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

src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt

@@ -36,6 +36,7 @@ include_directories(
      ${CMAKE_SOURCE_DIR}/src/core/receiver
      ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
      ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
+     ${CMAKE_SOURCE_DIR}/src/algorithms/libs
      ${ARMADILLO_INCLUDE_DIRS}
      ${Boost_INCLUDE_DIRS}
      ${GLOG_INCLUDE_DIRS}

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc

@@ -33,10 +33,12 @@
 #include "galileo_almanac_helper.h"
 #include "pvt_conf.h"
 #include "display.h"
+#include "gnss_sdr_create_directory.h"
 #include <boost/archive/xml_oarchive.hpp>
 #include <boost/archive/xml_iarchive.hpp>
 #include <boost/date_time/posix_time/posix_time.hpp>
 #include <boost/exception/all.hpp>
+#include <boost/filesystem/path.hpp>
 #include <boost/serialization/map.hpp>
 #include <glog/logging.h>
 #include <gnuradio/gr_complex.h>
@@ -247,9 +249,43 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
     d_output_rate_ms = conf_.output_rate_ms;
     d_display_rate_ms = conf_.display_rate_ms;
     d_dump = conf_.dump;
-    d_nchannels = nchannels;
     d_dump_filename = conf_.dump_filename;
     std::string dump_ls_pvt_filename = conf_.dump_filename;
+    if (d_dump)
+        {
+            std::string dump_path;
+            // Get path
+            if (d_dump_filename.find_last_of("/") != std::string::npos)
+                {
+                    std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of("/") + 1);
+                    dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of("/"));
+                    d_dump_filename = dump_filename_;
+                }
+            else
+                {
+                    dump_path = std::string(".");
+                }
+            if (d_dump_filename.empty())
+                {
+                    d_dump_filename = "pvt";
+                }
+            // remove extension if any
+            if (d_dump_filename.substr(1).find_last_of(".") != std::string::npos)
+                {
+                    d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of("."));
+                }
+            dump_ls_pvt_filename = dump_path + boost::filesystem::path::preferred_separator + d_dump_filename;
+            dump_ls_pvt_filename.append(".dat");
+            // create directory
+            if (!gnss_sdr_create_directory(dump_path))
+                {
+                    std::cerr << "GNSS-SDR cannot create dump file for the PVT block. Wrong permissions?" << std::endl;
+                    d_dump = false;
+                }
+        }
+
+    d_nchannels = nchannels;
+
     type_of_rx = conf_.type_of_receiver;
 
     // GPS Ephemeris data message port in
@@ -412,8 +448,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
             xml_base_path = xml_base_path + boost::filesystem::path::preferred_separator;
         }
 
-    dump_ls_pvt_filename.append("_pvt.dat");
-
     d_ls_pvt = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, rtk);
     d_ls_pvt->set_averaging_depth(1);
 

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -493,7 +493,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
                     unsigned int used_sats = 0;
                     for (unsigned int i = 0; i < MAXSAT; i++)
                         {
-                            if (rtk_.ssat[i].vsat[0] == 1) used_sats++;
+                            if (rtk_.ssat[i].vs == 1) used_sats++;
                         }
 
                     std::vector<double> azel;
@@ -501,7 +501,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
                     unsigned int index_aux = 0;
                     for (unsigned int i = 0; i < MAXSAT; i++)
                         {
-                            if (rtk_.ssat[i].vsat[0] == 1)
+                            if (rtk_.ssat[i].vs == 1)
                                 {
                                     azel[2 * index_aux] = rtk_.ssat[i].azel[0];
                                     azel[2 * index_aux + 1] = rtk_.ssat[i].azel[1];

src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt

@@ -56,6 +56,7 @@ include_directories(
      ${CMAKE_SOURCE_DIR}/src/core/receiver
      ${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/libs
      ${CMAKE_SOURCE_DIR}/src/algorithms/libs
+     ${Boost_INCLUDE_DIRS}
      ${GLOG_INCLUDE_DIRS}
      ${GFlags_INCLUDE_DIRS}
      ${ARMADILLO_INCLUDE_DIRS}

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -36,6 +36,8 @@
 #include "pcps_acquisition.h"
 #include "GPS_L1_CA.h"         // for GPS_TWO_PI
 #include "GLONASS_L1_L2_CA.h"  // for GLONASS_TWO_PI"
+#include "gnss_sdr_create_directory.h"
+#include <boost/filesystem/path.hpp>
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <matio.h>
@@ -136,8 +138,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
     narrow_grid_ = arma::fmat();
     d_step_two = false;
     d_num_doppler_bins_step2 = acq_parameters.num_doppler_bins_step2;
-    d_dump_number = 0LL;
+
-    d_dump_channel = acq_parameters.dump_channel;
     d_samplesPerChip = acq_parameters.samples_per_chip;
     d_buffer_count = 0U;
     // todo: CFAR statistic not available for non-coherent integration
@@ -149,8 +150,42 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
         {
             d_use_CFAR_algorithm_flag = false;
         }
+    d_dump_number = 0LL;
+    d_dump_channel = acq_parameters.dump_channel;
+    d_dump = acq_parameters.dump;
+    d_dump_filename = acq_parameters.dump_filename;
+    if (d_dump)
+        {
+            std::string dump_path;
+            // Get path
+            if (d_dump_filename.find_last_of("/") != std::string::npos)
+                {
+                    std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of("/") + 1);
+                    dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of("/"));
+                    d_dump_filename = dump_filename_;
+                }
+            else
+                {
+                    dump_path = std::string(".");
+                }
+            if (d_dump_filename.empty())
+                {
+                    d_dump_filename = "acquisition";
+                }
+            // remove extension if any
+            if (d_dump_filename.substr(1).find_last_of(".") != std::string::npos)
+                {
+                    d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of("."));
+                }
+            d_dump_filename = dump_path + boost::filesystem::path::preferred_separator + d_dump_filename;
+            // create directory
+            if (!gnss_sdr_create_directory(dump_path))
+                {
+                    std::cerr << "GNSS-SDR cannot create dump file for the Acquisition block. Wrong permissions?" << std::endl;
+                    d_dump = false;
+                }
+        }
 }
-
 
 pcps_acquisition::~pcps_acquisition()
 {
@@ -303,7 +338,7 @@ void pcps_acquisition::init()
 
     d_worker_active = false;
 
-    if (acq_parameters.dump)
+    if (d_dump)
         {
             uint32_t effective_fft_size = (acq_parameters.bit_transition_flag ? (d_fft_size / 2) : d_fft_size);
             grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins, arma::fill::zeros);
@@ -396,7 +431,7 @@ void pcps_acquisition::send_negative_acquisition()
 void pcps_acquisition::dump_results(int32_t effective_fft_size)
 {
     d_dump_number++;
-    std::string filename = acq_parameters.dump_filename;
+    std::string filename = d_dump_filename;
     filename.append("_");
     filename.append(1, d_gnss_synchro->System);
     filename.append("_");
@@ -414,7 +449,7 @@ void pcps_acquisition::dump_results(int32_t effective_fft_size)
     if (matfp == NULL)
         {
             std::cout << "Unable to create or open Acquisition dump file" << std::endl;
-            acq_parameters.dump = false;
+            //acq_parameters.dump = false;
         }
     else
         {
@@ -669,7 +704,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
                             volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
                         }
                     // Record results to file if required
-                    if (acq_parameters.dump and d_channel == d_dump_channel)
+                    if (d_dump and d_channel == d_dump_channel)
                         {
                             memcpy(grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
                         }
@@ -716,7 +751,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
                             volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
                         }
                     // Record results to file if required
-                    if (acq_parameters.dump and d_channel == d_dump_channel)
+                    if (d_dump and d_channel == d_dump_channel)
                         {
                             memcpy(narrow_grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
                         }
@@ -816,7 +851,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
     if ((d_num_noncoherent_integrations_counter == acq_parameters.max_dwells) or (d_positive_acq == 1))
         {
             // Record results to file if required
-            if (acq_parameters.dump and d_channel == d_dump_channel)
+            if (d_dump and d_channel == d_dump_channel)
                 {
                     pcps_acquisition::dump_results(effective_fft_size);
                 }

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h

@@ -138,6 +138,8 @@ private:
     int64_t d_dump_number;
     uint32_t d_dump_channel;
     uint32_t d_buffer_count;
+    bool d_dump;
+    std::string d_dump_filename;
 
 public:
     ~pcps_acquisition();

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc

@@ -34,6 +34,8 @@
 #include "gps_sdr_signal_processing.h"
 #include "control_message_factory.h"
 #include "GPS_L1_CA.h"
+#include "gnss_sdr_create_directory.h"
+#include <boost/filesystem/path.hpp>
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <volk/volk.h>
@@ -85,6 +87,38 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
     d_dump = conf_.dump;
     d_dump_filename = conf_.dump_filename;
 
+    if (d_dump)
+        {
+            std::string dump_path;
+            // Get path
+            if (d_dump_filename.find_last_of("/") != std::string::npos)
+                {
+                    std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of("/") + 1);
+                    dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of("/"));
+                    d_dump_filename = dump_filename_;
+                }
+            else
+                {
+                    dump_path = std::string(".");
+                }
+            if (d_dump_filename.empty())
+                {
+                    d_dump_filename = "acquisition";
+                }
+            // remove extension if any
+            if (d_dump_filename.substr(1).find_last_of(".") != std::string::npos)
+                {
+                    d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of("."));
+                }
+            d_dump_filename = dump_path + boost::filesystem::path::preferred_separator + d_dump_filename;
+            // create directory
+            if (!gnss_sdr_create_directory(dump_path))
+                {
+                    std::cerr << "GNSS-SDR cannot create dump file for the Acquisition block. Wrong permissions?" << std::endl;
+                    d_dump = false;
+                }
+        }
+
     d_n_samples_in_buffer = 0;
     d_threshold = 0;
     d_num_doppler_points = 0;

src/tests/system-tests/libs/position_test_flags.h

@@ -41,7 +41,7 @@ DEFINE_bool(use_pvt_solver_dump, false, "Use PVT solver binary dump or fall back
 DEFINE_bool(use_ref_motion_file, false, "Enable or disable the use of a reference file containing the true receiver position, velocity and acceleration.");
 DEFINE_int32(ref_motion_file_type, 1, "Type of reference motion file: 1- Spirent CSV motion file");
 DEFINE_string(ref_motion_filename, std::string("motion.csv"), "Path and filename for the reference motion file");
-DEFINE_string(pvt_solver_dump_filename, std::string("PVT_pvt.dat"), "Path and filename for the PVT solver binary dump file");
+DEFINE_string(pvt_solver_dump_filename, std::string("PVT.dat"), "Path and filename for the PVT solver binary dump file");
 DEFINE_double(static_2D_error_m, 2.0, "Static scenario 2D (East, North) positioning error threshold [meters]");
 DEFINE_double(static_3D_error_m, 5.0, "Static scenario 3D (East, North, Up) positioning error threshold [meters]");
 DEFINE_double(accuracy_CEP, 2.0, "Static scenario 2D (East, North) accuracy Circular Error Position (CEP) threshold [meters]");