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

src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc

@@ -34,6 +34,7 @@
 #include <iostream>
 #include <sstream>
 
+
 Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port) : socket{io_service}
 {
     for (const auto& address : addresses)
@@ -41,9 +42,38 @@ Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, c
             boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port);
             endpoints.push_back(endpoint);
         }
+    monitor_pvt.TOW_at_current_symbol_ms = 0U;
+    monitor_pvt.week = 0U;
+    monitor_pvt.RX_time = 0.0;
+    monitor_pvt.user_clk_offset = 0.0;
+    monitor_pvt.pos_x = 0.0;
+    monitor_pvt.pos_y = 0.0;
+    monitor_pvt.pos_z = 0.0;
+    monitor_pvt.vel_x = 0.0;
+    monitor_pvt.vel_y = 0.0;
+    monitor_pvt.vel_z = 0.0;
+    monitor_pvt.cov_xx = 0.0;
+    monitor_pvt.cov_yy = 0.0;
+    monitor_pvt.cov_zz = 0.0;
+    monitor_pvt.cov_xy = 0.0;
+    monitor_pvt.cov_yz = 0.0;
+    monitor_pvt.cov_zx = 0.0;
+    monitor_pvt.latitude = 0.0;
+    monitor_pvt.longitude = 0.0;
+    monitor_pvt.height = 0.0;
+    monitor_pvt.valid_sats = 0;
+    monitor_pvt.solution_status = 0;
+    monitor_pvt.solution_type = 0;
+    monitor_pvt.AR_ratio_factor = 0.0;
+    monitor_pvt.AR_ratio_threshold = 0.0;
+    monitor_pvt.gdop = 0.0;
+    monitor_pvt.pdop = 0.0;
+    monitor_pvt.hdop = 0.0;
+    monitor_pvt.vdop = 0.0;
 }
 
-bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(Monitor_Pvt monitor_pvt)
+
+bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(const Monitor_Pvt& monitor_pvt)
 {
     std::ostringstream archive_stream;
     boost::archive::binary_oarchive oa{archive_stream};

src/algorithms/PVT/libs/monitor_pvt_udp_sink.h

@@ -39,7 +39,7 @@ class Monitor_Pvt_Udp_Sink
 {
 public:
     Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t &port);
-    bool write_monitor_pvt(Monitor_Pvt monitor_pvt);
+    bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt);
 
 private:
     boost::asio::io_service io_service;

src/algorithms/PVT/libs/pvt_conf.cc

@@ -67,4 +67,7 @@ Pvt_Conf::Pvt_Conf()
     kml_output_path = std::string(".");
     xml_output_path = std::string(".");
     rtcm_output_file_path = std::string(".");
+
+    monitor_enabled = false;
+    udp_port = 0;
 }

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -103,6 +103,35 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
                         }
                 }
         }
+    // PVT MONITOR
+    monitor_pvt.TOW_at_current_symbol_ms = 0U;
+    monitor_pvt.week = 0U;
+    monitor_pvt.RX_time = 0.0;
+    monitor_pvt.user_clk_offset = 0.0;
+    monitor_pvt.pos_x = 0.0;
+    monitor_pvt.pos_y = 0.0;
+    monitor_pvt.pos_z = 0.0;
+    monitor_pvt.vel_x = 0.0;
+    monitor_pvt.vel_y = 0.0;
+    monitor_pvt.vel_z = 0.0;
+    monitor_pvt.cov_xx = 0.0;
+    monitor_pvt.cov_yy = 0.0;
+    monitor_pvt.cov_zz = 0.0;
+    monitor_pvt.cov_xy = 0.0;
+    monitor_pvt.cov_yz = 0.0;
+    monitor_pvt.cov_zx = 0.0;
+    monitor_pvt.latitude = 0.0;
+    monitor_pvt.longitude = 0.0;
+    monitor_pvt.height = 0.0;
+    monitor_pvt.valid_sats = 0;
+    monitor_pvt.solution_status = 0;
+    monitor_pvt.solution_type = 0;
+    monitor_pvt.AR_ratio_factor = 0.0;
+    monitor_pvt.AR_ratio_threshold = 0.0;
+    monitor_pvt.gdop = 0.0;
+    monitor_pvt.pdop = 0.0;
+    monitor_pvt.hdop = 0.0;
+    monitor_pvt.vdop = 0.0;
 }
 
 bool rtklib_solver::save_matfile()

src/algorithms/libs/beidou_b1i_signal_processing.cc

@@ -57,7 +57,7 @@ void beidou_b1i_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift)
     prn_idx = _prn - 1;
 
     /* A simple error check */
-    if ((prn_idx < 0) || (prn_idx > 51))
+    if ((prn_idx < 0) || (prn_idx > 32))
         {
             return;
         }

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -388,6 +388,7 @@ alm_t alm_to_rtklib(const Gps_Almanac& gps_alm)
     rtklib_alm.week = gps_alm.i_WNa;
     gtime_t toa;
     toa.time = gps_alm.i_Toa;
+    toa.sec = 0.0;
     rtklib_alm.toa = toa;
     rtklib_alm.A = gps_alm.d_sqrt_A * gps_alm.d_sqrt_A;
     rtklib_alm.e = gps_alm.d_e_eccentricity;
@@ -416,6 +417,7 @@ alm_t alm_to_rtklib(const Galileo_Almanac& gal_alm)
     rtklib_alm.week = gal_alm.i_WNa;
     gtime_t toa;
     toa.time = gal_alm.i_Toa;
+    toa.sec = 0.0;
     rtklib_alm.toa = toa;
     rtklib_alm.A = 5440.588203494 + gal_alm.d_Delta_sqrt_A;
     rtklib_alm.A = rtklib_alm.A * rtklib_alm.A;

src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.cc

@@ -123,6 +123,7 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
     d_preamble_index = 0;
     d_flag_frame_sync = false;
     d_TOW_at_current_symbol_ms = 0;
+    d_TOW_at_Preamble_ms = 0U;
     Flag_valid_word = false;
     d_CRC_error_counter = 0;
     d_flag_preamble = false;

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

@@ -99,6 +99,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
     d_secondary_code_length = 0U;
     d_secondary_code_string = nullptr;
     d_preambles_symbols = nullptr;
+    d_preamble_length_symbols = 0;
     signal_type = std::string(trk_parameters.signal);
 
     std::map<std::string, std::string> map_signal_pretty_name;

src/core/receiver/control_thread.cc

@@ -879,7 +879,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
     // 2. Compute rx GPS time from UTC time
     gtime_t utc_gtime;
     utc_gtime.time = rx_utc_time;
-    utc_gtime.sec = 0;
+    utc_gtime.sec = 0.0;
     gtime_t gps_gtime = utc2gpst(utc_gtime);
 
     // 3. loop through all the available ephemeris or almanac and compute satellite positions and elevations
@@ -950,6 +950,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
             double clock_bias_s;
             gtime_t aux_gtime;
             aux_gtime.time = fmod(utc2gpst(gps_gtime).time + 345600, 604800);
+            aux_gtime.sec = 0.0;
             alm2pos(aux_gtime, &rtklib_alm, &r_sat[0], &clock_bias_s);
             double Az, El, dist_m;
             arma::vec r_sat_eb_e = arma::vec{r_sat[0], r_sat[1], r_sat[2]};
@@ -977,6 +978,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
             double clock_bias_s;
             gtime_t gal_gtime;
             gal_gtime.time = fmod(utc2gpst(gps_gtime).time + 345600, 604800);
+            gal_gtime.sec = 0.0;
             alm2pos(gal_gtime, &rtklib_alm, &r_sat[0], &clock_bias_s);
             double Az, El, dist_m;
             arma::vec r_sat_eb_e = arma::vec{r_sat[0], r_sat[1], r_sat[2]};

src/core/receiver/gnss_flowgraph.cc

@@ -418,7 +418,7 @@ void GNSSFlowgraph::connect()
                                                 {
                                                     decimation--;
                                                 };
-                                            double acq_fs = fs / decimation;
+                                            double acq_fs = static_cast<double>(fs) / static_cast<double>(decimation);
 
                                             if (decimation > 1)
                                                 {

src/core/system_parameters/beidou_dnav_navigation_message.cc

@@ -831,7 +831,7 @@ int32_t Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const& s
                     d_eccentricity_msb = static_cast<double>(read_navigation_unsigned(subframe_bits, D2_E_MSB));
                     d_eccentricity_msb_bits = (read_navigation_unsigned(subframe_bits, D2_E_MSB));
                     // Adjust for lsb in next page (shift number of lsb to the left)
-                    d_eccentricity_msb = static_cast<double>((static_cast<int>(d_eccentricity_msb) << 22));
+                    d_eccentricity_msb = d_eccentricity_msb << 22;
                     d_eccentricity_msb_bits = d_eccentricity_msb_bits << 22;
 
                     // Set system flags for message reception

src/core/system_parameters/gps_navigation_message.cc

@@ -115,6 +115,7 @@ void Gps_Navigation_Message::reset()
     d_beta1 = 0.0;
     d_beta2 = 0.0;
     d_beta3 = 0.0;
+    d_A2 = 0.0;
     d_A1 = 0.0;
     d_A0 = 0.0;
     d_t_OT = 0;

src/main/main.cc

@@ -132,17 +132,22 @@ int main(int argc, char** argv)
                 }
         }
 
-    std::unique_ptr<ControlThread> control_thread(new ControlThread());
-
-    // record startup time
     std::chrono::time_point<std::chrono::system_clock> start, end;
     start = std::chrono::system_clock::now();
-
+    int return_code = 0;
-    int return_code;
     try
         {
+            std::unique_ptr<ControlThread> control_thread(new ControlThread());
+            // record startup time
+            start = std::chrono::system_clock::now();
             return_code = control_thread->run();
         }
+    catch (const boost::thread_resource_error& e)
+        {
+            std::cout << "Failed to create boost thread." << std::endl;
+            google::ShutDownCommandLineFlags();
+            return 1;
+        }
     catch (const boost::exception& e)
         {
             if (GOOGLE_STRIP_LOG == 0)