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

CMakeLists.txt

@@ -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((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
+    if(OS_IS_MACOSX)
-      if(OS_IS_MACOSX)
+        add_compile_options(-march=corei7 -mfpmath=sse)
-          set(ARCH_COMPILER_FLAGS "-march=corei7 -mfpmath=sse")
+    else()
-      else()
+        if(NOT ENABLE_GENERIC_ARCH)
-          if(NOT ${ENABLE_GENERIC_ARCH})
+            if(IS_ARM)
-              if(IS_ARM) # ARM-specific options (https://gcc.gnu.org/onlinedocs/gcc/ARM-Options.html)
+                # ARM-specific options
-                  if(NOT CMAKE_CROSSCOMPILING)
+                # See https://gcc.gnu.org/onlinedocs/gcc/ARM-Options.html
-                      if(ARM_VERSION STREQUAL "arm")
+                if(NOT CMAKE_CROSSCOMPILING)
-                          # Unknown arm version - try our best to detect
+                    if(ARM_VERSION STREQUAL "arm")
-                          set(ARCH_COMPILER_FLAGS "-mcpu=native")
+                        # Unknown arm version - try our best to detect
-                      else()
+                        add_compile_options(-mcpu=native)
-                          set(ARCH_COMPILER_FLAGS "-march=${ARM_VERSION}")
+                    else()
-                      endif()
+                        add_compile_options(-march=${ARM_VERSION})
-                  endif()
+                    endif()
-              else()
+                endif()
-                  set(ARCH_COMPILER_FLAGS "-march=native -mfpmath=sse")
+            else()
-              endif()
+                add_compile_options(-march=native -mfpmath=sse)
-          endif()
+            endif()
-      endif()
+        endif()
     endif()
 endif()
-set(MY_CXX_FLAGS "${MY_CXX_FLAGS} ${ARCH_COMPILER_FLAGS}")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MY_CXX_FLAGS}")
 
 
 

src/core/receiver/CMakeLists.txt

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

src/core/receiver/control_thread.cc

@@ -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);
+    keyboard_thread_ = std::thread(&ControlThread::keyboard_listener, this);
-    sysv_queue_thread_ = boost::thread(&ControlThread::sysv_queue_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
+    // Terminate keyboard thread
-    try
+    pthread_t id = keyboard_thread_.native_handle();
-        {
+    keyboard_thread_.detach();
-            keyboard_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
+    pthread_cancel(id);
-            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";
-        }
 
     if (restart_)
         {
@@ -1105,6 +1103,6 @@ void ControlThread::keyboard_listener()
                         }
                     read_keys = false;
                 }
-            usleep(500000);
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
         }
 }

src/core/receiver/control_thread.h

@@ -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_;
+    std::thread keyboard_thread_;
-    boost::thread sysv_queue_thread_;
+    std::thread sysv_queue_thread_;
-    boost::thread gps_acq_assist_data_collector_thread_;
+    std::thread gps_acq_assist_data_collector_thread_;
 
     void keyboard_listener();
     void sysv_queue_listener();