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

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This commit is contained in:
Carles Fernandez 2019-02-18 22:45:14 +01:00
commit 620a74f150
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GPG Key ID: 4C583C52B0C3877D
11 changed files with 59 additions and 74 deletions
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15
CMakeLists.txt
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@ -469,15 +469,6 @@ endif()
################################################################################
# Check for availability of SSE
################################################################################
if(NOT ENABLE_GENERIC_ARCH)
include(TestForSSE)
endif()
################################################################################
# Find the POSIX thread (pthread) libraries
################################################################################
@ -1866,12 +1857,6 @@ if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra") #Add warning flags: For "-Wall" see https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(OS_IS_MACOSX)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -stdlib=libc++")
endif()
endif()
# Processor-architecture related flags
# See https://gcc.gnu.org/onlinedocs/gcc/x86-Options.html
if(NOT ARCH_COMPILER_FLAGS)

2
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -802,5 +802,5 @@ gr::basic_block_sptr RtklibPvt::get_left_block()
gr::basic_block_sptr RtklibPvt::get_right_block()
{
return pvt_; // this is a sink, nothing downstream
return nullptr; // this is a sink, nothing downstream
}

46
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -562,8 +562,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
xml_base_path = xml_base_path + boost::filesystem::path::preferred_separator;
}
d_pvt_solver = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk);
d_pvt_solver->set_averaging_depth(1);
d_rx_time = 0.0;
@ -580,7 +578,10 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
udp_sink_ptr = std::unique_ptr<Monitor_Pvt_Udp_Sink>(new Monitor_Pvt_Udp_Sink(udp_addr_vec, conf_.udp_port));
}
else
{
udp_sink_ptr = nullptr;
}
// Create Sys V message queue
first_fix = true;
@ -591,6 +592,9 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
std::cout << "GNSS-SDR can not create message queues!" << std::endl;
throw std::exception();
}
d_pvt_solver = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk);
d_pvt_solver->set_averaging_depth(1);
start = std::chrono::system_clock::now();
}
@ -1210,14 +1214,28 @@ bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string& file_name)
}
std::vector<std::string> rtklib_pvt_cc::split_string(const std::string& s, char delim)
{
std::vector<std::string> v;
std::stringstream ss(s);
std::string item;
while (std::getline(ss, item, delim))
{
*(std::back_inserter(v)++) = item;
}
return v;
}
bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
double* latitude_deg,
double* height_m,
double* ground_speed_kmh,
double* course_over_ground_deg,
time_t* UTC_time)
time_t* UTC_time) const
{
gr::thread::scoped_lock lock(d_setlock);
if (d_pvt_solver->is_valid_position())
{
*latitude_deg = d_pvt_solver->get_latitude();
@ -1225,7 +1243,7 @@ bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
*height_m = d_pvt_solver->get_height();
*ground_speed_kmh = d_pvt_solver->get_speed_over_ground() * 3600.0 / 1000.0;
*course_over_ground_deg = d_pvt_solver->get_course_over_ground();
*UTC_time = to_time_t(d_pvt_solver->get_position_UTC_time());
*UTC_time = convert_to_time_t(d_pvt_solver->get_position_UTC_time());
return true;
}
@ -1237,8 +1255,6 @@ bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items __attribute__((unused)))
{
gr::thread::scoped_lock l(d_setlock);
for (int32_t epoch = 0; epoch < noutput_items; epoch++)
{
bool flag_display_pvt = false;
@ -3284,17 +3300,3 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
return noutput_items;
}
std::vector<std::string> rtklib_pvt_cc::split_string(const std::string& s, char delim)
{
std::vector<std::string> v;
std::stringstream ss(s);
std::string item;
while (std::getline(ss, item, delim))
{
*(std::back_inserter(v)++) = item;
}
return v;
}

28
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -85,15 +85,15 @@ private:
bool b_rtcm_writing_started;
bool b_rtcm_enabled;
int32_t d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
int32_t d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1077_rate_ms; //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
int32_t d_rtcm_MT1087_rate_ms; //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
int32_t d_rtcm_MT1097_rate_ms; //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
int32_t d_rtcm_MT1045_rate_ms; // Galileo Broadcast Ephemeris
int32_t d_rtcm_MT1019_rate_ms; // GPS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1020_rate_ms; // GLONASS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1077_rate_ms; // The type 7 Multiple Signal Message format for the USA’s GPS system, popular
int32_t d_rtcm_MT1087_rate_ms; // GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
int32_t d_rtcm_MT1097_rate_ms; // Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
int32_t d_rtcm_MSM_rate_ms;
int32_t d_last_status_print_seg; //for status printer
int32_t d_last_status_print_seg; // for status printer
uint32_t d_nchannels;
std::string d_dump_filename;
@ -132,14 +132,14 @@ private:
bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
std::chrono::time_point<std::chrono::system_clock> start, end;
bool save_gnss_synchro_map_xml(const std::string& file_name); //debug helper function
bool save_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
bool load_gnss_synchro_map_xml(const std::string& file_name); //debug helper function
bool load_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
bool d_xml_storage;
std::string xml_base_path;
inline std::time_t to_time_t(boost::posix_time::ptime pt)
inline std::time_t convert_to_time_t(const boost::posix_time::ptime pt) const
{
return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds();
}
@ -153,8 +153,10 @@ public:
const Pvt_Conf& conf_,
const rtk_t& rtk);
~rtklib_pvt_cc(); //!< Default destructor
/*!
* \brief Get latest set of ephemeris from PVT block
* \brief Get latest set of GPS ephemeris from PVT block
*
*/
std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
@ -183,9 +185,7 @@ public:
double* height_m,
double* ground_speed_kmh,
double* course_over_ground_deg,
time_t* UTC_time);
~rtklib_pvt_cc(); //!< Default destructor
time_t* UTC_time) const;
int work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items); //!< PVT Signal Processing

2
src/algorithms/PVT/libs/pvt_solution.h
View File

@ -37,8 +37,6 @@
#include <boost/date_time/posix_time/posix_time.hpp>
#include <deque>
const unsigned int PVT_MAX_CHANNELS = 90;
const unsigned int PVT_MAX_PRN = 127; // 126 is SBAS
/*!
* \brief Base class for a PVT solution

2
src/algorithms/libs/rtklib/rtklib.h
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@ -221,7 +221,9 @@ const int NSATQZS = 0;
const int NSYSQZS = 0;
#endif
#ifndef __APPLE__
#define ENABDS
#endif
#ifdef ENABDS
const int MINPRNBDS = 1; //!< min satellite sat number of BeiDou
const int MAXPRNBDS = 37; //!< max satellite sat number of BeiDou

14
src/core/monitor/gnss_synchro_monitor.cc
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@ -43,25 +43,25 @@ using google::LogMessage;
gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
int output_rate_ms,
int decimation_factor,
int udp_port,
const std::vector<std::string>& udp_addresses)
{
return gnss_synchro_monitor_sptr(new gnss_synchro_monitor(n_channels,
output_rate_ms,
decimation_factor,
udp_port,
udp_addresses));
}
gnss_synchro_monitor::gnss_synchro_monitor(unsigned int n_channels,
int output_rate_ms,
int decimation_factor,
int udp_port,
const std::vector<std::string>& udp_addresses) : gr::sync_block("gnss_synchro_monitor",
gr::io_signature::make(n_channels, n_channels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
gr::io_signature::make(n_channels, n_channels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
{
d_output_rate_ms = output_rate_ms;
d_decimation_factor = decimation_factor;
d_nchannels = n_channels;
udp_sink_ptr = std::unique_ptr<Gnss_Synchro_Udp_Sink>(new Gnss_Synchro_Udp_Sink(udp_addresses, udp_port));
@ -80,7 +80,7 @@ int gnss_synchro_monitor::work(int noutput_items, gr_vector_const_void_star& inp
for (int epoch = 0; epoch < noutput_items; epoch++)
{
count++;
if (count >= d_output_rate_ms)
if (count >= d_decimation_factor)
{
for (unsigned int i = 0; i < d_nchannels; i++)
{

8
src/core/monitor/gnss_synchro_monitor.h
View File

@ -46,7 +46,7 @@ class gnss_synchro_monitor;
using gnss_synchro_monitor_sptr = boost::shared_ptr<gnss_synchro_monitor>;
gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
int output_rate_ms,
int decimation_factor,
int udp_port,
const std::vector<std::string>& udp_addresses);
@ -57,13 +57,13 @@ class gnss_synchro_monitor : public gr::sync_block
{
private:
friend gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int nchannels,
int output_rate_ms,
int decimation_factor,
int udp_port,
const std::vector<std::string>& udp_addresses);
unsigned int d_nchannels;
int d_output_rate_ms;
int d_decimation_factor;
std::unique_ptr<Gnss_Synchro_Udp_Sink> udp_sink_ptr;
@ -72,7 +72,7 @@ private:
public:
gnss_synchro_monitor(unsigned int nchannels,
int output_rate_ms,
int decimation_factor,
int udp_port,
const std::vector<std::string>& udp_addresses);

6
src/core/receiver/control_thread.cc
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@ -293,7 +293,11 @@ int ControlThread::run()
}
catch (const boost::thread_interrupted &interrupt)
{
DLOG(INFO) << "Thread interrupted";
DLOG(WARNING) << "Thread interrupted";
}
catch (const boost::system::system_error &e)
{
LOG(WARNING) << "System error";
}
if (restart_)

2
src/core/receiver/gnss_flowgraph.cc
View File

@ -1538,7 +1538,7 @@ void GNSSFlowgraph::init()
if (enable_monitor_)
{
GnssSynchroMonitor_ = gr::basic_block_sptr(new gnss_synchro_monitor(channels_count_,
configuration_->property("Monitor.output_rate_ms", 1),
configuration_->property("Monitor.decimation_factor", 1),
configuration_->property("Monitor.udp_port", 1234),
udp_addr_vec));
}

8
src/tests/CMakeLists.txt
View File

@ -58,6 +58,7 @@ if(NOT ${GTEST_DIR_LOCAL})
if(OS_IS_MACOSX)
if(CMAKE_GENERATOR STREQUAL Xcode)
set(DEBUG_PREFIX "Debug/")
set(DEBUG_POSTFIX "d")
endif()
endif()
@ -167,12 +168,6 @@ if(OPENSSL_FOUND)
add_definitions(-DUSE_OPENSSL_FALLBACK=1)
endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(OS_IS_MACOSX)
set(CLANG_FLAGS "-stdlib=libc++ -lc++")
endif()
endif()
if(OPENCL_FOUND)
add_definitions(-DOPENCL_BLOCKS_TEST=1)
endif()
@ -350,7 +345,6 @@ if(ENABLE_UNIT_TESTING)
target_link_libraries(run_tests
PUBLIC
${CLANG_FLAGS}
Boost::chrono
Boost::filesystem
Boost::system