit time
double Rx_time=GPS_current_time;
double Tx_time=Rx_time-gnss_pseudoranges_iter->second.Pseudorange_m/GPS_C_m_s;
// 2- compute the clock drift using the clock model (broadcast) for this SV
SV_clock_drift_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time);
// 2- compute the clock drift using the clock model (broadcast) for this SV
SV_clock_drift_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time);
// 3- compute the relativistic clock drift using the clock model (broadcast) for this SV
SV_relativistic_clock_corr_s = gps_ephemeris_iter->second.sv_clock_relativistic_term(Tx_time);
// 3- compute the relativistic clock drift using the clock model (broadcast) for this SV
// 4- compute the current ECEF position for this SV using corrected TX time
SV_clock_bias_s = SV_clock_drift_s + SV_relativistic_clock_corr_s - gps_ephemeris_iter->second.d_TGD;
TX_time_corrected_s = Tx_time - SV_clock_bias_s;
gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
SV_relativistic_clock_corr_s = gps_ephemeris_iter->second.sv_clock_relativistic_term(Tx_time);
satpos(0,obs_counter) = gps_ephemeris_iter->second.d_satpos_X;
satpos(1,obs_counter) = gps_ephemeris_iter->second.d_satpos_Y;
satpos(2,obs_counter) = gps_ephemeris_iter->second.d_satpos_Z;
// 5- fill the observations vector with the corrected pseudorranges
obs(obs_counter) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s*GPS_C_m_s;
d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
d_visible_satellites_CN0_dB[valid_obs] = gnss_pseudoranges_iter->second.CN0_dB_hz;
valid_obs++;
// 4- compute the current ECEF position for this SV using corrected TX time
// SV ECEF DEBUG OUTPUT
DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
<< " X=" << gps_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs=" << obs(obs_counter) << " [m]" << std::endl;
SV_clock_bias_s=SV_clock_drift_s+SV_relativistic_clock_corr_s-gps_ephemeris_iter->second.d_TGD;
TX_time_corrected_s=Tx_time-SV_clock_bias_s;
// compute the UTC time for this SV (just to print the asociated UTC timestamp)
GPS_week = gps_ephemeris_iter->second.i_GPS_week;
utc = gps_utc_model.utc_time(TX_time_corrected_s, GPS_week);
gps_ephemeris_iter->second.satellitePosition(TX_time_corrected_s);
}
else // the ephemeris are not available for this SV
{
// no valid pseudorange for the current SV
W(obs_counter, obs_counter) = 0; // SV de-activated
obs(obs_counter) = 1; // to avoid algorithm problems (divide by zero)
DLOG(INFO) << "No ephemeris data for SV "<< gnss_pseudoranges_iter->first << std::endl;
}
obs_counter++;
}
satpos(0,obs_counter) = gps_ephemeris_iter->second.d_satpos_X;
satpos(1,obs_counter) = gps_ephemeris_iter->second.d_satpos_Y;
satpos(2,obs_counter) = gps_ephemeris_iter->second.d_satpos_Z;
// 5- fill the observations vector with the corrected pseudorranges
obs(obs_counter) = gnss_pseudoranges_iter->second.Pseudorange_m + SV_clock_bias_s*GPS_C_m_s;
d_visible_satellites_IDs[valid_obs] = gps_ephemeris_iter->second.i_satellite_PRN;
d_visible_satellites_CN0_dB[valid_obs] =gnss_pseudoranges_iter->second.CN0_dB_hz;
valid_obs++;
// SV ECEF DEBUG OUTPUT
DLOG(INFO) << "(new)ECEF satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
<< " X=" << gps_ephemeris_iter->second.d_satpos_X
<< " [m] Y=" << gps_ephemeris_iter->second.d_satpos_Y
<< " [m] Z=" << gps_ephemeris_iter->second.d_satpos_Z
<< " [m] PR_obs="<<obs(obs_counter)<<"[m]"<< std::endl;
// ********************************************************************************
// ****** SOLVE LEAST SQUARES******************************************************
// ********************************************************************************
d_valid_observations = valid_obs;
DLOG(INFO) << "(new)PVT: valid observations=" << valid_obs << std::endl;
// compute the UTC time for this SV (just to print the asociated UTC timestamp)
GPS_week = gps_ephemeris_iter->second.i_GPS_week;
utc = gps_utc_model.utc_time(TX_time_corrected_s,GPS_week);
if (valid_obs >= 4)
{
arma::vec mypos;
DLOG(INFO) << "satpos=" << satpos << std::endl;
DLOG(INFO) << "obs="<< obs << std::endl;
DLOG(INFO) << "W=" << W <<std::endl;
mypos = leastSquarePos(satpos, obs, W);
DLOG(INFO) << "(new)Position at TOW=" << GPS_current_time << " in ECEF (X,Y,Z) = " << mypos << std::endl;
gps_l1_ca_ls_pvt::cart2geo(mypos(0), mypos(1), mypos(2), 4);
}else{ // the ephemeris are not available for this SV
// no valid pseudorange for the current SV
W(obs_counter,obs_counter) = 0; // SV de-activated
obs(obs_counter) = 1; // to avoid algorithm problems (divide by zero)
DLOG(INFO)<<"No ephemeris data for SV "<<gnss_pseudoranges_iter->first<<std::endl;
}
obs_counter++;
}
// Compute UTC time and print PVT solution
double secondsperweek = 604800.0; // number of seconds in one week (7*24*60*60)
boost::posix_time::time_duration t = boost::posix_time::seconds(utc + secondsperweek*(double)GPS_week);
// 22 August 1999 last GPS time roll over
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
d_position_UTC_time = p_time;
// ********************************************************************************
// ****** SOLVE LEAST SQUARES******************************************************
// ********************************************************************************
d_valid_observations = valid_obs;
DLOG(INFO) << "(new)PVT: valid observations=" << valid_obs << std::endl;
DLOG(INFO) << "(new)Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
<< " [deg], Height= " << d_height_m << " [m]" << std::endl;
if (valid_obs >= 4)
{
arma::vec mypos;
DLOG(INFO)<<"satpos="<<satpos<<std::endl;
DLOG(INFO)<<"obs="<<obs<<std::endl;
DLOG(INFO)<<"W="<<W<<std::endl;
mypos=leastSquarePos(satpos,obs,W);
DLOG(INFO) << "(new)Position at TOW=" << GPS_current_time << " in ECEF (X,Y,Z) = " << mypos << std::endl;
gps_l1_ca_ls_pvt::cart2geo(mypos(0), mypos(1), mypos(2), 4);
// ######## LOG FILE #########
if(d_flag_dump_enabled == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
// PVT GPS time
tmp_double = GPS_current_time;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position East [m]
tmp_double = mypos(0);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position North [m]
tmp_double = mypos(1);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position Up [m]
tmp_double = mypos(2);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// User clock offset [s]
tmp_double = mypos(3);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Latitude [deg]
tmp_double = d_latitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Longitude [deg]
tmp_double = d_longitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Height [m]
tmp_double = d_height_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (std::ifstream::failure e)
{
std::cout << "Exception writing PVT LS dump file "<< e.what() << std::endl;
}
}
// Compute UTC time and print PVT solution
double secondsperweek = 604800.0; // number of seconds in one week (7*24*60*60)
boost::posix_time::time_duration t = boost::posix_time::seconds(utc + secondsperweek*(double)GPS_week);
// 22 August 1999 last GPS time roll over
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
d_position_UTC_time = p_time;
// MOVING AVERAGE PVT
if (flag_averaging == true)
{
if (d_hist_longitude_d.size() == (unsigned int)d_averaging_depth)
{
// Pop oldest value
d_hist_longitude_d.pop_back();
d_hist_latitude_d.pop_back();
d_hist_height_m.pop_back();
// Push new values
d_hist_longitude_d.push_front(d_longitude_d);
d_hist_latitude_d.push_front(d_latitude_d);
d_hist_height_m.push_front(d_height_m);
DLOG(INFO) << "(new)Position at " << boost::posix_time::to_simple_string(p_time)
<< " is Lat = " << d_latitude_d << " [deg], Long = " << d_longitude_d
<< " [deg], Height= " << d_height_m << " [m]" << std::endl;
d_avg_latitude_d = 0;
d_avg_longitude_d = 0;
d_avg_height_m = 0;
for (unsigned int i=0; i<d_hist_longitude_d.size(); i++)
{
d_avg_latitude_d = d_avg_latitude_d + d_hist_latitude_d.at(i);
d_avg_longitude_d = d_avg_longitude_d + d_hist_longitude_d.at(i);
d_avg_height_m = d_avg_height_m + d_hist_height_m.at(i);
}
d_avg_latitude_d = d_avg_latitude_d / (double)d_averaging_depth;
d_avg_longitude_d = d_avg_longitude_d / (double)d_averaging_depth;
d_avg_height_m = d_avg_height_m / (double)d_averaging_depth;
b_valid_position = true;
return true; //indicates that the returned position is valid
}
else
{
//int current_depth=d_hist_longitude_d.size();
// Push new values
d_hist_longitude_d.push_front(d_longitude_d);
d_hist_latitude_d.push_front(d_latitude_d);
d_hist_height_m.push_front(d_height_m);
// ######## LOG FILE #########
if(d_flag_dump_enabled == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
// PVT GPS time
tmp_double = GPS_current_time;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position East [m]
tmp_double = mypos(0);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position North [m]
tmp_double = mypos(1);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position Up [m]
tmp_double = mypos(2);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// User clock offset [s]
tmp_double = mypos(3);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Latitude [deg]
tmp_double = d_latitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Longitude [deg]
tmp_double = d_longitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Height [m]
tmp_double = d_height_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (std::ifstream::failure e)
{
std::cout << "Exception writing PVT LS dump file "<< e.what() << std::endl;
}
}
// MOVING AVERAGE PVT
if (flag_averaging == true)
{
if (d_hist_longitude_d.size() == (unsigned int)d_averaging_depth)
{
// Pop oldest value
d_hist_longitude_d.pop_back();
d_hist_latitude_d.pop_back();
d_hist_height_m.pop_back();
// Push new values
d_hist_longitude_d.push_front(d_longitude_d);
d_hist_latitude_d.push_front(d_latitude_d);
d_hist_height_m.push_front(d_height_m);
d_avg_latitude_d = 0;
d_avg_longitude_d = 0;
d_avg_height_m = 0;
for (unsigned int i=0; i<d_hist_longitude_d.size(); i++)
{
d_avg_latitude_d = d_avg_latitude_d + d_hist_latitude_d.at(i);
d_avg_longitude_d = d_avg_longitude_d + d_hist_longitude_d.at(i);
d_avg_height_m = d_avg_height_m + d_hist_height_m.at(i);
}
d_avg_latitude_d = d_avg_latitude_d / (double)d_averaging_depth;
d_avg_longitude_d = d_avg_longitude_d / (double)d_averaging_depth;
d_avg_height_m = d_avg_height_m / (double)d_averaging_depth;
b_valid_position = true;
return true; //indicates that the returned position is valid
}
else
{
//int current_depth=d_hist_longitude_d.size();
// Push new values
d_hist_longitude_d.push_front(d_longitude_d);
d_hist_latitude_d.push_front(d_latitude_d);
d_hist_height_m.push_front(d_height_m);
d_avg_latitude_d = d_latitude_d;
d_avg_longitude_d = d_longitude_d;
d_avg_height_m = d_height_m;
b_valid_position = false;
return false; //indicates that the returned position is not valid yet
}
}
else
{
b_valid_position = true;
return true; //indicates that the returned position is valid
}
}
else
{
b_valid_position = false;
return false;
}
d_avg_latitude_d = d_latitude_d;
d_avg_longitude_d = d_longitude_d;
d_avg_height_m = d_height_m;
b_valid_position = false;
return false; //indicates that the returned position is not valid yet
}
}
else
{
b_valid_position = true;
return true; //indicates that the returned position is valid
}
}
else
{
b_valid_position = false;
return false;
}
}

3
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h
View File

@ -38,7 +38,8 @@
#include <stdio.h>
#include <sys/time.h>
#include <time.h>
#include <math.h>
//#include <math.h>
#include <cmath>
#include <map>
#include <algorithm>
#include "gps_navigation_message.h"

2
src/algorithms/PVT/libs/kml_printer.cc
View File

@ -45,7 +45,7 @@ bool Kml_Printer::set_headers(std::string filename)
{
DLOG(INFO) << "KML printer writing on " << filename.c_str();
// Set iostream numeric format and precision
kml_file.setf(kml_file.fixed,kml_file.floatfield);
kml_file.setf(kml_file.fixed, kml_file.floatfield);
kml_file << std::setprecision(14);
kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
<< "<kml xmlns=\"http://www.opengis.net/kml/2.2\">" << std::endl

8
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -510,7 +510,7 @@ std::string Nmea_Printer::get_GPGSA()
sentence_str << std::hex << (int)checksum;
// end NMEA sentence
sentence_str<<"\r\n";
sentence_str << "\r\n";
return sentence_str.str();
}
@ -521,7 +521,7 @@ std::string Nmea_Printer::get_GPGSV()
{
// GSV-GNSS Satellites in View
// Notice that NMEA 2.1 only supports 12 channels
int n_sats_used=d_PVT_data->d_valid_observations;
int n_sats_used = d_PVT_data->d_valid_observations;
std::stringstream sentence_str;
std::stringstream frame_str;
std::string sentence_header;
@ -618,11 +618,11 @@ std::string Nmea_Printer::get_GPGGA()
if (d_PVT_data->d_flag_averaging == true)
{
MSL_altitude=d_PVT_data->d_avg_height_m;
MSL_altitude = d_PVT_data->d_avg_height_m;
}
else
{
MSL_altitude=d_PVT_data->d_height_m;
MSL_altitude = d_PVT_data->d_height_m;
}
std::stringstream sentence_str;

6
src/algorithms/PVT/libs/nmea_printer.h
View File

@ -60,10 +60,10 @@ public:
~Nmea_Printer();
private:
std::string nmea_filename ; //<! String with the NMEA log filename
std::ofstream nmea_file_descriptor ; //<! Output file stream for NMEA log file
std::string nmea_filename; // String with the NMEA log filename
std::ofstream nmea_file_descriptor; // Output file stream for NMEA log file
std::string nmea_devname;
int nmea_dev_descriptor ; //<! NMEA serial device descriptor (i.e. COM port)
int nmea_dev_descriptor; // NMEA serial device descriptor (i.e. COM port)
gps_l1_ca_ls_pvt* d_PVT_data;
int init_serial (std::string serial_device); //serial port control
void close_serial ();

155
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -33,14 +33,13 @@
#include "gps_ephemeris.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "GPS_L1_CA.h"
#include <ostream>
#include <fstream>
#include <stdlib.h> // for getenv()
#include <iostream>
#include <string>
#include <math.h> // for floor
#include <cmath> // for floor
#include <algorithm> // for min and max
#include "boost/date_time/time_zone_base.hpp"
#include "boost/date_time/gregorian/gregorian.hpp"
@ -948,79 +947,79 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, doub
out << line << std::endl;
if (version==2)
{
// --------- WAVELENGHT FACTOR
// put here real data!
line.clear();
line +=Rinex_Printer::rightJustify("1",6);
line +=Rinex_Printer::rightJustify("1",6);
line += std::string(48, ' ');
line += Rinex_Printer::leftJustify("WAVELENGTH FACT L1/2", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
{
// --------- WAVELENGHT FACTOR
// put here real data!
line.clear();
line +=Rinex_Printer::rightJustify("1",6);
line +=Rinex_Printer::rightJustify("1",6);
line += std::string(48, ' ');
line += Rinex_Printer::leftJustify("WAVELENGTH FACT L1/2", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
if (version==3)
{
// -------- SYS / OBS TYPES
// one line per available system
line.clear();
line += satelliteSystem["GPS"];
line += std::string(2, ' ');
//int numberTypesObservations=2; // Count the number of available types of observable in the system
std::stringstream strm;
strm << numberTypesObservations;
line += Rinex_Printer::rightJustify(strm.str(), 3);
// per type of observation
line += std::string(1, ' ');
line += observationType["PSEUDORANGE"];
line += observationCode["GPS_L1_CA"];
line += std::string(1, ' ');
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GPS_L1_CA"];
{
// -------- SYS / OBS TYPES
// one line per available system
line.clear();
line += satelliteSystem["GPS"];
line += std::string(2, ' ');
//int numberTypesObservations=2; // Count the number of available types of observable in the system
std::stringstream strm;
strm << numberTypesObservations;
line += Rinex_Printer::rightJustify(strm.str(), 3);
// per type of observation
line += std::string(1, ' ');
line += observationType["PSEUDORANGE"];
line += observationCode["GPS_L1_CA"];
line += std::string(1, ' ');
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GPS_L1_CA"];
line += std::string(60-line.size(), ' ');
line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
line += std::string(60-line.size(), ' ');
line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
if (version==2)
{
// -------- SYS / OBS TYPES
line.clear();
std::stringstream strm;
strm << numberTypesObservations;
line += Rinex_Printer::rightJustify(strm.str(), 6);
// per type of observation
// GPS L1 PSEUDORANGE
line += Rinex_Printer::rightJustify(observationType["PSEUDORANGE_CA_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
// GPS L1 PHASE
line += Rinex_Printer::rightJustify(observationType["CARRIER_PHASE_CA_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
// GPS DOPPLER L1
line += Rinex_Printer::rightJustify(observationType["DOPPLER_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
// GPS L1 SIGNAL STRENGTH
line += Rinex_Printer::rightJustify(observationType["SIGNAL_STRENGTH_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
line += std::string(60-line.size(), ' ');
line += Rinex_Printer::leftJustify("# / TYPES OF OBSERV", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
{
// -------- SYS / OBS TYPES
line.clear();
std::stringstream strm;
strm << numberTypesObservations;
line += Rinex_Printer::rightJustify(strm.str(), 6);
// per type of observation
// GPS L1 PSEUDORANGE
line += Rinex_Printer::rightJustify(observationType["PSEUDORANGE_CA_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
// GPS L1 PHASE
line += Rinex_Printer::rightJustify(observationType["CARRIER_PHASE_CA_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
// GPS DOPPLER L1
line += Rinex_Printer::rightJustify(observationType["DOPPLER_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
// GPS L1 SIGNAL STRENGTH
line += Rinex_Printer::rightJustify(observationType["SIGNAL_STRENGTH_v2"], 5);
line += observationCode["GPS_L1_CA_v2"];
line += std::string(60-line.size(), ' ');
line += Rinex_Printer::leftJustify("# / TYPES OF OBSERV", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
if (version==3)
{
// -------- Signal Strength units
line.clear();
line += Rinex_Printer::leftJustify("DBHZ", 20);
line += std::string(40, ' ');
line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
{
// -------- Signal Strength units
line.clear();
line += Rinex_Printer::leftJustify("DBHZ", 20);
line += std::string(40, ' ');
line += Rinex_Printer::leftJustify("SIGNAL STRENGTH UNIT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
// -------- TIME OF FIRST OBS
line.clear();
@ -1031,7 +1030,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, doub
std::string day (timestring, 6, 2);
std::string hour (timestring, 9, 2);
std::string minutes (timestring, 11, 2);
double gps_t =d_TOW_first_observation;
double gps_t = d_TOW_first_observation;
double seconds = fmod(gps_t, 60);
line += Rinex_Printer::rightJustify(year, 6);
line += Rinex_Printer::rightJustify(month, 6);
@ -1064,10 +1063,11 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
std::string line;
boost::posix_time::ptime p_gps_time= Rinex_Printer::compute_GPS_time(eph,obs_time);
std::string timestring=boost::posix_time::to_iso_string(p_gps_time);
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph,obs_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
//double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
double gps_t=obs_time;
//double gps_t = eph.sv_clock_correction(obs_time);
double gps_t = obs_time;
std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2);
@ -1273,13 +1273,12 @@ boost::posix_time::ptime Rinex_Printer::compute_UTC_time(Gps_Navigation_Message
boost::posix_time::ptime Rinex_Printer::compute_GPS_time(Gps_Ephemeris eph, double obs_time)
{
// The RINEX v2.11 v3.00 format uses GPS time for the observations epoch, not UTC time, thus, no leap seconds needed here.
// (see Section 3 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt)
// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex300.pdf)
// --??? No time correction here, since it will be done in the RINEX processor
// The RINEX v2.11 v3.00 format uses GPS time for the observations epoch, not UTC time, thus, no leap seconds needed here.
// (see Section 3 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt)
// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex300.pdf)
// --??? No time correction here, since it will be done in the RINEX processor
double gps_t = obs_time;
//double gps_t=obs_time;
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800*(double)(eph.i_GPS_week%1024))*1000);
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800*(double)(eph.i_GPS_week%1024))*1000);
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
return p_time;
}

7
src/algorithms/acquisition/adapters/CMakeLists.txt
View File

@ -29,9 +29,10 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
)
add_library(acq_adapters ${ACQ_ADAPTER_SOURCES})
target_link_libraries(acq_adapters gnss_sp_libs acq_gr_blocks ${GR_BLOCKS_LIBRARIES})
target_link_libraries(acq_adapters gnss_sp_libs acq_gr_blocks ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})

23
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -36,20 +36,17 @@
#include <iostream>
#include <string>
#include <boost/lexical_cast.hpp>
#include <gnuradio/gr_io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <boost/math/distributions/exponential.hpp>
using google::LogMessage;
GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
gr_msg_queue_sptr queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(
queue)
boost::shared_ptr<gr::msg_queue> queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(queue)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -72,8 +69,8 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
vector_length_ = round(
fs_in_
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
/ (Galileo_E1_CODE_CHIP_RATE_HZ
/ Galileo_E1_B_CODE_LENGTH_CHIPS));
int samples_per_ms = vector_length_ / 4;
code_ = new gr_complex[vector_length_];
@ -84,8 +81,6 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
acquisition_cc_ = pcps_make_acquisition_cc(sampled_ms_,
shift_resolution_, if_, fs_in_, samples_per_ms, queue_,
dump_, dump_filename_);
//stream_to_vector_ = gr_make_stream_to_vector(item_size_,
// vector_length_);
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector("
<< stream_to_vector_->unique_id() << ")";
@ -254,7 +249,7 @@ float GalileoE1PcpsAmbiguousAcquisition::calculate_threshold(float pfa)
void
GalileoE1PcpsAmbiguousAcquisition::connect(gr_top_block_sptr top_block)
GalileoE1PcpsAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
@ -266,7 +261,7 @@ GalileoE1PcpsAmbiguousAcquisition::connect(gr_top_block_sptr top_block)
void
GalileoE1PcpsAmbiguousAcquisition::disconnect(gr_top_block_sptr top_block)
GalileoE1PcpsAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
@ -276,16 +271,14 @@ GalileoE1PcpsAmbiguousAcquisition::disconnect(gr_top_block_sptr top_block)
gr_basic_block_sptr
GalileoE1PcpsAmbiguousAcquisition::get_left_block()
gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_left_block()
{
return stream_to_vector_;
}
gr_basic_block_sptr
GalileoE1PcpsAmbiguousAcquisition::get_right_block()
gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_right_block()
{
return acquisition_cc_;
}

15
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
View File

@ -36,7 +36,7 @@
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "pcps_acquisition_cc.h"
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/stream_to_vector.h>
class ConfigurationInterface;
@ -50,7 +50,7 @@ class GalileoE1PcpsAmbiguousAcquisition: public AcquisitionInterface
public:
GalileoE1PcpsAmbiguousAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams, gr_msg_queue_sptr queue);
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
virtual ~GalileoE1PcpsAmbiguousAcquisition();
@ -71,10 +71,10 @@ public:
return item_size_;
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
@ -146,9 +146,8 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
gr_msg_queue_sptr queue_;
boost::shared_ptr<gr::msg_queue> queue_;
concurrent_queue<int> *channel_internal_queue_;
float calculate_threshold(float pfa);
};

29
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -37,22 +37,21 @@
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include <iostream>
#include <gnuradio/gr_io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <stdexcept>
#include <boost/math/distributions/exponential.hpp>
#include <gnuradio/msg_queue.h>
using google::LogMessage;
GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
gr_msg_queue_sptr queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(
queue)
gr::msg_queue::sptr queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(queue)
{
configuration_=configuration;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat";
@ -71,7 +70,6 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
dump_filename_ = configuration_->property(role + ".dump_filename",
default_dump_filename);
//--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_
/ (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
@ -118,10 +116,12 @@ void GpsL1CaPcpsAcquisition::set_channel(unsigned int channel)
void GpsL1CaPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa==0.0) pfa = configuration_->property(role_+".pfa", 0.0);
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
if(pfa==0.0)
{
pfa = configuration_->property(role_+".pfa", 0.0);
}
if(pfa==0.0)
{
threshold_ = threshold;
@ -235,9 +235,8 @@ float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa)
return threshold;
}
void GpsL1CaPcpsAcquisition::connect(gr_top_block_sptr top_block)
void GpsL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
@ -246,7 +245,7 @@ void GpsL1CaPcpsAcquisition::connect(gr_top_block_sptr top_block)
}
void GpsL1CaPcpsAcquisition::disconnect(gr_top_block_sptr top_block)
void GpsL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
@ -255,13 +254,13 @@ void GpsL1CaPcpsAcquisition::disconnect(gr_top_block_sptr top_block)
}
gr_basic_block_sptr GpsL1CaPcpsAcquisition::get_left_block()
gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_left_block()
{
return stream_to_vector_;
}
gr_basic_block_sptr GpsL1CaPcpsAcquisition::get_right_block()
gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_right_block()
{
return acquisition_cc_;
}

14
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -38,7 +38,7 @@
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "pcps_acquisition_cc.h"
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/stream_to_vector.h>
@ -53,7 +53,7 @@ class GpsL1CaPcpsAcquisition: public AcquisitionInterface
public:
GpsL1CaPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams, gr_msg_queue_sptr queue);
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
virtual ~GpsL1CaPcpsAcquisition();
@ -74,10 +74,10 @@ public:
return item_size_;
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
@ -149,7 +149,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
gr_msg_queue_sptr queue_;
boost::shared_ptr<gr::msg_queue> queue_;
concurrent_queue<int> *channel_internal_queue_;
float calculate_threshold(float pfa);

21
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
View File

@ -37,7 +37,6 @@
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include <iostream>
#include <gnuradio/gr_io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -46,9 +45,9 @@ using google::LogMessage;
GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
gr_msg_queue_sptr queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams), queue_(
queue)
boost::shared_ptr<gr::msg_queue> queue) :
role_(role), in_streams_(in_streams), out_streams_(out_streams),
queue_(queue)
{
std::string default_item_type = "gr_complex";
@ -57,7 +56,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
DLOG(INFO) << "role " << role;
item_type_ = configuration->property(role + ".item_type",
default_item_type);
default_item_type);
fs_in_ = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
if_ = configuration->property(role + ".ifreq", 0);
@ -67,7 +66,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
sampled_ms_ = configuration->property(role + ".sampled_ms", 1);
max_dwells_= configuration->property(role + ".max_dwells", 1);
dump_filename_ = configuration->property(role + ".dump_filename",
default_dump_filename);
default_dump_filename);
//--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_
@ -80,7 +79,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_assisted_acquisition_cc(max_dwells_,sampled_ms_,
doppler_max_, doppler_min_, if_, fs_in_, vector_length_, queue_,
dump_, dump_filename_);
dump_, dump_filename_);
}
else
@ -159,7 +158,7 @@ void GpsL1CaPcpsAssistedAcquisition::reset()
}
void GpsL1CaPcpsAssistedAcquisition::connect(gr_top_block_sptr top_block)
void GpsL1CaPcpsAssistedAcquisition::connect(gr::top_block_sptr top_block)
{
//nothing to disconnect, now the tracking uses gr_sync_decimator
@ -167,19 +166,19 @@ void GpsL1CaPcpsAssistedAcquisition::connect(gr_top_block_sptr top_block)
}
void GpsL1CaPcpsAssistedAcquisition::disconnect(gr_top_block_sptr top_block)
void GpsL1CaPcpsAssistedAcquisition::disconnect(gr::top_block_sptr top_block)
{
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr_basic_block_sptr GpsL1CaPcpsAssistedAcquisition::get_left_block()
gr::basic_block_sptr GpsL1CaPcpsAssistedAcquisition::get_left_block()
{
return acquisition_cc_;
}
gr_basic_block_sptr GpsL1CaPcpsAssistedAcquisition::get_right_block()
gr::basic_block_sptr GpsL1CaPcpsAssistedAcquisition::get_right_block()
{
return acquisition_cc_;
}

14
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h
View File

@ -37,7 +37,7 @@
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "pcps_assisted_acquisition_cc.h"
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/stream_to_vector.h>
@ -52,7 +52,7 @@ class GpsL1CaPcpsAssistedAcquisition: public AcquisitionInterface
public:
GpsL1CaPcpsAssistedAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams, gr_msg_queue_sptr queue);
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
virtual ~GpsL1CaPcpsAssistedAcquisition();
@ -73,10 +73,10 @@ public:
return item_size_;
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
@ -147,7 +147,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
gr_msg_queue_sptr queue_;
boost::shared_ptr<gr::msg_queue> queue_;
concurrent_queue<int> *channel_internal_queue_;
};

9
src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
View File

@ -27,12 +27,11 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${GR_FFT_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(acq_gr_blocks ${ACQ_GR_BLOCKS_SOURCES})
target_link_libraries(acq_gr_blocks gnss_system_parameters ${GR_FFT_LIBRARIES} ${VOLK_LIBRARIES})
target_link_libraries(acq_gr_blocks gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_FFT_LIBRARIES} ${VOLK_LIBRARIES})

30
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.cc
View File

@ -34,7 +34,7 @@
#include "pcps_acquisition_cc.h"
#include "gnss_signal_processing.h"
#include "control_message_factory.h"
#include <gnuradio/gr_io_signature.h>
#include <gnuradio/io_signature.h>
#include <sstream>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -44,7 +44,7 @@ using google::LogMessage;
pcps_acquisition_cc_sptr pcps_make_acquisition_cc(
unsigned int sampled_ms, unsigned int doppler_max, long freq,
long fs_in, int samples_per_ms, gr_msg_queue_sptr queue, bool dump,
long fs_in, int samples_per_ms, gr::msg_queue::sptr queue, bool dump,
std::string dump_filename)
{
@ -57,11 +57,11 @@ pcps_acquisition_cc_sptr pcps_make_acquisition_cc(
pcps_acquisition_cc::pcps_acquisition_cc(
unsigned int sampled_ms, unsigned int doppler_max, long freq,
long fs_in, int samples_per_ms, gr_msg_queue_sptr queue, bool dump,
long fs_in, int samples_per_ms, gr::msg_queue::sptr queue, bool dump,
std::string dump_filename) :
gr_block("pcps_acquisition_cc",
gr_make_io_signature(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr_make_io_signature(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
gr::block("pcps_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
@ -108,7 +108,7 @@ pcps_acquisition_cc::~pcps_acquisition_cc()
void pcps_acquisition_cc::set_local_code(std::complex<float> * code)
{
memcpy(d_fft_if->get_inbuf(),code,sizeof(gr_complex)*d_fft_size);
memcpy(d_fft_if->get_inbuf(),code, sizeof(gr_complex)*d_fft_size);
}
@ -175,10 +175,11 @@ int pcps_acquisition_cc::general_work(int noutput_items,
d_input_power = 0.0;
DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step;
<< " , doing acquisition of satellite: " << d_gnss_synchro->System
<< " "<< d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step;
// 1- Compute the input signal power estimation
for (i = 0; i < d_fft_size; i++)
@ -247,10 +248,9 @@ int pcps_acquisition_cc::general_work(int noutput_items,
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out
| std::ios::binary);
<<"_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write((char*)d_ifft->get_outbuf(), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
}

262
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_cc.h
View File

@ -50,8 +50,8 @@
#define GNSS_SDR_PCPS_ACQUISITION_CC_H_
#include <fstream>
#include <gnuradio/gr_block.h>
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/fft/fft.h>
#include <queue>
@ -61,12 +61,13 @@
#include "gnss_synchro.h"
class pcps_acquisition_cc;
typedef boost::shared_ptr<pcps_acquisition_cc>
pcps_acquisition_cc_sptr;
typedef boost::shared_ptr<pcps_acquisition_cc> pcps_acquisition_cc_sptr;
pcps_acquisition_cc_sptr
pcps_make_acquisition_cc(unsigned int sampled_ms,
unsigned int doppler_max, long freq, long fs_in, int samples_per_ms,
gr_msg_queue_sptr queue, bool dump, std::string dump_filename);
gr::msg_queue::sptr queue, bool dump, std::string dump_filename);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition.
@ -74,151 +75,150 @@ pcps_make_acquisition_cc(unsigned int sampled_ms,
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation.
*/
class pcps_acquisition_cc: public gr_block
class pcps_acquisition_cc: public gr::block
{
private:
friend pcps_acquisition_cc_sptr
pcps_make_acquisition_cc(unsigned int sampled_ms,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, gr_msg_queue_sptr queue, bool dump,
std::string dump_filename);
friend pcps_acquisition_cc_sptr
pcps_make_acquisition_cc(unsigned int sampled_ms,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, gr::msg_queue::sptr queue, bool dump,
std::string dump_filename);
pcps_acquisition_cc(unsigned int sampled_ms,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, gr_msg_queue_sptr queue, bool dump,
std::string dump_filename);
pcps_acquisition_cc(unsigned int sampled_ms,
unsigned int doppler_max, long freq, long fs_in,
int samples_per_ms, gr::msg_queue::sptr d_queue, bool dump,
std::string dump_filename);
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset);
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset);
long d_fs_in;
long d_freq;
int d_samples_per_ms;
unsigned int d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
unsigned int d_doppler_max;
unsigned int d_doppler_step;
unsigned int d_sampled_ms;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_mag;
float d_input_power;
float d_test_statistics;
gr_msg_queue_sptr d_queue;
concurrent_queue<int> *d_channel_internal_queue;
std::ofstream d_dump_file;
bool d_active;
bool d_dump;
unsigned int d_channel;
std::string d_dump_filename;
long d_fs_in;
long d_freq;
int d_samples_per_ms;
unsigned int d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
unsigned int d_doppler_max;
unsigned int d_doppler_step;
unsigned int d_sampled_ms;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_mag;
float d_input_power;
float d_test_statistics;
gr::msg_queue::sptr d_queue;
concurrent_queue<int> *d_channel_internal_queue;
std::ofstream d_dump_file;
bool d_active;
bool d_dump;
unsigned int d_channel;
std::string d_dump_filename;
public:
/*!
* \brief Default destructor.
*/
~pcps_acquisition_cc();
/*!
* \brief Default destructor.
*/
~pcps_acquisition_cc();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
}
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
unsigned int mag()
{
return d_mag;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
unsigned int mag()
{
return d_mag;
}
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code(std::complex<float> * code);
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code(std::complex<float> * code);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
void set_active(bool active)
{
d_active = active;
}
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
void set_active(bool active)
{
d_active = active;
}
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
void set_channel(unsigned int channel)
{
d_channel = channel;
}
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
void set_channel(unsigned int channel)
{
d_channel = channel;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
void set_doppler_max(unsigned int doppler_max)
{
d_doppler_max = doppler_max;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
void set_doppler_max(unsigned int doppler_max)
{
d_doppler_max = doppler_max;
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
void set_doppler_step(unsigned int doppler_step)
{
d_doppler_step = doppler_step;
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
void set_doppler_step(unsigned int doppler_step)
{
d_doppler_step = doppler_step;
}
/*!
* \brief Set tracking channel internal queue.
* \param channel_internal_queue - Channel's internal blocks information queue.
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
/*!
* \brief Set tracking channel internal queue.
* \param channel_internal_queue - Channel's internal blocks information queue.
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
};
#endif /* GNSS_SDR_PCPS_ACQUISITION_CC_H_*/

623
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@ -34,7 +34,7 @@
#include "gnss_signal_processing.h"
#include "control_message_factory.h"
#include "gps_acq_assist.h"
#include <gnuradio/gr_io_signature.h>
#include <gnuradio/io_signature.h>
#include <sstream>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -47,403 +47,410 @@ extern concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
using google::LogMessage;
pcps_assisted_acquisition_cc_sptr pcps_make_assisted_acquisition_cc(
int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq,
long fs_in, int samples_per_ms, gr_msg_queue_sptr queue, bool dump,
std::string dump_filename)
int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq,
long fs_in, int samples_per_ms, boost::shared_ptr<gr::msg_queue> queue, bool dump,
std::string dump_filename)
{
return pcps_assisted_acquisition_cc_sptr(
new pcps_assisted_acquisition_cc(max_dwells, sampled_ms, doppler_max, doppler_min, freq,
fs_in, samples_per_ms, queue, dump, dump_filename));
return pcps_assisted_acquisition_cc_sptr(
new pcps_assisted_acquisition_cc(max_dwells, sampled_ms, doppler_max, doppler_min, freq,
fs_in, samples_per_ms, queue, dump, dump_filename));
}
pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq,
long fs_in, int samples_per_ms, gr_msg_queue_sptr queue, bool dump,
std::string dump_filename) :
gr_block("pcps_assisted_acquisition_cc",
gr_make_io_signature(1, 1, sizeof(gr_complex)),
gr_make_io_signature(0, 0, sizeof(gr_complex)))
int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min, long freq,
long fs_in, int samples_per_ms, boost::shared_ptr<gr::msg_queue> queue, bool dump,
std::string dump_filename) :
gr::block("pcps_assisted_acquisition_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
{
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_queue = queue;
d_freq = freq;
d_fs_in = fs_in;
d_samples_per_ms = samples_per_ms;
d_sampled_ms = sampled_ms;
d_config_doppler_max = doppler_max;
d_config_doppler_min=doppler_min;
d_fft_size = d_sampled_ms * d_samples_per_ms;
// HS Acquisition
d_max_dwells= max_dwells;
d_gnuradio_forecast_samples=d_fft_size*4;
d_input_power = 0.0;
d_state=0;
d_disable_assist=false;
//todo: do something if posix_memalign fails
if (posix_memalign((void**)&d_carrier, 16, d_fft_size * sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_fft_codes, 16, d_fft_size * sizeof(gr_complex)) == 0){};
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_queue = queue;
d_freq = freq;
d_fs_in = fs_in;
d_samples_per_ms = samples_per_ms;
d_sampled_ms = sampled_ms;
d_config_doppler_max = doppler_max;
d_config_doppler_min=doppler_min;
d_fft_size = d_sampled_ms * d_samples_per_ms;
// HS Acquisition
d_max_dwells = max_dwells;
d_gnuradio_forecast_samples = d_fft_size*4;
d_input_power = 0.0;
d_state = 0;
d_disable_assist = false;
//todo: do something if posix_memalign fails
if (posix_memalign((void**)&d_carrier, 16, d_fft_size * sizeof(gr_complex)) == 0){};
if (posix_memalign((void**)&d_fft_codes, 16, d_fft_size * sizeof(gr_complex)) == 0){};
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
// For dumping samples into a file
d_dump = dump;
d_dump_filename = dump_filename;
// For dumping samples into a file
d_dump = dump;
d_dump_filename = dump_filename;
}
void pcps_assisted_acquisition_cc::set_doppler_step(unsigned int doppler_step)
{
d_doppler_step = doppler_step;
d_doppler_step = doppler_step;
}
void pcps_assisted_acquisition_cc::free_grid_memory()
{
for (int i=0;i<d_num_doppler_points;i++)
{
delete[] d_grid_data[i];
delete[] d_grid_doppler_wipeoffs[i];
}
delete d_grid_data;
for (int i=0;i<d_num_doppler_points;i++)
{
delete[] d_grid_data[i];
delete[] d_grid_doppler_wipeoffs[i];
}
delete d_grid_data;
}
pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc()
{
free(d_carrier);
free(d_fft_codes);
delete d_ifft;
delete d_fft_if;
if (d_dump)
{
d_dump_file.close();
}
free(d_carrier);
free(d_fft_codes);
delete d_ifft;
delete d_fft_if;
if (d_dump)
{
d_dump_file.close();
}
}
void pcps_assisted_acquisition_cc::set_local_code(std::complex<float> * code)
{
memcpy(d_fft_if->get_inbuf(),code,sizeof(gr_complex)*d_fft_size);
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex)*d_fft_size);
}
void pcps_assisted_acquisition_cc::init()
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_input_power = 0.0;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_input_power = 0.0;
d_state=0;
d_state = 0;
d_fft_if->execute(); // We need the FFT of local code
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc_a(d_fft_codes,d_fft_if->get_outbuf(),d_fft_size);
//Conjugate the local code
volk_32fc_conjugate_32fc_a(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
}
void pcps_assisted_acquisition_cc::forecast (int noutput_items,
gr_vector_int &ninput_items_required)
gr_vector_int &ninput_items_required)
{
ninput_items_required[0] = d_gnuradio_forecast_samples ; //set the required available samples in each call
ninput_items_required[0] = d_gnuradio_forecast_samples ; //set the required available samples in each call
}
void pcps_assisted_acquisition_cc::get_assistance()
{
Gps_Acq_Assist gps_acq_assisistance;
if (global_gps_acq_assist_map.read(this->d_gnss_synchro->PRN,gps_acq_assisistance)==true)
{
//TODO: use the LO tolerance here
if (gps_acq_assisistance.dopplerUncertainty>=1000)
{
d_doppler_max=gps_acq_assisistance.d_Doppler0+gps_acq_assisistance.dopplerUncertainty*2;
d_doppler_min=gps_acq_assisistance.d_Doppler0-gps_acq_assisistance.dopplerUncertainty*2;
}else{
d_doppler_max=gps_acq_assisistance.d_Doppler0+1000;
d_doppler_min=gps_acq_assisistance.d_Doppler0-1000;
}
this->d_disable_assist=false;
std::cout<<"Acq assist ENABLED for GPS SV "<<this->d_gnss_synchro->PRN<<" (Doppler max,Doppler min)=("
<<d_doppler_max<<","<<d_doppler_min<<")"<<std::endl;
}else{
this->d_disable_assist=true;
std::cout<<"Acq assist DISABLED for GPS SV "<<this->d_gnss_synchro->PRN<<std::endl;
}
Gps_Acq_Assist gps_acq_assisistance;
if (global_gps_acq_assist_map.read(this->d_gnss_synchro->PRN, gps_acq_assisistance)==true)
{
//TODO: use the LO tolerance here
if (gps_acq_assisistance.dopplerUncertainty >= 1000)
{
d_doppler_max = gps_acq_assisistance.d_Doppler0 + gps_acq_assisistance.dopplerUncertainty*2;
d_doppler_min = gps_acq_assisistance.d_Doppler0 - gps_acq_assisistance.dopplerUncertainty*2;
}
else
{
d_doppler_max = gps_acq_assisistance.d_Doppler0 + 1000;
d_doppler_min = gps_acq_assisistance.d_Doppler0 - 1000;
}
this->d_disable_assist = false;
std::cout << "Acq assist ENABLED for GPS SV "<< this->d_gnss_synchro->PRN <<" (Doppler max,Doppler min)=("
<< d_doppler_max << "," << d_doppler_min << ")" << std::endl;
}
else
{
this->d_disable_assist = true;
std::cout << "Acq assist DISABLED for GPS SV "<< this->d_gnss_synchro->PRN << std::endl;
}
}
void pcps_assisted_acquisition_cc::reset_grid()
{
d_well_count=0;
for (int i=0;i<d_num_doppler_points;i++)
{
for (unsigned int j=0;j<d_fft_size;j++)
{
d_grid_data[i][j]=0.0;
}
}
d_well_count = 0;
for (int i=0;i<d_num_doppler_points;i++)
{
for (unsigned int j=0;j<d_fft_size;j++)
{
d_grid_data[i][j] = 0.0;
}
}
}
void pcps_assisted_acquisition_cc::redefine_grid()
{
if (this->d_disable_assist==true)
{
d_doppler_max=d_config_doppler_max;
d_doppler_min=d_config_doppler_min;
}
// Create the search grid array
d_num_doppler_points=floor(std::abs(d_doppler_max-d_doppler_min)/d_doppler_step);
if (this->d_disable_assist==true)
{
d_doppler_max = d_config_doppler_max;
d_doppler_min = d_config_doppler_min;
}
// Create the search grid array
d_num_doppler_points = floor(std::abs(d_doppler_max-d_doppler_min)/d_doppler_step);
d_grid_data=new float*[d_num_doppler_points];
for (int i=0;i<d_num_doppler_points;i++)
{
d_grid_data[i]=new float[d_fft_size];
}
d_grid_data=new float*[d_num_doppler_points];
for (int i=0; i<d_num_doppler_points; i++)
{
d_grid_data[i] = new float[d_fft_size];
}
// create the carrier Doppler wipeoff signals
int doppler_hz;
// create the carrier Doppler wipeoff signals
int doppler_hz;
float phase_step_rad;
d_grid_doppler_wipeoffs=new gr_complex*[d_num_doppler_points];
for (int doppler_index=0;doppler_index<d_num_doppler_points;doppler_index++)
{
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_points];
for (int doppler_index=0; doppler_index<d_num_doppler_points; doppler_index++)
{
doppler_hz=d_doppler_min+d_doppler_step*doppler_index;
// doppler search steps
// compute the carrier doppler wipe-off signal and store it
phase_step_rad = (float)GPS_TWO_PI*doppler_hz / (float)d_fs_in;
d_grid_doppler_wipeoffs[doppler_index]=new gr_complex[d_fft_size];
fxp_nco(d_grid_doppler_wipeoffs[doppler_index], d_fft_size,0, phase_step_rad);
}
doppler_hz = d_doppler_min+d_doppler_step*doppler_index;
// doppler search steps
// compute the carrier doppler wipe-off signal and store it
phase_step_rad = (float)GPS_TWO_PI*doppler_hz / (float)d_fs_in;
d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size];
fxp_nco(d_grid_doppler_wipeoffs[doppler_index], d_fft_size,0, phase_step_rad);
}
}
double pcps_assisted_acquisition_cc::search_maximum()
{
float magt = 0.0;
float fft_normalization_factor;
int index_doppler = 0;
unsigned int tmp_intex_t;
unsigned int index_time = 0;
float magt = 0.0;
float fft_normalization_factor;
int index_doppler = 0;
unsigned int tmp_intex_t;
unsigned int index_time = 0;
for (int i=0;i<d_num_doppler_points;i++)
{
volk_32f_index_max_16u_a(&tmp_intex_t,d_grid_data[i],d_fft_size);
if (d_grid_data[i][tmp_intex_t] > magt)
{
magt = d_grid_data[i][index_time];
index_doppler = i;
index_time = tmp_intex_t;
}
}
for (int i=0;i<d_num_doppler_points;i++)
{
volk_32f_index_max_16u_a(&tmp_intex_t,d_grid_data[i],d_fft_size);
if (d_grid_data[i][tmp_intex_t] > magt)
{
magt = d_grid_data[i][index_time];
index_doppler = i;
index_time = tmp_intex_t;
}
}
// Normalize the maximum value to correct the scale factor introduced by FFTW
fft_normalization_factor = (float)d_fft_size * (float)d_fft_size;
magt = magt / (fft_normalization_factor * fft_normalization_factor);
// Normalize the maximum value to correct the scale factor introduced by FFTW
fft_normalization_factor = (float)d_fft_size * (float)d_fft_size;
magt = magt / (fft_normalization_factor * fft_normalization_factor);
// 5- Compute the test statistics and compare to the threshold
d_test_statistics = 2 * d_fft_size * magt /(d_input_power*d_well_count);
// 5- Compute the test statistics and compare to the threshold
d_test_statistics = 2 * d_fft_size * magt /(d_input_power*d_well_count);
// 4- record the maximum peak and the associated synchronization parameters
d_gnss_synchro->Acq_delay_samples = (double)index_time;
d_gnss_synchro->Acq_doppler_hz = (double)(index_doppler*d_doppler_step+d_doppler_min);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
// 4- record the maximum peak and the associated synchronization parameters
d_gnss_synchro->Acq_delay_samples = (double)index_time;
d_gnss_synchro->Acq_doppler_hz = (double)(index_doppler*d_doppler_step + d_doppler_min);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
// Record results to file if required
if (d_dump)
{
std::stringstream filename;
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System
<<"_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out
| std::ios::binary);
d_dump_file.write((char*)d_grid_data[index_doppler], n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
}
// Record results to file if required
if (d_dump)
{
std::stringstream filename;
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System
<< "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write((char*)d_grid_data[index_doppler], n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
}
return d_test_statistics;
return d_test_statistics;
}
float pcps_assisted_acquisition_cc::estimate_input_power(gr_vector_const_void_star &input_items)
{
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
// 1- Compute the input signal power estimation
float* p_tmp_vector;
if (posix_memalign((void**)&p_tmp_vector, 16, d_fft_size * sizeof(float)) == 0){};
volk_32fc_magnitude_squared_32f_u(p_tmp_vector, in, d_fft_size);
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
// 1- Compute the input signal power estimation
float* p_tmp_vector;
if (posix_memalign((void**)&p_tmp_vector, 16, d_fft_size * sizeof(float)) == 0){};
volk_32fc_magnitude_squared_32f_u(p_tmp_vector, in, d_fft_size);
const float* p_const_tmp_vector=p_tmp_vector;
float power;
volk_32f_accumulator_s32f_a(&power, p_const_tmp_vector, d_fft_size);
free(p_tmp_vector);
return ( power / (float)d_fft_size);
const float* p_const_tmp_vector = p_tmp_vector;
float power;
volk_32f_accumulator_s32f_a(&power, p_const_tmp_vector, d_fft_size);
free(p_tmp_vector);
return ( power / (float)d_fft_size);
}
int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_void_star &input_items)
{
// initialize acquisition algorithm
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
// initialize acquisition algorithm
const gr_complex *in = (const gr_complex *)input_items[0]; //Get the input samples pointer
DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "<< d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step;
DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "
<< d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step;
// 2- Doppler frequency search loop
float* p_tmp_vector;
if (posix_memalign((void**)&p_tmp_vector, 16, d_fft_size * sizeof(float)) == 0){};
// 2- Doppler frequency search loop
float* p_tmp_vector;
if (posix_memalign((void**)&p_tmp_vector, 16, d_fft_size * sizeof(float)) == 0){};
for (int doppler_index=0;doppler_index<d_num_doppler_points;doppler_index++)
{
// doppler search steps
// Perform the carrier wipe-off
volk_32fc_x2_multiply_32fc_u(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
d_fft_if->execute();
for (int doppler_index=0; doppler_index<d_num_doppler_points; doppler_index++)
{
// doppler search steps
// Perform the carrier wipe-off
volk_32fc_x2_multiply_32fc_u(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
d_fft_if->execute();
// Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd code reference using SIMD operations with VOLK library
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
// Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd code reference using SIMD operations with VOLK library
volk_32fc_x2_multiply_32fc_a(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
// compute the inverse FFT
d_ifft->execute();
// compute the inverse FFT
d_ifft->execute();
// save the grid matrix delay file
volk_32fc_magnitude_squared_32f_a(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
const float* old_vector=d_grid_data[doppler_index];
volk_32f_x2_add_32f_a(d_grid_data[doppler_index],old_vector,p_tmp_vector,d_fft_size);
// save the grid matrix delay file
volk_32fc_magnitude_squared_32f_a(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
const float* old_vector = d_grid_data[doppler_index];
volk_32f_x2_add_32f_a(d_grid_data[doppler_index], old_vector, p_tmp_vector, d_fft_size);
}
free(p_tmp_vector);
return d_fft_size;
}
free(p_tmp_vector);
return d_fft_size;
}
int pcps_assisted_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
/*!
* TODO: High sensitivity acquisition algorithm:
* State Mechine:
* S0. StandBy. If d_active==1 -> S1
* S1. GetAssist. Define search grid with assistance information. Reset grid matrix -> S2
* S2. ComputeGrid. Perform the FFT acqusition doppler and delay grid.
* Accumulate the search grid matrix (#doppler_bins x #fft_size)
* Compare maximum to threshold and decide positive or negative
* If T>=gamma -> S4 else
* If d_well_count<max_dwells -> S2
* else if !disable_assist -> S3
* else -> S5.
* S3. RedefineGrid. Open the grid search to unasisted acquisition. Reset counters and grid. -> S2
* S4. Positive_Acq: Send message and stop acq -> S0
* S5. Negative_Acq: Send message and stop acq -> S0
*/
/*!
* TODO: High sensitivity acquisition algorithm:
* State Mechine:
* S0. StandBy. If d_active==1 -> S1
* S1. GetAssist. Define search grid with assistance information. Reset grid matrix -> S2
* S2. ComputeGrid. Perform the FFT acqusition doppler and delay grid.
* Accumulate the search grid matrix (#doppler_bins x #fft_size)
* Compare maximum to threshold and decide positive or negative
* If T>=gamma -> S4 else
* If d_well_count<max_dwells -> S2
* else if !disable_assist -> S3
* else -> S5.
* S3. RedefineGrid. Open the grid search to unasisted acquisition. Reset counters and grid. -> S2
* S4. Positive_Acq: Send message and stop acq -> S0
* S5. Negative_Acq: Send message and stop acq -> S0
*/
switch (d_state)
{
case 0: // S0. StandBy
if (d_active==true) d_state=1;
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
break;
case 1: // S1. GetAssist
get_assistance();
redefine_grid();
reset_grid();
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
d_state=2;
break;
case 2: // S2. ComputeGrid
int consumed_samples;
consumed_samples=compute_and_accumulate_grid(input_items);
d_well_count++;
if (d_well_count>=d_max_dwells)
{
d_state=3;
}
d_sample_counter+=consumed_samples;
consume_each(consumed_samples);
break;
case 3: // Compute test statistics and decide
d_input_power=estimate_input_power(input_items);
d_test_statistics=search_maximum();
if (d_test_statistics > d_threshold)
{
d_state=5;
}else{
if (d_disable_assist==false)
{
d_disable_assist=true;
std::cout<<"Acq assist DISABLED for GPS SV "<<this->d_gnss_synchro->PRN<<std::endl;
d_state=4;
}else{
d_state=6;
}
}
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
break;
case 4: // RedefineGrid
free_grid_memory();
redefine_grid();
reset_grid();
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
d_state=2;
break;
case 5: // Positive_Acq
DLOG(INFO) << "positive acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "input signal power " << d_input_power;
switch (d_state)
{
case 0: // S0. StandBy
if (d_active==true) d_state = 1;
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
break;
case 1: // S1. GetAssist
get_assistance();
redefine_grid();
reset_grid();
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
d_state = 2;
break;
case 2: // S2. ComputeGrid
int consumed_samples;
consumed_samples = compute_and_accumulate_grid(input_items);
d_well_count++;
if (d_well_count>=d_max_dwells)
{
d_state=3;
}
d_sample_counter += consumed_samples;
consume_each(consumed_samples);
break;
case 3: // Compute test statistics and decide
d_input_power = estimate_input_power(input_items);
d_test_statistics = search_maximum();
if (d_test_statistics > d_threshold)
{
d_state = 5;
}
else
{
if (d_disable_assist == false)
{
d_disable_assist = true;
std::cout << "Acq assist DISABLED for GPS SV "<< this->d_gnss_synchro->PRN << std::endl;
d_state = 4;
}
else
{
d_state = 6;
}
}
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
break;
case 4: // RedefineGrid
free_grid_memory();
redefine_grid();
reset_grid();
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
d_state = 2;
break;
case 5: // Positive_Acq
DLOG(INFO) << "positive acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "input signal power " << d_input_power;
d_active = false;
// Send message to channel queue //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
d_channel_internal_queue->push(1); // 1-> positive acquisition
free_grid_memory();
// consume samples to not block the GNU Radio flowgraph
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
d_state=0;
break;
case 6: // Negative_Acq
DLOG(INFO) << "negative acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "input signal power " << d_input_power;
d_active = false;
// Send message to channel queue //0=STOP_CHANNEL 1=ACQ_SUCCESS 2=ACQ_FAIL
d_channel_internal_queue->push(1); // 1-> positive acquisition
free_grid_memory();
// consume samples to not block the GNU Radio flowgraph
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
d_state = 0;
break;
case 6: // Negative_Acq
DLOG(INFO) << "negative acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << d_test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "input signal power " << d_input_power;
d_active = false;
// Send message to channel queue //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
d_channel_internal_queue->push(2); // 2-> negative acquisition
free_grid_memory();
// consume samples to not block the GNU Radio flowgraph
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
d_state=0;
break;
default:
d_state=0;
break;
}
d_active = false;
// Send message to channel queue //0=STOP_CHANNEL 1=ACQ_SUCCESS 2=ACQ_FAIL
d_channel_internal_queue->push(2); // 2-> negative acquisition
free_grid_memory();
// consume samples to not block the GNU Radio flowgraph
d_sample_counter += ninput_items[0]; // sample counter
consume_each(ninput_items[0]);
d_state = 0;
break;
default:
d_state = 0;
break;
}
return 0;
return 0;
}

286
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h
View File

@ -49,8 +49,8 @@
#define GNSS_SDR_PCPS_assisted_acquisition_cc_H_
#include <fstream>
#include <gnuradio/gr_block.h>
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/fft/fft.h>
#include <queue>
@ -60,12 +60,14 @@
#include "gnss_synchro.h"
class pcps_assisted_acquisition_cc;
typedef boost::shared_ptr<pcps_assisted_acquisition_cc>
pcps_assisted_acquisition_cc_sptr;
pcps_assisted_acquisition_cc_sptr
pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
int doppler_max, int doppler_min, long freq, long fs_in, int samples_per_ms,
gr_msg_queue_sptr queue, bool dump, std::string dump_filename);
boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition.
@ -74,171 +76,171 @@ pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
* Algorithm 1, for a pseudocode description of this implementation.
*/
class pcps_assisted_acquisition_cc: public gr_block
class pcps_assisted_acquisition_cc: public gr::block
{
private:
friend pcps_assisted_acquisition_cc_sptr
pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
int doppler_max, int doppler_min, long freq, long fs_in,
int samples_per_ms, gr_msg_queue_sptr queue, bool dump,
std::string dump_filename);
friend pcps_assisted_acquisition_cc_sptr
pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
int doppler_max, int doppler_min, long freq, long fs_in,
int samples_per_ms, boost::shared_ptr<gr::msg_queue> queue, bool dump,
std::string dump_filename);
pcps_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
int doppler_max, int doppler_min, long freq, long fs_in,
int samples_per_ms, gr_msg_queue_sptr queue, bool dump,
std::string dump_filename);
pcps_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
int doppler_max, int doppler_min, long freq, long fs_in,
int samples_per_ms, boost::shared_ptr<gr::msg_queue> queue, bool dump,
std::string dump_filename);
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset);
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset);
int compute_and_accumulate_grid(gr_vector_const_void_star &input_items);
float estimate_input_power(gr_vector_const_void_star &input_items);
double search_maximum();
void get_assistance();
void reset_grid();
void redefine_grid();
void free_grid_memory();
int compute_and_accumulate_grid(gr_vector_const_void_star &input_items);
float estimate_input_power(gr_vector_const_void_star &input_items);
double search_maximum();
void get_assistance();
void reset_grid();
void redefine_grid();
void free_grid_memory();
long d_fs_in;
long d_freq;
int d_samples_per_ms;
int d_max_dwells;
unsigned int d_doppler_resolution;
int d_gnuradio_forecast_samples;
float d_threshold;
std::string d_satellite_str;
int d_doppler_max;
int d_doppler_min;
int d_config_doppler_max;
int d_config_doppler_min;
long d_fs_in;
long d_freq;
int d_samples_per_ms;
int d_max_dwells;
unsigned int d_doppler_resolution;
int d_gnuradio_forecast_samples;
float d_threshold;
std::string d_satellite_str;
int d_doppler_max;
int d_doppler_min;
int d_config_doppler_max;
int d_config_doppler_min;
int d_num_doppler_points;
int d_num_doppler_points;
int d_doppler_step;
unsigned int d_sampled_ms;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
unsigned int d_sampled_ms;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
float** d_grid_data;
gr_complex** d_grid_doppler_wipeoffs;
float** d_grid_data;
gr_complex** d_grid_doppler_wipeoffs;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_input_power;
float d_test_statistics;
gr_msg_queue_sptr d_queue;
concurrent_queue<int> *d_channel_internal_queue;
std::ofstream d_dump_file;
int d_state;
bool d_active;
bool d_disable_assist;
int d_well_count;
bool d_dump;
unsigned int d_channel;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
Gnss_Synchro *d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_input_power;
float d_test_statistics;
boost::shared_ptr<gr::msg_queue> d_queue;
concurrent_queue<int> *d_channel_internal_queue;
std::ofstream d_dump_file;
int d_state;
bool d_active;
bool d_disable_assist;
int d_well_count;
bool d_dump;
unsigned int d_channel;
std::string d_dump_filename;
std::string d_dump_filename;
public:
/*!
* \brief Default destructor.
*/
~pcps_assisted_acquisition_cc();
/*!
* \brief Default destructor.
*/
~pcps_assisted_acquisition_cc();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
}
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
unsigned int mag()
{
return d_test_statistics;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
unsigned int mag()
{
return d_test_statistics;
}
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code(std::complex<float> * code);
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code(std::complex<float> * code);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
void set_active(bool active)
{
d_active = active;
}
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
void set_active(bool active)
{
d_active = active;
}
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
void set_channel(unsigned int channel)
{
d_channel = channel;
}
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
void set_channel(unsigned int channel)
{
d_channel = channel;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
void set_doppler_max(unsigned int doppler_max)
{
d_doppler_max = doppler_max;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
void set_doppler_max(unsigned int doppler_max)
{
d_doppler_max = doppler_max;
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
void set_doppler_step(unsigned int doppler_step);
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
void set_doppler_step(unsigned int doppler_step);
/*!
* \brief Set tracking channel internal queue.
* \param channel_internal_queue - Channel's internal blocks information queue.
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
/*!
* \brief Set tracking channel internal queue.
* \param channel_internal_queue - Channel's internal blocks information queue.
*/
void set_channel_queue(concurrent_queue<int> *channel_internal_queue)
{
d_channel_internal_queue = channel_internal_queue;
}
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
};

7
src/algorithms/channel/adapters/CMakeLists.txt
View File

@ -24,9 +24,10 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/channel/libs
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(channel_adapters ${CHANNEL_ADAPTER_SOURCES})
target_link_libraries(channel_adapters channel_fsm)
target_link_libraries(channel_adapters channel_fsm ${GNURADIO_RUNTIME_LIBRARIES})

17
src/algorithms/channel/adapters/channel.cc
View File

@ -39,8 +39,8 @@
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/gr_io_signature.h>
#include <gnuradio/gr_message.h>
#include <gnuradio/io_signature.h>
#include <gnuradio/message.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -50,7 +50,7 @@ using google::LogMessage;
Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
GNSSBlockInterface *pass_through, AcquisitionInterface *acq,
TrackingInterface *trk, TelemetryDecoderInterface *nav,
std::string role, std::string implementation, gr_msg_queue_sptr queue) :
std::string role, std::string implementation, boost::shared_ptr<gr::msg_queue> queue) :
pass_through_(pass_through), acq_(acq), trk_(trk), nav_(nav),
role_(role), implementation_(implementation), channel_(channel),
queue_(queue)
@ -84,10 +84,11 @@ Channel::Channel(ConfigurationInterface *configuration, unsigned int channel,
float threshold = configuration->property("Acquisition" + boost::lexical_cast<std::string>(channel_)
+ ".threshold",0.0);
if(threshold==0.0) threshold = configuration->property("Acquisition.threshold",0.0);
if(threshold==0.0) threshold = configuration->property("Acquisition.threshold",0);
acq_->set_threshold(threshold);
repeat_ = configuration->property("Acquisition" + boost::lexical_cast<
std::string>(channel_) + ".repeat_satellite", false);
@ -119,7 +120,7 @@ Channel::~Channel()
void Channel::connect(gr_top_block_sptr top_block)
void Channel::connect(gr::top_block_sptr top_block)
{
if (connected_)
{
@ -142,7 +143,7 @@ void Channel::connect(gr_top_block_sptr top_block)
void Channel::disconnect(gr_top_block_sptr top_block)
void Channel::disconnect(gr::top_block_sptr top_block)
{
if (!connected_)
{
@ -161,14 +162,14 @@ void Channel::disconnect(gr_top_block_sptr top_block)
gr_basic_block_sptr Channel::get_left_block()
gr::basic_block_sptr Channel::get_left_block()
{
return pass_through_->get_left_block();
}
gr_basic_block_sptr Channel::get_right_block()
gr::basic_block_sptr Channel::get_right_block()
{
return nav_->get_right_block();
}

16
src/algorithms/channel/adapters/channel.h
View File

@ -35,8 +35,8 @@
#ifndef GNSS_SDR_CHANNEL_H_
#define GNSS_SDR_CHANNEL_H_
#include <gnuradio/gr_null_sink.h>
#include <gnuradio/gr_msg_queue.h>
//#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/msg_queue.h>
#include "channel_interface.h"
#include "gps_l1_ca_channel_fsm.h"
#include "control_message_factory.h"
@ -62,13 +62,13 @@ public:
GNSSBlockInterface *pass_through, AcquisitionInterface *acq,
TrackingInterface *trk, TelemetryDecoderInterface *nav,
std::string role, std::string implementation,
gr_msg_queue_sptr queue);
boost::shared_ptr<gr::msg_queue> queue);
//! Virtual destructor
virtual ~Channel();
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
std::string role(){ return role_; }
//! Returns "Channel"
@ -103,7 +103,7 @@ private:
int message_;
bool repeat_;
GpsL1CaChannelFsm channel_fsm_;
gr_msg_queue_sptr queue_;
boost::shared_ptr<gr::msg_queue> queue_;
concurrent_queue<int> channel_internal_queue_;
boost::thread ch_thread_;
void run();

7
src/algorithms/channel/libs/CMakeLists.txt
View File

@ -24,8 +24,9 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/channel/adapters
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
)
add_library(channel_fsm ${CHANNEL_FSM_SOURCES})
add_library(channel_fsm ${CHANNEL_FSM_SOURCES})

6
src/algorithms/channel/libs/gps_l1_ca_channel_fsm.cc
View File

@ -156,7 +156,7 @@ void GpsL1CaChannelFsm::set_tracking(TrackingInterface *tracking) {
trk_ = tracking;
}
void GpsL1CaChannelFsm::set_queue(gr_msg_queue_sptr queue) {
void GpsL1CaChannelFsm::set_queue(boost::shared_ptr<gr::msg_queue> queue) {
queue_ = queue;
}
@ -181,7 +181,7 @@ void GpsL1CaChannelFsm::start_tracking() {
//trk_->set_acq_sample_stamp(acq_->get_sample_stamp());
trk_->start_tracking();
ControlMessageFactory* cmf = new ControlMessageFactory();
if (queue_ != gr_msg_queue_sptr()) {
if (queue_ != gr::msg_queue::make()) {
queue_->handle(cmf->GetQueueMessage(channel_, 1));
}
delete cmf;
@ -189,7 +189,7 @@ void GpsL1CaChannelFsm::start_tracking() {
void GpsL1CaChannelFsm::request_satellite() {
ControlMessageFactory* cmf = new ControlMessageFactory();
if (queue_ != gr_msg_queue_sptr()) {
if (queue_ != gr::msg_queue::make()) {
queue_->handle(cmf->GetQueueMessage(channel_, 0));
}
delete cmf;

6
src/algorithms/channel/libs/gps_l1_ca_channel_fsm.h
View File

@ -44,7 +44,7 @@
#include "acquisition_interface.h"
#include "tracking_interface.h"
#include "telemetry_decoder_interface.h"
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/msg_queue.h>
#include <iostream>
#include <cstring>
@ -69,7 +69,7 @@ public:
void set_acquisition(AcquisitionInterface *acquisition);
void set_tracking(TrackingInterface *tracking);
void set_queue(gr_msg_queue_sptr queue);
void set_queue(boost::shared_ptr<gr::msg_queue> queue);
void set_channel(unsigned int channel);
void start_acquisition();
void start_tracking();
@ -87,7 +87,7 @@ private:
AcquisitionInterface *acq_;
TrackingInterface *trk_;
TelemetryDecoderInterface *nav_;
gr_msg_queue_sptr queue_;
boost::shared_ptr<gr::msg_queue> queue_;
unsigned int channel_;
};

7
src/algorithms/conditioner/adapters/CMakeLists.txt
View File

@ -26,8 +26,9 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(conditioner_adapters ${COND_ADAPTER_SOURCES})
add_library(conditioner_adapters ${COND_ADAPTER_SOURCES})

24
src/algorithms/conditioner/adapters/signal_conditioner.cc
View File

@ -35,8 +35,8 @@
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/gr_io_signature.h>
#include <gnuradio/gr_message.h>
#include <gnuradio/io_signature.h>
#include <gnuradio/message.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -46,7 +46,7 @@ using google::LogMessage;
SignalConditioner::SignalConditioner(ConfigurationInterface *configuration,
GNSSBlockInterface *data_type_adapt, GNSSBlockInterface *in_filt,
GNSSBlockInterface *res, std::string role, std::string implementation,
gr_msg_queue_sptr queue) : data_type_adapt_(data_type_adapt),
boost::shared_ptr<gr::msg_queue> queue) : data_type_adapt_(data_type_adapt),
in_filt_(in_filt), res_(res), role_(role), implementation_(implementation),
queue_(queue)
{
@ -64,7 +64,7 @@ SignalConditioner::~SignalConditioner()
void SignalConditioner::connect(gr_top_block_sptr top_block)
void SignalConditioner::connect(gr::top_block_sptr top_block)
{
if (connected_)
{
@ -76,11 +76,13 @@ void SignalConditioner::connect(gr_top_block_sptr top_block)
res_->connect(top_block);
top_block->connect(data_type_adapt_->get_right_block(), 0,
in_filt_->get_left_block(), 0);
in_filt_->get_left_block(), 0);
DLOG(INFO) << "data_type_adapter -> input_filter";
top_block->connect(in_filt_->get_right_block(), 0,
res_->get_left_block(), 0);
res_->get_left_block(), 0);
DLOG(INFO) << "input_filter -> resampler";
connected_ = true;
@ -88,7 +90,7 @@ void SignalConditioner::connect(gr_top_block_sptr top_block)
void SignalConditioner::disconnect(gr_top_block_sptr top_block)
void SignalConditioner::disconnect(gr::top_block_sptr top_block)
{
if (!connected_)
{
@ -97,9 +99,9 @@ void SignalConditioner::disconnect(gr_top_block_sptr top_block)
}
top_block->disconnect(data_type_adapt_->get_right_block(), 0,
in_filt_->get_left_block(), 0);
in_filt_->get_left_block(), 0);
top_block->disconnect(in_filt_->get_right_block(), 0,
res_->get_left_block(), 0);
res_->get_left_block(), 0);
data_type_adapt_->disconnect(top_block);
in_filt_->disconnect(top_block);
@ -109,14 +111,14 @@ void SignalConditioner::disconnect(gr_top_block_sptr top_block)
}
gr_basic_block_sptr SignalConditioner::get_left_block()
gr::basic_block_sptr SignalConditioner::get_left_block()
{
return data_type_adapt_->get_left_block();
}
gr_basic_block_sptr SignalConditioner::get_right_block()
gr::basic_block_sptr SignalConditioner::get_right_block()
{
return res_->get_right_block();
}

15
src/algorithms/conditioner/adapters/signal_conditioner.h
View File

@ -32,8 +32,7 @@
#ifndef GNSS_SDR_SIGNAL_CONDITIONER_H_
#define GNSS_SDR_SIGNAL_CONDITIONER_H_
#include <gnuradio/gr_null_sink.h>
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/msg_queue.h>
#include "gnss_block_interface.h"
#include "control_message_factory.h"
@ -54,15 +53,15 @@ public:
SignalConditioner(ConfigurationInterface *configuration,
GNSSBlockInterface *data_type_adapt, GNSSBlockInterface *in_filt,
GNSSBlockInterface *res, std::string role, std::string implementation,
gr_msg_queue_sptr queue);
boost::shared_ptr<gr::msg_queue> queue);
//! Virtual destructor
virtual ~SignalConditioner();
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
std::string role(){ return role_; }
//! Returns "Signal_Conditioner"
@ -81,7 +80,7 @@ private:
std::string implementation_;
bool connected_;
//bool stop_;
gr_msg_queue_sptr queue_;
boost::shared_ptr<gr::msg_queue> queue_;
};
#endif /*GNSS_SDR_SIGNAL_CONDITIONER_H_*/

7
src/algorithms/data_type_adapter/adapters/CMakeLists.txt
View File

@ -23,10 +23,9 @@ include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${GR_BLOCKS_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(datatype_adapters ${DATATYPE_ADAPTER_SOURCES})
target_link_libraries(datatype_adapters ${GR_FILTER_LIBRARIES} ${GR_BLOCKS_LIBRARIES})
target_link_libraries(datatype_adapters ${GNURADIO_FILTER_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})

20
src/algorithms/data_type_adapter/adapters/ishort_to_complex.cc
View File

@ -30,8 +30,6 @@
#include "ishort_to_complex.h"
#include "configuration_interface.h"
#include <gnuradio/gr_io_signature.h>
#include <gnuradio/gr_file_sink.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -39,7 +37,7 @@ using google::LogMessage;
IshortToComplex::IshortToComplex(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
gr_msg_queue_sptr queue) :
boost::shared_ptr<gr::msg_queue> queue) :
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams), queue_(queue)
{
@ -51,13 +49,13 @@ IshortToComplex::IshortToComplex(ConfigurationInterface* configuration, std::str
DLOG(INFO) << "role " << role_;
input_item_type_ = config_->property(role_ + ".input_item_type",
default_input_item_type);
default_input_item_type);
dump_ = config_->property(role_ + ".dump", false);
dump_filename_ = config_->property(role_ + ".dump_filename",
default_dump_filename);
default_dump_filename);
size_t item_size=sizeof(gr_complex);
size_t item_size = sizeof(gr_complex);
gr_interleaved_short_to_complex_ = gr::blocks::interleaved_short_to_complex::make();
@ -66,7 +64,7 @@ IshortToComplex::IshortToComplex(ConfigurationInterface* configuration, std::str
if (dump_)
{
DLOG(INFO) << "Dumping output into file " << dump_filename_;
file_sink_ = gr_make_file_sink(item_size, dump_filename_.c_str());
file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str());
}
}
@ -76,7 +74,7 @@ IshortToComplex::~IshortToComplex()
{}
void IshortToComplex::connect(gr_top_block_sptr top_block)
void IshortToComplex::connect(gr::top_block_sptr top_block)
{
if (dump_)
{
@ -89,7 +87,7 @@ void IshortToComplex::connect(gr_top_block_sptr top_block)
}
void IshortToComplex::disconnect(gr_top_block_sptr top_block)
void IshortToComplex::disconnect(gr::top_block_sptr top_block)
{
if (dump_)
{
@ -99,14 +97,14 @@ void IshortToComplex::disconnect(gr_top_block_sptr top_block)
gr_basic_block_sptr IshortToComplex::get_left_block()
gr::basic_block_sptr IshortToComplex::get_left_block()
{
return gr_interleaved_short_to_complex_;
}
gr_basic_block_sptr IshortToComplex::get_right_block()
gr::basic_block_sptr IshortToComplex::get_right_block()
{
return gr_interleaved_short_to_complex_;
}

17
src/algorithms/data_type_adapter/adapters/ishort_to_complex.h
View File

@ -34,7 +34,8 @@
#include "gnss_synchro.h"
#include "gnss_block_interface.h"
#include <gnuradio/blocks/interleaved_short_to_complex.h>
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/msg_queue.h>
class ConfigurationInterface;
@ -47,7 +48,7 @@ class IshortToComplex: public GNSSBlockInterface
public:
IshortToComplex(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams, gr_msg_queue_sptr queue);
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
virtual ~IshortToComplex();
@ -65,10 +66,10 @@ public:
return 0;
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
private:
gr::blocks::interleaved_short_to_complex::sptr gr_interleaved_short_to_complex_;
@ -80,8 +81,8 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
gr_msg_queue_sptr queue_;
gr_block_sptr file_sink_;
boost::shared_ptr<gr::msg_queue> queue_;
gr::blocks::file_sink::sptr file_sink_;
};
#endif

7
src/algorithms/input_filter/adapters/CMakeLists.txt
View File

@ -25,10 +25,9 @@ include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${GR_FILTER_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(input_filter_adapters ${INPUT_FILTER_ADAPTER_SOURCES})
target_link_libraries(input_filter_adapters ${GR_FILTER_LIBRARIES})
target_link_libraries(input_filter_adapters ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES} ${GNURADIO_FILTER_LIBRARIES})

15
src/algorithms/input_filter/adapters/fir_filter.cc
View File

@ -32,8 +32,6 @@
#include "configuration_interface.h"
#include <string>
#include <boost/lexical_cast.hpp>
#include <gnuradio/gr_io_signature.h>
#include <gnuradio/gr_file_sink.h>
#include <gnuradio/filter/pm_remez.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -42,7 +40,7 @@ using google::LogMessage;
FirFilter::FirFilter(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
gr_msg_queue_sptr queue) :
boost::shared_ptr<gr::msg_queue> queue) :
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams), queue_(queue)
{
@ -62,7 +60,7 @@ FirFilter::FirFilter(ConfigurationInterface* configuration, std::string role,
if (dump_)
{
DLOG(INFO) << "Dumping output into file " << dump_filename_;
file_sink_ = gr_make_file_sink(item_size, dump_filename_.c_str());
file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str());
}
}
@ -73,7 +71,7 @@ FirFilter::~FirFilter()
void FirFilter::connect(gr_top_block_sptr top_block)
void FirFilter::connect(gr::top_block_sptr top_block)
{
if (dump_)
{
@ -87,7 +85,7 @@ void FirFilter::connect(gr_top_block_sptr top_block)
void FirFilter::disconnect(gr_top_block_sptr top_block)
void FirFilter::disconnect(gr::top_block_sptr top_block)
{
if (dump_)
{
@ -97,14 +95,14 @@ void FirFilter::disconnect(gr_top_block_sptr top_block)
gr_basic_block_sptr FirFilter::get_left_block()
gr::basic_block_sptr FirFilter::get_left_block()
{
return fir_filter_ccf_;
}
gr_basic_block_sptr FirFilter::get_right_block()
gr::basic_block_sptr FirFilter::get_right_block()
{
return fir_filter_ccf_;
}
@ -165,6 +163,7 @@ void FirFilter::init()
std::string filter_type = config_->property(role_ + ".filter_type", default_filter_type);
int grid_density = config_->property(role_ + ".grid_density", default_grid_density);
// pm_remez implements the Parks-McClellan FIR filter design.
// It calculates the optimal (in the Chebyshev/minimax sense) FIR filter
// impulse response given a set of band edges, the desired response on

28
src/algorithms/input_filter/adapters/fir_filter.h
View File

@ -33,10 +33,14 @@
#ifndef GNSS_SDR_FIR_FILTER_H_
#define GNSS_SDR_FIR_FILTER_H_
#include <cmath>
#include <gnuradio/gr_complex.h>
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/filter/fir_filter_ccf.h>
#include <gnuradio/msg_queue.h>
#include "gnss_synchro.h"
#include "gnss_block_interface.h"
#include <gnuradio/filter/fir_filter_ccf.h>
#include <gnuradio/gr_msg_queue.h>
class ConfigurationInterface;
@ -51,10 +55,14 @@ class ConfigurationInterface;
class FirFilter: public GNSSBlockInterface
{
public:
//! Constructor
FirFilter(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams, gr_msg_queue_sptr queue);
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue);
//! Destructor
virtual ~FirFilter();
std::string role()
{
@ -70,10 +78,10 @@ public:
{
return 0;
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
private:
gr::filter::fir_filter_ccf::sptr fir_filter_ccf_;
@ -87,8 +95,8 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
gr_msg_queue_sptr queue_;
gr_block_sptr file_sink_;
boost::shared_ptr<gr::msg_queue> queue_;
gr::blocks::file_sink::sptr file_sink_;
void init();
};

16
src/algorithms/input_filter/adapters/freq_xlating_fir_filter.cc
View File

@ -32,8 +32,8 @@
#include "configuration_interface.h"
#include <string>
#include <boost/lexical_cast.hpp>
#include <gnuradio/gr_io_signature.h>
#include <gnuradio/gr_file_sink.h>
//#include <gnuradio/io_signature.h>
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/filter/pm_remez.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -42,7 +42,7 @@ using google::LogMessage;
FreqXlatingFirFilter::FreqXlatingFirFilter(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams,
gr_msg_queue_sptr queue) :
boost::shared_ptr<gr::msg_queue> queue) :
config_(configuration), role_(role), in_streams_(in_streams),
out_streams_(out_streams), queue_(queue)
{
@ -67,7 +67,7 @@ FreqXlatingFirFilter::FreqXlatingFirFilter(ConfigurationInterface* configuration
{
DLOG(INFO) << "Dumping output into file " << dump_filename_;
std::cout<<"Dumping output into file " << dump_filename_<<std::endl;
file_sink_ = gr_make_file_sink(item_size, dump_filename_.c_str());
file_sink_ = gr::blocks::file_sink::make(item_size, dump_filename_.c_str());
}
}
@ -78,7 +78,7 @@ FreqXlatingFirFilter::~FreqXlatingFirFilter()
void FreqXlatingFirFilter::connect(gr_top_block_sptr top_block)
void FreqXlatingFirFilter::connect(gr::top_block_sptr top_block)
{
if (dump_)
{
@ -92,7 +92,7 @@ void FreqXlatingFirFilter::connect(gr_top_block_sptr top_block)
void FreqXlatingFirFilter::disconnect(gr_top_block_sptr top_block)
void FreqXlatingFirFilter::disconnect(gr::top_block_sptr top_block)
{
if (dump_)
{
@ -102,13 +102,13 @@ void FreqXlatingFirFilter::disconnect(gr_top_block_sptr top_block)
}
gr_basic_block_sptr FreqXlatingFirFilter::get_left_block()
gr::basic_block_sptr FreqXlatingFirFilter::get_left_block()
{
return freq_xlating_fir_filter_ccf_;
}
gr_basic_block_sptr FreqXlatingFirFilter::get_right_block()
gr::basic_block_sptr FreqXlatingFirFilter::get_right_block()
{
return freq_xlating_fir_filter_ccf_;
}

17
src/algorithms/input_filter/adapters/freq_xlating_fir_filter.h
View File

@ -36,7 +36,8 @@
#include "gnss_synchro.h"
#include "gnss_block_interface.h"
#include <gnuradio/filter/freq_xlating_fir_filter_ccf.h>
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/blocks/file_sink.h>
#include <gnuradio/msg_queue.h>
class ConfigurationInterface;
@ -57,7 +58,7 @@ class FreqXlatingFirFilter: public GNSSBlockInterface
public:
FreqXlatingFirFilter(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams, gr_msg_queue_sptr queue);
unsigned int out_streams, boost::shared_ptr<gr::msg_queue> queue);
virtual ~FreqXlatingFirFilter();
std::string role()
@ -74,10 +75,10 @@ public:
{
return 0;
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
private:
gr::filter::freq_xlating_fir_filter_ccf::sptr freq_xlating_fir_filter_ccf_;
@ -93,8 +94,8 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
gr_msg_queue_sptr queue_;
gr_block_sptr file_sink_;
boost::shared_ptr<gr::msg_queue> queue_;
gr::blocks::file_sink::sptr file_sink_;
void init();
};

16
src/algorithms/libs/CMakeLists.txt
View File

@ -16,6 +16,15 @@
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
#
#if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
#set(GNSS_SPLIBS_SOURCES
# galileo_e1_signal_processing.cc
# gnss_sdr_valve.cc
# gnss_signal_processing.cc
# gps_sdr_signal_processing.cc
# pass_through.cc
#)
#else(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(GNSS_SPLIBS_SOURCES
galileo_e1_signal_processing.cc
gnss_sdr_valve.cc
@ -24,12 +33,17 @@ set(GNSS_SPLIBS_SOURCES
nco_lib.cc
pass_through.cc
)
#endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/core/interfaces
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
)
add_library(gnss_sp_libs ${GNSS_SPLIBS_SOURCES})
add_library(gnss_sp_libs ${GNSS_SPLIBS_SOURCES})
target_link_libraries(gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES} ${GNURADIO_FFT_LIBRARIES} ${GNURADIO_FILTER_LIBRARIES})

1
src/algorithms/libs/galileo_e1_signal_processing.h
View File

@ -34,6 +34,7 @@
#include <complex>
#include <iostream>
#include <gnuradio/math.h>
#include "Galileo_E1.h"
#include "gnss_signal_processing.h"

20
src/algorithms/libs/gnss_sdr_valve.cc
View File

@ -31,28 +31,28 @@
*/
#include "gnss_sdr_valve.h"
#include <gnuradio/gr_io_signature.h>
#include "control_message_factory.h"
#include <gnuradio/io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "control_message_factory.h"
using google::LogMessage;
gnss_sdr_valve::gnss_sdr_valve (size_t sizeof_stream_item,
int nitems,
gr_msg_queue_sptr queue) : gr_sync_block ("valve",
gr_make_io_signature (1, 1, sizeof_stream_item),
gr_make_io_signature (1, 1, sizeof_stream_item)),
d_nitems (nitems), d_ncopied_items (0), d_queue(queue)
gr::msg_queue::sptr queue) : gr::sync_block("valve",
gr::io_signature::make(1, 1, sizeof_stream_item),
gr::io_signature::make(1, 1, sizeof_stream_item) ),
d_nitems(nitems), d_ncopied_items(0), d_queue(queue)
{}
gr_block_sptr gnss_sdr_make_valve (size_t sizeof_stream_item,
boost::shared_ptr<gr::block> gnss_sdr_make_valve (size_t sizeof_stream_item,
int nitems,
gr_msg_queue_sptr queue)
gr::msg_queue::sptr queue)
{
return gr_block_sptr (new gnss_sdr_valve (sizeof_stream_item, nitems, queue));
return boost::shared_ptr<gnss_sdr_valve> (new gnss_sdr_valve (sizeof_stream_item, nitems, queue));
}
@ -72,7 +72,7 @@ int gnss_sdr_valve::work (int noutput_items,
unsigned n = std::min(d_nitems - d_ncopied_items, noutput_items);
if (n == 0)
return 0;
memcpy (output_items[0], input_items[0], n * input_signature()->sizeof_stream_item (0));
memcpy (output_items[0], input_items[0], n * input_signature()->sizeof_stream_item(0));
d_ncopied_items += n;
return n;
}

26
src/algorithms/libs/gnss_sdr_valve.h
View File

@ -34,30 +34,32 @@
#define GNSS_SDR_GNSS_SDR_VALVE_H_
#include <cstring>
#include <gr_sync_block.h>
#include <gr_msg_queue.h>
#include <gnuradio/sync_block.h>
#include <gnuradio/msg_queue.h>
#include <boost/shared_ptr.hpp>
gr_block_sptr gnss_sdr_make_valve (size_t sizeof_stream_item,
boost::shared_ptr<gr::block> gnss_sdr_make_valve (size_t sizeof_stream_item,
int nitems,
gr_msg_queue_sptr queue);
gr::msg_queue::sptr queue);
/*!
* \brief Implementation of a GNU Radio block that sends a STOP message to the
* control queue right after a specific number of samples have passed through it.
*/
class gnss_sdr_valve : public gr_sync_block
class gnss_sdr_valve : public gr::sync_block
{
friend gr_block_sptr gnss_sdr_make_valve(size_t sizeof_stream_item,
int nitems,
gr_msg_queue_sptr queue);
friend boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item,
int nitems,
gr::msg_queue::sptr queue);
gnss_sdr_valve (size_t sizeof_stream_item,
int nitems,
gr_msg_queue_sptr queue);
int nitems,
gr::msg_queue::sptr queue);
int d_nitems;
int d_ncopied_items;
gr_msg_queue_sptr d_queue;
gr::msg_queue::sptr d_queue;
public:
int work (int noutput_items,
int work(int noutput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
};

10
src/algorithms/libs/gnss_signal_processing.cc
View File

@ -32,7 +32,7 @@
*/
#include "gnss_signal_processing.h"
#include <gr_fxpt.h> // fixed point sine and cosine
#include <gnuradio/fxpt.h> // fixed point sine and cosine
void complex_exp_gen(std::complex<float>* _dest, double _f, double _fs, unsigned int _samps)
@ -44,7 +44,7 @@ void complex_exp_gen(std::complex<float>* _dest, double _f, double _fs, unsigned
int phase_i = 0;
int phase_step_i;
float phase_step_f = (float)((GPS_TWO_PI * _f) / _fs);
phase_step_i = gr_fxpt::float_to_fixed(phase_step_f);
phase_step_i = gr::fxpt::float_to_fixed(phase_step_f);
float sin_f,cos_f;
for(unsigned int i = 0; i < _samps; i++)
@ -53,7 +53,7 @@ void complex_exp_gen(std::complex<float>* _dest, double _f, double _fs, unsigned
//_dest[i] = std::complex<float>(cos(phase), sin(phase));
//phase += phase_step;
//new Fixed Point NCO (faster)
gr_fxpt::sincos(phase_i,&sin_f,&cos_f);
gr::fxpt::sincos(phase_i,&sin_f,&cos_f);
_dest[i] = std::complex<float>(cos_f, sin_f);
phase_i += phase_step_i;
}
@ -69,7 +69,7 @@ void complex_exp_gen_conj(std::complex<float>* _dest, double _f, double _fs, uns
int phase_i = 0;
int phase_step_i;
float phase_step_f = (float)((GPS_TWO_PI * _f) / _fs);
phase_step_i = gr_fxpt::float_to_fixed(phase_step_f);
phase_step_i = gr::fxpt::float_to_fixed(phase_step_f);
float sin_f,cos_f;
for(unsigned int i = 0; i < _samps; i++)
@ -78,7 +78,7 @@ void complex_exp_gen_conj(std::complex<float>* _dest, double _f, double _fs, uns
//_dest[i] = std::complex<float>(cos(phase), sin(phase));
//phase += phase_step;
//new Fixed Point NCO (faster)
gr_fxpt::sincos(phase_i,&sin_f,&cos_f);
gr::fxpt::sincos(phase_i,&sin_f,&cos_f);
_dest[i] = std::complex<float>(cos_f, -sin_f);
phase_i += phase_step_i;
}

1
src/algorithms/libs/gps_sdr_signal_processing.cc
View File

@ -31,7 +31,6 @@
*/
#include "gps_sdr_signal_processing.h"
#include <math.h>
#include <stdlib.h>
#include <cmath>

174
src/algorithms/libs/nco_lib.cc
View File

@ -36,123 +36,121 @@
typedef ALIGN16_BEG union {
float f[4];
int i[4];
v4sf v;
float f[4];
int i[4];
v4sf v;
} ALIGN16_END V4SF;
void sse_nco(std::complex<float> *dest, int n_samples,float start_phase_rad, float phase_step_rad)
void sse_nco(std::complex<float> *dest, int n_samples, float start_phase_rad, float phase_step_rad)
{
//SSE NCO
int sse_loops_four_op;
int remnant_ops;
sse_loops_four_op=(int)n_samples/4;
remnant_ops=n_samples%4;
sse_loops_four_op = (int)n_samples/4;
remnant_ops = n_samples%4;
V4SF vx, sin4, cos4;
float phase_rad;
phase_rad=start_phase_rad;
phase_rad = start_phase_rad;
int index=0;
for(int i=0;i<sse_loops_four_op;i++)
{
vx.f[0]=phase_rad;
phase_rad=phase_rad+phase_step_rad;
vx.f[1]=phase_rad;
phase_rad=phase_rad+phase_step_rad;
vx.f[2]=phase_rad;
phase_rad=phase_rad+phase_step_rad;
vx.f[3]=phase_rad;
phase_rad=phase_rad+phase_step_rad;
sincos_ps(vx.v, &sin4.v, &cos4.v);
dest[index] = std::complex<float>(cos4.f[0], -sin4.f[0]);
index++;
dest[index] = std::complex<float>(cos4.f[1], -sin4.f[1]);
index++;
dest[index] = std::complex<float>(cos4.f[2], -sin4.f[2]);
index++;
dest[index] = std::complex<float>(cos4.f[3], -sin4.f[3]);
index++;
}
for(int i=0;i<remnant_ops;i++)
{
vx.f[i]=phase_rad;
phase_rad=phase_rad+phase_step_rad;
}
int index = 0;
for(int i = 0;i<sse_loops_four_op;i++)
{
vx.f[0] = phase_rad;
phase_rad = phase_rad+phase_step_rad;
vx.f[1] = phase_rad;
phase_rad = phase_rad+phase_step_rad;
vx.f[2] = phase_rad;
phase_rad = phase_rad+phase_step_rad;
vx.f[3] = phase_rad;
phase_rad = phase_rad+phase_step_rad;
sincos_ps(vx.v, &sin4.v, &cos4.v);
dest[index] = std::complex<float>(cos4.f[0], -sin4.f[0]);
index++;
dest[index] = std::complex<float>(cos4.f[1], -sin4.f[1]);
index++;
dest[index] = std::complex<float>(cos4.f[2], -sin4.f[2]);
index++;
dest[index] = std::complex<float>(cos4.f[3], -sin4.f[3]);
index++;
}
for(int i = 0;i<remnant_ops;i++)
{
vx.f[i] = phase_rad;
phase_rad = phase_rad+phase_step_rad;
}
sincos_ps(vx.v, &sin4.v, &cos4.v);
for(int i=0;i<remnant_ops;i++)
{
dest[index] = std::complex<float>(cos4.f[i], -sin4.f[i]);
index++;
}
for(int i = 0;i<remnant_ops;i++)
{
dest[index] = std::complex<float>(cos4.f[i], -sin4.f[i]);
index++;
}
}
void fxp_nco(std::complex<float> *dest, int n_samples,float start_phase_rad, float phase_step_rad)
void fxp_nco(std::complex<float> *dest, int n_samples, float start_phase_rad, float phase_step_rad)
{
int phase_rad_i;
phase_rad_i=gr_fxpt::float_to_fixed(start_phase_rad);
int phase_step_rad_i;
phase_step_rad_i=gr_fxpt::float_to_fixed(phase_step_rad);
int phase_rad_i;
phase_rad_i = gr::fxpt::float_to_fixed(start_phase_rad);
int phase_step_rad_i;
phase_step_rad_i = gr::fxpt::float_to_fixed(phase_step_rad);
float sin_f,cos_f;
float sin_f,cos_f;
for(int i = 0; i < n_samples; i++)
{
//using temp variables
gr_fxpt::sincos(-phase_rad_i,&sin_f,&cos_f);
dest[i] = gr_complex(cos_f, sin_f);
phase_rad_i += phase_step_rad_i;
}
for(int i = 0; i < n_samples; i++)
{
//using temp variables
gr::fxpt::sincos(-phase_rad_i,&sin_f,&cos_f);
dest[i] = gr_complex(cos_f, sin_f);
phase_rad_i += phase_step_rad_i;
}
}
void fxp_nco_cpyref(std::complex<float> *dest, int n_samples,float start_phase_rad, float phase_step_rad)
void fxp_nco_cpyref(std::complex<float> *dest, int n_samples, float start_phase_rad, float phase_step_rad)
{
int phase_rad_i;
phase_rad_i=gr_fxpt::float_to_fixed(start_phase_rad);
int phase_step_rad_i;
phase_step_rad_i=gr_fxpt::float_to_fixed(phase_step_rad);
int phase_rad_i;
phase_rad_i = gr::fxpt::float_to_fixed(start_phase_rad);
int phase_step_rad_i;
phase_step_rad_i = gr::fxpt::float_to_fixed(phase_step_rad);
float* vector_cpx;
vector_cpx=(float*)dest;
for(int i = 0; i < n_samples; i++)
{
//using references (may be it can be a problem for c++11 standard
//gr_fxpt::sincos(phase_rad_i,&d_carr_sign[i].imag(),&d_carr_sign[i].real());
gr_fxpt::sincos(-phase_rad_i,&vector_cpx[i*2+1],&vector_cpx[i*2]);
phase_rad_i += phase_step_rad_i;
float* vector_cpx;
vector_cpx = (float*)dest;
for(int i = 0; i < n_samples; i++)
{
//using references (maybe it can be a problem for c++11 ?)
//gr_fxpt::sincos(phase_rad_i,&d_carr_sign[i].imag(),&d_carr_sign[i].real());
gr::fxpt::sincos(-phase_rad_i, &vector_cpx[i*2+1], &vector_cpx[i*2]);
phase_rad_i += phase_step_rad_i;
}
}
}
void fxp_nco_IQ_split(float* I, float* Q , int n_samples,float start_phase_rad, float phase_step_rad)
{
int phase_rad_i;
phase_rad_i=gr_fxpt::float_to_fixed(start_phase_rad);
int phase_step_rad_i;
phase_step_rad_i=gr_fxpt::float_to_fixed(phase_step_rad);
int phase_rad_i;
phase_rad_i = gr::fxpt::float_to_fixed(start_phase_rad);
int phase_step_rad_i;
phase_step_rad_i = gr::fxpt::float_to_fixed(phase_step_rad);
float sin_f,cos_f;
for(int i = 0; i < n_samples; i++)
{
gr_fxpt::sincos(-phase_rad_i,&sin_f,&cos_f);
I[i]=cos_f;
Q[i]=sin_f;
phase_rad_i += phase_step_rad_i;
float sin_f,cos_f;
for(int i = 0; i < n_samples; i++)
{
gr::fxpt::sincos(-phase_rad_i,&sin_f,&cos_f);
I[i] = cos_f;
Q[i] = sin_f;
phase_rad_i += phase_step_rad_i;
}
}
}
void std_nco(std::complex<float> *dest, int n_samples,float start_phase_rad, float phase_step_rad)
void std_nco(std::complex<float> *dest, int n_samples, float start_phase_rad, float phase_step_rad)
{
float phase_rad;
phase_rad=start_phase_rad;
float phase_rad;
phase_rad = start_phase_rad;
for(int i = 0; i < n_samples; i++)
{
// Using std::cos and std::sin
dest[i] = gr_complex(std::cos(phase_rad), -std::sin(phase_rad));
phase_rad=phase_rad+phase_step_rad;
}
for(int i = 0; i < n_samples; i++)
{
// Using std::cos and std::sin
dest[i] = gr_complex(std::cos(phase_rad), -std::sin(phase_rad));
phase_rad = phase_rad+phase_step_rad;
}
}

2
src/algorithms/libs/nco_lib.h
View File

@ -37,7 +37,7 @@
#ifndef GNSS_SDR_NCO_LIB_CC_H_
#define GNSS_SDR_NCO_LIB_CC_H_
#include <gr_fxpt.h>
#include <gnuradio/fxpt.h>
#include <xmmintrin.h>
#include <sse_mathfun.h>
#include <cmath>

12
src/algorithms/libs/pass_through.cc
View File

@ -33,7 +33,7 @@
#include "pass_through.h"
#include <iostream>
#include <gnuradio/gr_io_signature.h>
//#include <gnuradio/io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "configuration_interface.h"
@ -67,7 +67,7 @@ Pass_Through::Pass_Through(ConfigurationInterface* configuration, std::string ro
LOG_AT_LEVEL(WARNING) << item_type_ << " unrecognized item type. Using float";
item_size_ = sizeof(float);
}
kludge_copy_ = gr_make_kludge_copy(item_size_);
kludge_copy_ = gr::blocks::copy::make(item_size_);
DLOG(INFO) << "kludge_copy(" << kludge_copy_->unique_id() << ")";
}
@ -78,28 +78,28 @@ Pass_Through::~Pass_Through()
void Pass_Through::connect(gr_top_block_sptr top_block)
void Pass_Through::connect(gr::top_block_sptr top_block)
{
DLOG(INFO) << "nothing to connect internally";
}
void Pass_Through::disconnect(gr_top_block_sptr top_block)
void Pass_Through::disconnect(gr::top_block_sptr top_block)
{
// Nothing to disconnect
}
gr_basic_block_sptr Pass_Through::get_left_block()
gr::basic_block_sptr Pass_Through::get_left_block()
{
return kludge_copy_;
}
gr_basic_block_sptr Pass_Through::get_right_block()
gr::basic_block_sptr Pass_Through::get_right_block()
{
return kludge_copy_;
}

19
src/algorithms/libs/pass_through.h
View File

@ -33,9 +33,11 @@
#ifndef GNSS_SDR_PASS_THROUGH_H_
#define GNSS_SDR_PASS_THROUGH_H_
#include <gr_hier_block2.h>
#include <gr_kludge_copy.h>
#include <gr_file_sink.h>
#include <gnuradio/hier_block2.h>
//#include <gr_kludge_copy.h>
#include <gnuradio/blocks/copy.h>
//#include <gr_file_sink.h>
//#include <gnuradio/blocks/file_sink.h>
#include "gnss_block_interface.h"
class ConfigurationInterface;
@ -73,10 +75,10 @@ public:
{
return item_size_;
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
private:
std::string item_type_;
@ -84,7 +86,8 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
gr_kludge_copy_sptr kludge_copy_;
//gr_kludge_copy_sptr kludge_copy_;
gr::blocks::copy::sptr kludge_copy_;
size_t item_size_;
};

6
src/algorithms/observables/adapters/CMakeLists.txt
View File

@ -25,9 +25,9 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/observables/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(obs_adapters ${OBS_ADAPTER_SOURCES})
target_link_libraries(obs_adapters obs_gr_blocks)
target_link_libraries(obs_adapters obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES})

21
src/algorithms/observables/adapters/gps_l1_ca_observables.cc
View File

@ -33,9 +33,6 @@
#include "gps_l1_ca_observables.h"
#include "configuration_interface.h"
#include "gps_l1_ca_observables_cc.h"
#include <gnuradio/gr_io_signature.h>
//#include <gnuradio/gr_stream_to_vector.h>
//#include <gnuradio/gr_vector_to_stream.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -45,11 +42,11 @@ GpsL1CaObservables::GpsL1CaObservables(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
gr_msg_queue_sptr queue) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams),
queue_(queue)
boost::shared_ptr<gr::msg_queue> queue) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams),
queue_(queue)
{
int output_rate_ms;
output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
@ -74,7 +71,7 @@ GpsL1CaObservables::~GpsL1CaObservables()
void GpsL1CaObservables::connect(gr_top_block_sptr top_block)
void GpsL1CaObservables::connect(gr::top_block_sptr top_block)
{
// Nothing to connect internally
DLOG(INFO) << "nothing to connect internally";
@ -82,7 +79,7 @@ void GpsL1CaObservables::connect(gr_top_block_sptr top_block)
void GpsL1CaObservables::disconnect(gr_top_block_sptr top_block)
void GpsL1CaObservables::disconnect(gr::top_block_sptr top_block)
{
// Nothing to disconnect
}
@ -90,7 +87,7 @@ void GpsL1CaObservables::disconnect(gr_top_block_sptr top_block)
gr_basic_block_sptr GpsL1CaObservables::get_left_block()
gr::basic_block_sptr GpsL1CaObservables::get_left_block()
{
return observables_;
}
@ -98,7 +95,7 @@ gr_basic_block_sptr GpsL1CaObservables::get_left_block()
gr_basic_block_sptr GpsL1CaObservables::get_right_block()
gr::basic_block_sptr GpsL1CaObservables::get_right_block()
{
return observables_;
}

22
src/algorithms/observables/adapters/gps_l1_ca_observables.h
View File

@ -35,7 +35,7 @@
#include "observables_interface.h"
#include "gps_l1_ca_observables_cc.h"
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/msg_queue.h>
class ConfigurationInterface;
@ -46,25 +46,25 @@ class GpsL1CaObservables : public ObservablesInterface
{
public:
GpsL1CaObservables(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams,
gr_msg_queue_sptr queue);
std::string role,
unsigned int in_streams,
unsigned int out_streams,
boost::shared_ptr<gr::msg_queue> queue);
virtual ~GpsL1CaObservables();
std::string role()
{
return role_;
}
//! return "GPS_L1_CA_Observables"
//! Returns "GPS_L1_CA_Observables"
std::string implementation()
{
return "GPS_L1_CA_Observables";
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
void reset()
{
return;
@ -84,7 +84,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
gr_msg_queue_sptr queue_;
boost::shared_ptr<gr::msg_queue> queue_;
};
#endif

7
src/algorithms/observables/gnuradio_blocks/CMakeLists.txt
View File

@ -25,8 +25,9 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
)
add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES})
add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} )
target_link_libraries(obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES})

24
src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc
View File

@ -35,9 +35,8 @@
#include <algorithm>
#include <bitset>
#include <cmath>
#include "math.h"
#include "control_message_factory.h"
#include <gnuradio/gr_io_signature.h>
#include <gnuradio/io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "gnss_synchro.h"
@ -47,15 +46,15 @@ using google::LogMessage;
gps_l1_ca_observables_cc_sptr
gps_l1_ca_make_observables_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging)
gps_l1_ca_make_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging)
{
return gps_l1_ca_observables_cc_sptr(new gps_l1_ca_observables_cc(nchannels, queue, dump, dump_filename, output_rate_ms, flag_averaging));
}
gps_l1_ca_observables_cc::gps_l1_ca_observables_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging) :
gr_block ("gps_l1_ca_observables_cc", gr_make_io_signature (nchannels, nchannels, sizeof(Gnss_Synchro)),
gr_make_io_signature(nchannels, nchannels, sizeof(Gnss_Synchro)))
gps_l1_ca_observables_cc::gps_l1_ca_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging) :
gr::block("gps_l1_ca_observables_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)))
{
// initialize internal vars
d_queue = queue;
@ -138,14 +137,14 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
if(current_gnss_synchro_map.size() > 0)
{
/*
* 2.1 Use CURRENT set of measurements and find the nearest satellite
* 2.1 Use CURRENT set of measurements and find the nearest satellite
* common RX time algorithm
*/
//;
// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), pairCompare_gnss_synchro_d_TOW_at_current_symbol);
double d_TOW_reference=gnss_synchro_iter->second.d_TOW_at_current_symbol;
double d_ref_PRN_rx_time_ms=gnss_synchro_iter->second.Prn_timestamp_ms;
double d_TOW_reference = gnss_synchro_iter->second.d_TOW_at_current_symbol;
double d_ref_PRN_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms;
//int reference_channel= gnss_synchro_iter->second.Channel_ID;
// Now compute RX time differences due to the PRN alignement in the correlators
@ -155,16 +154,16 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
{
// compute the required symbol history shift in order to match the reference symbol
delta_rx_time_ms=gnss_synchro_iter->second.Prn_timestamp_ms-d_ref_PRN_rx_time_ms;
delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms-d_ref_PRN_rx_time_ms;
//std::cout<<"delta_rx_time_ms="<<delta_rx_time_ms<<std::endl;
//compute the pseudorange
traveltime_ms=(d_TOW_reference-gnss_synchro_iter->second.d_TOW_at_current_symbol)*1000.0+delta_rx_time_ms+GPS_STARTOFFSET_ms;
traveltime_ms = (d_TOW_reference-gnss_synchro_iter->second.d_TOW_at_current_symbol)*1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms;
pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
// update the pseudorange object
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol=round(d_TOW_reference*1000)/1000+GPS_STARTOFFSET_ms/1000.0;
current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference*1000)/1000 + GPS_STARTOFFSET_ms/1000.0;
}
}
@ -203,4 +202,3 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
return 1; //Output the observables
}

14
src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.h
View File

@ -32,8 +32,8 @@
#define GNSS_SDR_GPS_L1_CA_OBSERVABLES_CC_H
#include <fstream>
#include <gnuradio/gr_block.h>
#include <gnuradio/gr_msg_queue.h>
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include <queue>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
@ -48,12 +48,12 @@ class gps_l1_ca_observables_cc;
typedef boost::shared_ptr<gps_l1_ca_observables_cc> gps_l1_ca_observables_cc_sptr;
gps_l1_ca_observables_cc_sptr
gps_l1_ca_make_observables_cc(unsigned int n_channels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
gps_l1_ca_make_observables_cc(unsigned int n_channels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
/*!
* \brief This class implements a block that computes GPS L1 C/A observables
*/
class gps_l1_ca_observables_cc : public gr_block
class gps_l1_ca_observables_cc : public gr::block
{
public:
~gps_l1_ca_observables_cc ();
@ -63,11 +63,11 @@ public:
private:
friend gps_l1_ca_observables_cc_sptr
gps_l1_ca_make_observables_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
gps_l1_ca_observables_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
gps_l1_ca_make_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
gps_l1_ca_observables_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int output_rate_ms, bool flag_averaging);
// class private vars
gr_msg_queue_sptr d_queue;
boost::shared_ptr<gr::msg_queue> d_queue;
bool d_dump;
bool d_flag_averaging;
long int d_sample_counter;

7
src/algorithms/output_filter/adapters/CMakeLists.txt
View File

@ -25,8 +25,9 @@ include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(out_adapters ${OUTPUTFILTER_ADAPTER_SOURCES})
add_library(out_adapters ${OUTPUTFILTER_ADAPTER_SOURCES})
target_link_libraries(out_adapters ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})

15
src/algorithms/output_filter/adapters/file_output_filter.cc
View File

@ -32,7 +32,7 @@
#include "file_output_filter.h"
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <gr_io_signature.h>
#include <gnuradio/io_signature.h>
#include "configuration_interface.h"
using google::LogMessage;
@ -66,7 +66,7 @@ FileOutputFilter::FileOutputFilter(ConfigurationInterface* configuration,
LOG_AT_LEVEL(WARNING) << item_type_ << " Unrecognized item type. Using short.";
item_size_ = sizeof(short);
}
file_sink_ = gr_make_file_sink(item_size_, filename_.c_str());
file_sink_ = gr::blocks::file_sink::make(item_size_, filename_.c_str());
DLOG(INFO) << "file sink(" << file_sink_->unique_id() << ")";
}
@ -77,27 +77,28 @@ FileOutputFilter::~FileOutputFilter()
void FileOutputFilter::connect(gr_top_block_sptr top_block)
void FileOutputFilter::connect(gr::top_block_sptr top_block)
{
DLOG(INFO) << "nothing to connect internally";
}
void FileOutputFilter::disconnect(gr_top_block_sptr top_block)
void FileOutputFilter::disconnect(gr::top_block_sptr top_block)
{
// Nothing to disconnect internally
}
gr_basic_block_sptr FileOutputFilter::get_left_block()
gr::basic_block_sptr FileOutputFilter::get_left_block()
{
return file_sink_;
}
gr_basic_block_sptr FileOutputFilter::get_right_block()
gr::basic_block_sptr FileOutputFilter::get_right_block()
{
return file_sink_;
//return file_sink_;//gr_block_sptr();
return gr::blocks::file_sink::sptr();
}

18
src/algorithms/output_filter/adapters/file_output_filter.h
View File

@ -36,7 +36,7 @@
#define GNSS_SDR_FILE_OUTPUT_FILTER_H_
#include "gnss_block_interface.h"
#include <gr_file_sink.h>
#include <gnuradio/blocks/file_sink.h>
class ConfigurationInterface;
@ -48,9 +48,9 @@ class FileOutputFilter : public GNSSBlockInterface
{
public:
FileOutputFilter(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
std::string role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~FileOutputFilter();
std::string role()
@ -65,13 +65,13 @@ public:
{
return item_size_;
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
private:
gr_file_sink_sptr file_sink_;
gr::blocks::file_sink::sptr file_sink_;
size_t item_size_;
std::string filename_;
std::string item_type_;

21
src/algorithms/output_filter/adapters/null_sink_output_filter.cc
View File

@ -32,7 +32,7 @@
#include "null_sink_output_filter.h"
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <gr_io_signature.h>
#include <gnuradio/io_signature.h>
#include "configuration_interface.h"
using google::LogMessage;
@ -41,9 +41,9 @@ NullSinkOutputFilter::NullSinkOutputFilter(ConfigurationInterface* configuration
std::string role,
unsigned int in_streams,
unsigned int out_streams) :
role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
std::string default_item_type = "short";
item_type_ = configuration->property(role + ".item_type", default_item_type);
@ -64,7 +64,7 @@ NullSinkOutputFilter::NullSinkOutputFilter(ConfigurationInterface* configuration
LOG_AT_LEVEL(WARNING) << item_type_ << " unrecognized item type. Using float";
item_size_ = sizeof(float);
}
sink_ = gr_make_null_sink(item_size_);
sink_ = gr::blocks::null_sink::make(item_size_);
DLOG(INFO) << "null_sink(" << sink_->unique_id() << ")";
}
@ -75,29 +75,30 @@ NullSinkOutputFilter::~NullSinkOutputFilter()
void NullSinkOutputFilter::connect(gr_top_block_sptr top_block)
void NullSinkOutputFilter::connect(gr::top_block_sptr top_block)
{
DLOG(INFO) << "nothing to connect internally";
}
void NullSinkOutputFilter::disconnect(gr_top_block_sptr top_block)
void NullSinkOutputFilter::disconnect(gr::top_block_sptr top_block)
{
// Nothing to connect
}
gr_basic_block_sptr NullSinkOutputFilter::get_left_block()
gr::basic_block_sptr NullSinkOutputFilter::get_left_block()
{
return sink_;
}
gr_basic_block_sptr NullSinkOutputFilter::get_right_block()
gr::basic_block_sptr NullSinkOutputFilter::get_right_block()
{
LOG_AT_LEVEL(WARNING) << "Right block of a signal sink should not be retrieved";
return gr_block_sptr();
//return gr::blocks::sptr::make();
return sink_;
}

16
src/algorithms/output_filter/adapters/null_sink_output_filter.h
View File

@ -9,7 +9,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -38,7 +38,7 @@
#define GNSS_SDR_NULL_SINK_OUTPUT_FILTER_H_
#include "gnss_block_interface.h"
#include <gr_null_sink.h>
#include <gnuradio/blocks/null_sink.h>
class ConfigurationInterface;
@ -62,6 +62,7 @@ public:
{
return role_;
}
//! Returns "Null_Sink_Output_Filter"
std::string implementation()
{
return "Null_Sink_Output_Filter";
@ -70,13 +71,14 @@ public:
{
return item_size_;
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
private:
gr_block_sptr sink_;
//gr_block_sptr sink_;
gr::blocks::null_sink::sptr sink_;
size_t item_size_;
std::string item_type_;
std::string role_;

6
src/algorithms/resampler/adapters/CMakeLists.txt
View File

@ -22,9 +22,9 @@ include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/algorithms/resampler/gnuradio_blocks
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(resampler_adapters ${RESAMPLER_ADAPTER_SOURCES})
target_link_libraries(resampler_adapters resampler_gr_blocks)
target_link_libraries(resampler_adapters resampler_gr_blocks)

30
src/algorithms/resampler/adapters/direct_resampler_conditioner.cc
View File

@ -30,7 +30,7 @@
*/
#include "direct_resampler_conditioner.h"
#include <gnuradio/gr_file_sink.h>
#include <gnuradio/blocks/file_sink.h>
#include "direct_resampler_conditioner_cc.h"
//#include "direct_resampler_conditioner_ss.h"
#include "configuration_interface.h"
@ -46,22 +46,18 @@ DirectResamplerConditioner::DirectResamplerConditioner(
{
std::string default_item_type = "short";
std::string default_dump_file = "./data/signal_conditioner.dat";
sample_freq_in_ = configuration->property(role_ + ".sample_freq_in",
(double)4000000.0);
sample_freq_out_ = configuration->property(role_ + ".sample_freq_out",
(double)2048000.0);
item_type_ = configuration->property(role + ".item_type",
default_item_type);
sample_freq_in_ = configuration->property(role_ + ".sample_freq_in", (double)4000000.0);
sample_freq_out_ = configuration->property(role_ + ".sample_freq_out", (double)2048000.0);
item_type_ = configuration->property(role + ".item_type", default_item_type);
dump_ = configuration->property(role + ".dump", false);
DLOG(INFO) << "dump_ is "<< dump_;
dump_filename_ = configuration->property(role + ".dump_filename",
default_dump_file);
DLOG(INFO) << "dump_ is " << dump_;
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file);
if (item_type_.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
resampler_ = direct_resampler_make_conditioner_cc(sample_freq_in_,
sample_freq_out_);
sample_freq_out_);
DLOG(INFO) << "sample_freq_in " << sample_freq_in_;
DLOG(INFO) << "sample_freq_out" << sample_freq_out_;
DLOG(INFO) << "Item size " << item_size_;
@ -77,13 +73,13 @@ DirectResamplerConditioner::DirectResamplerConditioner(
else
{
LOG_AT_LEVEL(WARNING) << item_type_
<< " unrecognized item type for resampler";
<< " unrecognized item type for resampler";
item_size_ = sizeof(short);
}
if (dump_)
{
DLOG(INFO) << "Dumping output into file " << dump_filename_;
file_sink_ = gr_make_file_sink(item_size_, dump_filename_.c_str());
file_sink_ = gr::blocks::file_sink::make(item_size_, dump_filename_.c_str());
DLOG(INFO) << "file_sink(" << file_sink_->unique_id() << ")";
}
}
@ -93,7 +89,7 @@ DirectResamplerConditioner::~DirectResamplerConditioner() {}
void DirectResamplerConditioner::connect(gr_top_block_sptr top_block)
void DirectResamplerConditioner::connect(gr::top_block_sptr top_block)
{
if (dump_)
{
@ -107,7 +103,7 @@ void DirectResamplerConditioner::connect(gr_top_block_sptr top_block)
}
void DirectResamplerConditioner::disconnect(gr_top_block_sptr top_block)
void DirectResamplerConditioner::disconnect(gr::top_block_sptr top_block)
{
if (dump_)
{
@ -116,13 +112,13 @@ void DirectResamplerConditioner::disconnect(gr_top_block_sptr top_block)
}
gr_basic_block_sptr DirectResamplerConditioner::get_left_block()
gr::basic_block_sptr DirectResamplerConditioner::get_left_block()
{
return resampler_;
}
gr_basic_block_sptr DirectResamplerConditioner::get_right_block()
gr::basic_block_sptr DirectResamplerConditioner::get_right_block()
{
return resampler_;
}

14
src/algorithms/resampler/adapters/direct_resampler_conditioner.h
View File

@ -33,7 +33,7 @@
#ifndef GNSS_SDR_DIRECT_RESAMPLER_CONDITIONER_H_
#define GNSS_SDR_DIRECT_RESAMPLER_CONDITIONER_H_
#include <gnuradio/gr_hier_block2.h>
#include <gnuradio/hier_block2.h>
#include "gnss_block_interface.h"
class ConfigurationInterface;
@ -63,10 +63,10 @@ public:
{
return item_size_;
}
void connect(gr_top_block_sptr top_block);
void disconnect(gr_top_block_sptr top_block);
gr_basic_block_sptr get_left_block();
gr_basic_block_sptr get_right_block();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
private:
std::string role_;
@ -79,8 +79,8 @@ private:
std::string dump_filename_;
double sample_freq_in_;
double sample_freq_out_;
gr_block_sptr resampler_;
gr_block_sptr file_sink_;
gr::block_sptr resampler_;
gr::block_sptr file_sink_;
};
#endif /*GNSS_SDR_DIRECT_RESAMPLER_CONDITIONER_H_*/

6
src/algorithms/resampler/gnuradio_blocks/CMakeLists.txt
View File

@ -24,8 +24,8 @@ set(RESAMPLER_GR_BLOCKS_SOURCES
include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)
${GNURADIO_CORE_INCLUDE_DIRS}
${GNURADIO_GRUEL_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
add_library(resampler_gr_blocks ${RESAMPLER_GR_BLOCKS_SOURCES})
add_library(resampler_gr_blocks ${RESAMPLER_GR_BLOCKS_SOURCES})

6
src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cc.cc
View File

@ -34,7 +34,7 @@
#include "direct_resampler_conditioner_cc.h"
#include <iostream>
#include <gnuradio/gr_io_signature.h>
#include <gnuradio/io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -53,8 +53,8 @@ direct_resampler_conditioner_cc_sptr direct_resampler_make_conditioner_cc(
direct_resampler_conditioner_cc::direct_resampler_conditioner_cc(
double sample_freq_in, double sample_freq_out) :
gr_block("direct_resampler_conditioner_cc", gr_make_io_signature(1, 1,
sizeof(gr_complex)), gr_make_io_signature(1, 1,
gr::block("direct_resampler_conditioner_cc", gr::io_signature::make(1, 1,
sizeof(gr_complex)), gr::io_signature::make(1, 1,
sizeof(gr_complex))), d_sample_freq_in(sample_freq_in),
d_sample_freq_out(sample_freq_out), d_phase(0), d_lphase(0),
d_history(1)

4
src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cc.h
View File

@ -39,7 +39,7 @@
#ifndef GNSS_SDR_DIRECT_RESAMPLER_CONDITIONER_CC_H
#define GNSS_SDR_DIRECT_RESAMPLER_CONDITIONER_CC_H
#include <gnuradio/gr_block.h>
#include <gnuradio/block.h>
class direct_resampler_conditioner_cc;
typedef boost::shared_ptr<direct_resampler_conditioner_cc> direct_resampler_conditioner_cc_sptr;
@ -52,7 +52,7 @@ direct_resampler_make_conditioner_cc(double sample_freq_in,
*
* Direct resampling without interpolation
*/
class direct_resampler_conditioner_cc: public gr_block
class direct_resampler_conditioner_cc: public gr::block
{
private:
friend direct_resampler_conditioner_cc_sptr

6
src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_ss.cc
View File

@ -35,7 +35,7 @@
#include "direct_resampler_conditioner_ss.h"
#include "gps_sdr_signal_processing.h"
#include <iostream>
#include <gnuradio/gr_io_signature.h>
#include <gnuradio/io_signature.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
@ -52,8 +52,8 @@ direct_resampler_conditioner_ss_sptr direct_resampler_make_conditioner_ss(
direct_resampler_conditioner_ss::direct_resampler_conditioner_ss(
double sample_freq_in, double sample_freq_out) :
gr_block("direct_resampler_make_conditioner_ss", gr_make_io_signature(1,
1, sizeof(short)), gr_make_io_signature(1, 1, sizeof(short))),
gr::block("direct_resampler_make_conditioner_ss", gr::io_signature::make(1,
1, sizeof(short)), gr::io_signature::make(1, 1, sizeof(short))),
d_sample_freq_in(sample_freq_in), d_sample_freq_out(
sample_freq_out), d_phase(0), d_lphase(0), d_history(1)
{

4
src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_ss.h
View File

@ -32,7 +32,7 @@
#ifndef GNSS_SDR_DIRECT_RESAMPLER_CONDITIONER_SS_H
#define GNSS_SDR_DIRECT_RESAMPLER_CONDITIONER_SS_H
#include <gnuradio/gr_block.h>
#include <gnuradio/block.h>
class direct_resampler_conditioner_ss;
typedef boost::shared_ptr<direct_resampler_conditioner_ss>
@ -46,7 +46,7 @@ direct_resampler_make_conditioner_ss(double sample_freq_in,
*
* Direct resampling without interpolation
*/
class direct_resampler_conditioner_ss: public gr_block
class direct_resampler_conditioner_ss: public gr::block
{
private:

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