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

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Carles Fernandez 2019-02-24 20:22:36 +01:00
commit 6e24bf31e6
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4 changed files with 67 additions and 58 deletions
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76
CMakeLists.txt
View File

@ -418,25 +418,26 @@ if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_EXTENSIONS OFF)
else()
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,C>:-std=gnu11>")
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
else()
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++14>")
endif()
endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(OS_IS_MACOSX)
if(CLANG_VERSION VERSION_LESS "600")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
else()
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++14>")
endif()
else()
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
else()
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++14>")
endif()
endif()
endif()
@ -1834,10 +1835,10 @@ if(ENABLE_GPERFTOOLS)
# See https://github.com/gperftools/gperftools/blob/master/README
if(GPERFTOOLS_FOUND)
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free")
add_compile_options(-fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free)
endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -fno-builtin")
add_compile_options(-fno-builtin)
endif()
endif()
endif()
@ -1848,7 +1849,7 @@ endif()
# GNU gprof (OPTIONAL) - https://sourceware.org/binutils/docs/gprof/
########################################################################
if(ENABLE_GPROF)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -pg")
add_compile_options(-pg)
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pg")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -pg")
endif()
@ -1858,35 +1859,46 @@ endif()
# Set compiler flags
########################################################################
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra") #Add warning flags: For "-Wall" see https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
# Add warning flags
# For "-Wall" see https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
set(cxx_warning_flags -Wall -Wextra)
if(NOT (CMAKE_VERSION VERSION_LESS "3.3"))
add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:${cxx_warning_flags}>")
else()
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:${cxx_warning_flags}>")
endif()
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "5.0")
add_compile_options(-Wno-missing-field-initializers)
endif()
if(CMAKE_CROSSCOMPILING)
add_compile_options(-Wno-psabi)
endif()
endif()
# Processor-architecture related flags
# See https://gcc.gnu.org/onlinedocs/gcc/x86-Options.html
if(NOT ARCH_COMPILER_FLAGS)
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
if(OS_IS_MACOSX)
set(ARCH_COMPILER_FLAGS "-march=corei7 -mfpmath=sse")
else()
if(NOT ${ENABLE_GENERIC_ARCH})
if(IS_ARM) # ARM-specific options (https://gcc.gnu.org/onlinedocs/gcc/ARM-Options.html)
if(NOT CMAKE_CROSSCOMPILING)
if(ARM_VERSION STREQUAL "arm")
# Unknown arm version - try our best to detect
set(ARCH_COMPILER_FLAGS "-mcpu=native")
else()
set(ARCH_COMPILER_FLAGS "-march=${ARM_VERSION}")
endif()
endif()
else()
set(ARCH_COMPILER_FLAGS "-march=native -mfpmath=sse")
endif()
endif()
endif()
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
if(OS_IS_MACOSX)
add_compile_options(-march=corei7 -mfpmath=sse)
else()
if(NOT ENABLE_GENERIC_ARCH)
if(IS_ARM)
# ARM-specific options
# See https://gcc.gnu.org/onlinedocs/gcc/ARM-Options.html
if(NOT CMAKE_CROSSCOMPILING)
if(ARM_VERSION STREQUAL "arm")
# Unknown arm version - try our best to detect
add_compile_options(-mcpu=native)
else()
add_compile_options(-march=${ARM_VERSION})
endif()
endif()
else()
add_compile_options(-march=native -mfpmath=sse)
endif()
endif()
endif()
endif()
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} ${ARCH_COMPILER_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MY_CXX_FLAGS}")

1
src/core/receiver/CMakeLists.txt
View File

@ -143,7 +143,6 @@ target_link_libraries(core_receiver
core_libs
core_monitor
PRIVATE
Boost::chrono
Gflags::gflags
Glog::glog
signal_source_adapters

38
src/core/receiver/control_thread.cc
View File

@ -54,7 +54,6 @@
#include "rtklib_conversions.h"
#include "rtklib_ephemeris.h"
#include "rtklib_rtkcmn.h"
#include <boost/chrono.hpp>
#include <boost/lexical_cast.hpp>
#include <glog/logging.h>
#include <gnuradio/message.h>
@ -197,6 +196,16 @@ ControlThread::~ControlThread() // NOLINT(modernize-use-equals-default)
{
msgctl(msqid, IPC_RMID, nullptr);
}
if (sysv_queue_thread_.joinable())
{
sysv_queue_thread_.join();
}
if (cmd_interface_thread_.joinable())
{
cmd_interface_thread_.join();
}
}
@ -256,12 +265,12 @@ int ControlThread::run()
// launch GNSS assistance process AFTER the flowgraph is running because the GNU Radio asynchronous queues must be already running to transport msgs
assist_GNSS();
// start the keyboard_listener thread
keyboard_thread_ = boost::thread(&ControlThread::keyboard_listener, this);
sysv_queue_thread_ = boost::thread(&ControlThread::sysv_queue_listener, this);
keyboard_thread_ = std::thread(&ControlThread::keyboard_listener, this);
sysv_queue_thread_ = std::thread(&ControlThread::sysv_queue_listener, this);
// start the telecommand listener thread
cmd_interface_.set_pvt(flowgraph_->get_pvt());
cmd_interface_thread_ = boost::thread(&ControlThread::telecommand_listener, this);
cmd_interface_thread_ = std::thread(&ControlThread::telecommand_listener, this);
bool enable_FPGA = configuration_->property("Channel.enable_FPGA", false);
if (enable_FPGA == true)
@ -284,21 +293,10 @@ int ControlThread::run()
stop_ = true;
flowgraph_->disconnect();
// Join keyboard thread
try
{
keyboard_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
sysv_queue_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
cmd_interface_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
}
catch (const boost::thread_interrupted &interrupt)
{
DLOG(WARNING) << "Thread interrupted";
}
catch (const boost::system::system_error &e)
{
LOG(WARNING) << "System error";
}
// Terminate keyboard thread
pthread_t id = keyboard_thread_.native_handle();
keyboard_thread_.detach();
pthread_cancel(id);
if (restart_)
{
@ -1105,6 +1103,6 @@ void ControlThread::keyboard_listener()
}
read_keys = false;
}
usleep(500000);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
}

10
src/core/receiver/control_thread.h
View File

@ -44,9 +44,9 @@
#include "gnss_sdr_supl_client.h"
#include "tcp_cmd_interface.h"
#include <armadillo>
#include <boost/thread.hpp>
#include <gnuradio/msg_queue.h>
#include <memory>
#include <thread>
#include <vector>
@ -120,7 +120,7 @@ private:
//Telecommand TCP interface
TcpCmdInterface cmd_interface_;
void telecommand_listener();
boost::thread cmd_interface_thread_;
std::thread cmd_interface_thread_;
//SUPL assistance classes
Gnss_Sdr_Supl_Client supl_client_acquisition_;
Gnss_Sdr_Supl_Client supl_client_ephemeris_;
@ -168,9 +168,9 @@ private:
bool delete_configuration_;
unsigned int processed_control_messages_;
unsigned int applied_actions_;
boost::thread keyboard_thread_;
boost::thread sysv_queue_thread_;
boost::thread gps_acq_assist_data_collector_thread_;
std::thread keyboard_thread_;
std::thread sysv_queue_thread_;
std::thread gps_acq_assist_data_collector_thread_;
void keyboard_listener();
void sysv_queue_listener();