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

.clang-format

@@ -37,8 +37,6 @@ BreakBeforeBinaryOperators: None
 BreakBeforeBraces: GNU
 BreakBeforeTernaryOperators: true
 BreakConstructorInitializersBeforeComma: false
-BreakAfterJavaFieldAnnotations: false
-BreakStringLiterals: true
 ColumnLimit:     0
 CommentPragmas:  '^ IWYU pragma:'
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
@@ -56,12 +54,9 @@ IncludeCategories:
     Priority:        2
   - Regex:           '.*'
     Priority:        3
-IncludeIsMainRegex: '([-_](test|unittest))?$'
 IndentCaseLabels: false
 IndentWidth:     4
 IndentWrappedFunctionNames: false
-JavaScriptQuotes: Leave
-JavaScriptWrapImports: true
 KeepEmptyLinesAtTheStartOfBlocks: false
 MacroBlockBegin: ''
 MacroBlockEnd:   ''
@@ -80,7 +75,6 @@ PointerAlignment: Left
 ReflowComments:  true
 SortIncludes:    false
 SpaceAfterCStyleCast: false
-SpaceAfterTemplateKeyword: true
 SpaceBeforeAssignmentOperators: true
 SpaceBeforeParens: ControlStatements
 SpaceInEmptyParentheses: false

CMakeLists.txt

@@ -330,7 +330,7 @@ set(GNSSSDR_ARMADILLO_LOCAL_VERSION "unstable")
 set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.0")
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
 set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10")
-set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.11")
+set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.12")
 
 
 
@@ -449,13 +449,13 @@ if(ENABLE_UNIT_TESTING OR ENABLE_SYSTEM_TESTING)
         endif(LIBGTEST_DEV_DIR)
         find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS ${GTEST_DIR}/include)
     else(GTEST_DIR)
-        find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS /usr/src/googletest/googletest /usr/src/gtest /opt/local/src/gtest-1.7.0 )
+        find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS /usr/src/googletest/googletest /usr/src/gtest /usr/include/gtest /opt/local/src/gtest-1.7.0 )
         find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS /usr/include /opt/local/src/gtest-1.7.0/include)
         if(LIBGTEST_DEV_DIR)
             message (STATUS "Googletest package has been found.")
         else(LIBGTEST_DEV_DIR)
             message (STATUS " Googletest has not been found.")
-            message (STATUS " Googletest will be downloaded and built automatically ")
+            message (STATUS " Googletest v${GNSSSDR_GTEST_LOCAL_VERSION} will be downloaded and built automatically ")
             message (STATUS " when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'. ")
         endif(LIBGTEST_DEV_DIR)
     endif(GTEST_DIR)
@@ -699,7 +699,7 @@ set(LOCAL_GFLAGS false)
 find_package(GFlags)
 if (NOT GFlags_FOUND)
      message (STATUS " gflags library has not been found.")
-     message (STATUS " gflags will be downloaded and built automatically ")
+     message (STATUS " gflags v${GNSSSDR_GFLAGS_LOCAL_VERSION} will be downloaded and built automatically ")
      message (STATUS " when doing 'make'. ")
 
      if(CMAKE_VERSION VERSION_LESS 3.2)
@@ -767,7 +767,7 @@ if (NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
      if(NOT GFlags_FOUND)
           message(STATUS " or it is likely not linked to gflags.")
      endif(NOT GFlags_FOUND)
-     message (STATUS " glog will be downloaded and built automatically ")
+     message (STATUS " glog v${GNSSSDR_GLOG_LOCAL_VERSION} will be downloaded and built automatically ")
      message (STATUS " when doing 'make'. ")
      if(NOT ${LOCAL_GFLAGS})
          add_library(gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION} UNKNOWN IMPORTED)
@@ -956,7 +956,7 @@ endif(ARMADILLO_FOUND)
 
 if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
      message(STATUS " Armadillo has not been found.")
-     message(STATUS " Armadillo will be downloaded and built automatically")
+     message(STATUS " Armadillo ${GNSSSDR_ARMADILLO_LOCAL_VERSION} will be downloaded and built automatically")
      message(STATUS " when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'. ")
      set(armadillo_BRANCH ${GNSSSDR_ARMADILLO_LOCAL_VERSION})
      set(armadillo_RELEASE ${armadillo_BRANCH})
@@ -1099,7 +1099,7 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
     if(MATIO_FOUND)
          message(STATUS " Matio installed version (${MATIO_VERSION_STRING}) is too old (>= ${GNSSSDR_MATIO_MIN_VERSION} is required).")
     endif(MATIO_FOUND)
-    message(STATUS " Matio will be downloaded and built automatically")
+    message(STATUS " Matio v${GNSSSDR_MATIO_LOCAL_VERSION} will be downloaded and built automatically")
     message(STATUS " when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'. ")
     find_package(ZLIB)
     if(ZLIB_FOUND)

conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf

@@ -138,4 +138,4 @@ PVT.rtcm_MT1019_rate_ms=5000
 PVT.rtcm_MT1045_rate_ms=5000
 PVT.rtcm_MT1097_rate_ms=1000
 PVT.rtcm_MT1077_rate_ms=1000
-PVT.rinex_version=3
+PVT.rinex_version=2

conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf

@@ -5,7 +5,7 @@ GNSS-SDR.internal_fs_sps=6625000
 
 ;######### SIGNAL_SOURCE CONFIG ############
 SignalSource.implementation=File_Signal_Source
-SignalSource.filename=/archive/NT1065_GLONASS_L1_20160923_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
+SignalSource.filename=/archive/NT1065_GLONASS_L1_20160924_fs6625e6_if0e3_schar.bin ; <- PUT YOUR FILE HERE
 SignalSource.item_type=ibyte
 SignalSource.sampling_frequency=6625000
 SignalSource.samples=0
@@ -39,7 +39,7 @@ Acquisition_1G.pfa=0.0001
 Acquisition_1G.if=0
 Acquisition_1G.doppler_max=10000
 Acquisition_1G.doppler_step=250
-Acquisition_1G.dump=false;
+Acquisition_1G.dump=true;
 Acquisition_1G.dump_filename=/archive/glo_acquisition.dat
 ;Acquisition_1G.coherent_integration_time_ms=1
 ;Acquisition_1G.max_dwells = 5
@@ -51,7 +51,7 @@ Tracking_1G.if=0
 Tracking_1G.early_late_space_chips=0.5
 Tracking_1G.pll_bw_hz=25.0;
 Tracking_1G.dll_bw_hz=3.0;
-Tracking_1G.dump=false;
+Tracking_1G.dump=true;
 Tracking_1G.dump_filename=/archive/glo_tracking_ch_
 
 ;######### TELEMETRY DECODER GPS CONFIG ############
@@ -59,7 +59,7 @@ TelemetryDecoder_1G.implementation=GLONASS_L1_CA_Telemetry_Decoder
 
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
-Observables.dump=false;
+Observables.dump=true;
 Observables.dump_filename=/archive/glo_observables.dat
 
 ;######### PVT CONFIG ############
@@ -76,4 +76,4 @@ PVT.rtcm_MT1019_rate_ms=5000
 PVT.rtcm_MT1045_rate_ms=5000
 PVT.rtcm_MT1097_rate_ms=1000
 PVT.rtcm_MT1077_rate_ms=1000
-PVT.rinex_version=3
+PVT.rinex_version=2

src/algorithms/PVT/libs/rinex_printer.cc

@@ -3958,6 +3958,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
     out << line << std::endl;
 
     // -------- Line MARKER NAME
+    line.clear();
+    line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60);  // put a flag or a property,
+    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
+    Rinex_Printer::lengthCheck(line);
+    out << line << std::endl;
+
+    // -------- Line MARKER NUMBER / TYPE
     if (version == 2)
         {
             line.clear();
@@ -3977,14 +3984,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
             out << line << std::endl;
         }
 
-    // -------- Line MARKER TYPE
-    line.clear();
-    line += Rinex_Printer::leftJustify("NON_GEODETIC", 20);  // put a flag or a property
-    line += std::string(40, ' ');
-    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
-    Rinex_Printer::lengthCheck(line);
-    out << line << std::endl;
-
     // -------- Line OBSERVER / AGENCY
     line.clear();
     std::string username;
@@ -4279,7 +4278,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
     // -------- Line MARKER NAME
     line.clear();
     line += Rinex_Printer::leftJustify("DEFAULT MARKER NAME", 60);  // put a flag or a property,
-    line += Rinex_Printer::leftJustify("MARKER TYPE", 20);
+    line += Rinex_Printer::leftJustify("MARKER NAME", 20);
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
@@ -5998,6 +5997,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
 {
     // RINEX observations timestamps are GPS timestamps.
     std::string line;
+    double int_sec = 0;
 
     // Avoid compiler warning
     if (glonass_band.size())
@@ -6008,12 +6008,12 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
     std::string timestring = boost::posix_time::to_iso_string(p_glonass_time);
     //double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(obs_time));
     //double gps_t = eph.sv_clock_correction(obs_time);
-    double glonass_t = obs_time;
 
     std::string month(timestring, 4, 2);
     std::string day(timestring, 6, 2);
     std::string hour(timestring, 9, 2);
     std::string minutes(timestring, 11, 2);
+    double utc_sec = modf(obs_time, &int_sec) + p_glonass_time.time_of_day().seconds();
 
     if (version == 2)
         {
@@ -6046,12 +6046,11 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
             line += std::string(1, ' ');
             line += minutes;
             line += std::string(1, ' ');
-            double second_ = fmod(glonass_t, 60);
+            if (utc_sec < 10)
-            if (second_ < 10)
                 {
                     line += std::string(1, ' ');
                 }
-            line += Rinex_Printer::asString(second_, 7);
+            line += Rinex_Printer::asString(utc_sec, 7);
             line += std::string(2, ' ');
             // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
             line += std::string(1, '0');
@@ -6149,13 +6148,12 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
             line += minutes;
 
             line += std::string(1, ' ');
-            double seconds = fmod(glonass_t, 60);
             // Add extra 0 if seconds are < 10
-            if (seconds < 10)
+            if (utc_sec < 10)
                 {
                     line += std::string(1, '0');
                 }
-            line += Rinex_Printer::asString(seconds, 7);
+            line += Rinex_Printer::asString(utc_sec, 7);
             line += std::string(2, ' ');
             // Epoch flag 0: OK     1: power failure between previous and current epoch   <1: Special event
             line += std::string(1, '0');
@@ -8324,8 +8322,8 @@ boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephe
             boost::posix_time::ptime ls_time(d3, t3);
             if (utc_time >= ls_time)
                 {
-                    // We subtract the leap second when going from gpst to utc
+                    // We subtract the leap second when going from gpst to utc, values store as negatives
-                    utc_time = utc_time - boost::posix_time::time_duration(0, 0, fabs(GLONASS_LEAP_SECONDS[i][6]));
+                    utc_time = utc_time + boost::posix_time::time_duration(0, 0, GLONASS_LEAP_SECONDS[i][6]);
                     break;
                 }
         }
@@ -8333,7 +8331,6 @@ boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Glonass_Gnav_Ephe
     return utc_time;
 }
 
-
 double Rinex_Printer::get_leap_second(const Glonass_Gnav_Ephemeris& eph, const double gps_obs_time)
 {
     double tod = 0.0;

src/tests/CMakeLists.txt

@@ -209,6 +209,7 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
    ################################################################################
    find_package(GPSTK)
    if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
+      message(STATUS "GPSTk v${GNSSSDR_GPSTK_LOCAL_VERSION} will be automatically donwloaded and built when doing 'make'.")
       if(NOT ENABLE_FPGA)
           if(CMAKE_VERSION VERSION_LESS 3.2)
            ExternalProject_Add(

src/utils/reproducibility/ieee-access18/L2-access18.conf

@@ -69,6 +69,9 @@ Channel7.signal=2S
 Channel8.signal=2S
 Channel9.signal=2S
 
+;######### SPECIFIC CHANNELS CONFIG ######
+
+Channel0.satellite=19
 
 ;######### ACQUISITION GLOBAL CONFIG ############
 
@@ -89,14 +92,13 @@ Acquisition_2S.blocking=true
 
 ;######### TRACKING GLOBAL CONFIG ############
 
-
 Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking
 
 Tracking_2S.item_type=gr_complex
 
 Tracking_2S.pll_bw_hz=4.0;
 
-Tracking_2S.dll_bw_hz=0.75;
+Tracking_2S.dll_bw_hz=1;
 
 Tracking_2S.early_late_space_chips=0.5;
 
@@ -104,14 +106,17 @@ Tracking_2S.dump=true
 
 Tracking_2S.dump_filename=./data/track_ch_
 
+
 ;######### TELEMETRY DECODER CONFIG ############
 
 TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder
 
+
 ;######### OBSERVABLES CONFIG ############
 
 Observables.implementation=Hybrid_Observables
 
+
 ;######### PVT CONFIG ############
 
 PVT.implementation=RTKLIB_PVT

src/utils/reproducibility/ieee-access18/plot_dump.m

@@ -186,7 +186,7 @@ plot(0,0,'k*');
 
 
 [x,y,z] = cylinder([TWO_DRMS TWO_DRMS],200);
-plot(x(1,:),y(1,:),[0 0.6 0],'Color',[0 0.6 0]);
+plot(x(1,:),y(1,:),'Color',[0 0.6 0]);
 str = strcat('2DRMS=',num2str(TWO_DRMS), ' m');
 text(cosd(65)*TWO_DRMS,sind(65)*TWO_DRMS,str,'Color',[0 0.6 0]);
 
@@ -227,11 +227,13 @@ hSurface=surf(MRSE*x,MRSE*y,MRSE*z);  % sphere centered at origin
 set(hSurface,'facecolor','none','edgecolor',[0 0.6 0],'edgealpha',1,'facealpha',1);
 
 %axis equal;
-xlabel('North [m]','fontname','Times','fontsize', fontsize)
+xlabel('North [m]','fontname','Times','fontsize', fontsize-2)
-ylabel('East [m]','fontname','Times','fontsize', fontsize)
+ylabel('East [m]','fontname','Times','fontsize', fontsize-2)
-zlabel('Up [m]','fontname','Times','fontsize', fontsize)
+zlabel('Up [m]','fontname','Times','fontsize', fontsize-2)
-str = strcat('MRSE=',num2str(MRSE), ' m');
+str = strcat('MRSE=',num2str(MRSE), ' m')
 text(cosd(45)*MRSE,sind(45)*MRSE,20,str,'Color',[0 0.6 0]);
+a=gca;
+set(a,'fontsize',fontsize-6)
 
 hh=findall(hf,'-property','FontName');
 set(hh,'FontName','Times');