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* Bump local version of GoogleTest to 1.15.2 and Protocol Buffers to 27.3

* Avoid code duplication in CMake modules

* Update clang-tidy job

* Clang Tidy fixes

* Improve efficiency of Concurrent_Map and Concurrent_Queue classes

* Fix segmentation fault if the SignalSource implementation is not available

* Moved decimation factor count variable to the class

* Avoid possible runtime error when PVT.enable_rx_clock_correction=true

* Fix formatting

* Fix clang-tidy job

* Move receiver-related classes to src/core/libs

* Uniformize cmake module names

* Fix formatting

* Make clang-tidy happy

* Fix crypto benchmarks

* Fixes for old systems

* Instantiate sources only once

---------

Co-authored-by: cesaaargm <cesare.martinez@proton.me>
Co-authored-by: Xavier Guerrero-Pau <xguerrero@cttc.es>
This commit is contained in:
Carles Fernandez
2024-08-10 11:31:15 +02:00
committed by GitHub
parent 98f1cdfb6b
commit 79da7787ff
23 changed files with 260 additions and 232 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
.gitignore vendored
View File

@@ -15,11 +15,17 @@ src/utils/nav-listener/build
.cproject
.idea
cmake-build-debug/
cmake-build-release/
/install
.DS_Store
.pydevproject
.vscode/
.vs/
Testing/
/build/*
/cmake-build-release/*
GSDR*
PVT_*
HAS_*
gnss_sdr_pvt.nmea
build-debug/
build-release/

2
CMakeLists.txt
View File

@@ -2215,7 +2215,7 @@ endif()
################################################################################
# OpenSSL https://www.openssl.org/ or GnuTLS - https://www.gnutls.org/
################################################################################
include(GnssSdrCrypto)
include(GnsssdrCrypto)

2
cmake/Modules/FindGNURADIO.cmake
View File

@@ -366,8 +366,10 @@ if(GNURADIO_RUNTIME_INCLUDE_DIRS)
)
if(CMAKE_VERSION VERSION_GREATER 3.13)
target_link_libraries(Gnuradio::filter INTERFACE Log4cpp::log4cpp)
target_link_libraries(Gnuradio::runtime INTERFACE Log4cpp::log4cpp)
else()
set_target_properties(Gnuradio::filter PROPERTIES INTERFACE_LINK_LIBRARIES Log4cpp::log4cpp)
set_target_properties(Gnuradio::runtime PROPERTIES INTERFACE_LINK_LIBRARIES Log4cpp::log4cpp)
endif()
endif()
if(${_uses_spdlog})

0
cmake/Modules/GnssSdrCrypto.cmake → cmake/Modules/GnsssdrCrypto.cmake
View File

2
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@@ -2228,7 +2228,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
d_gnss_observables_map_t1 = d_gnss_observables_map;
// ### select the rx_time and interpolate observables at that time
if (!d_gnss_observables_map_t0.empty())
if (!d_gnss_observables_map_t0.empty() && !d_gnss_observables_map_t1.empty())
{
const auto t0_int_ms = static_cast<uint32_t>(d_gnss_observables_map_t0.cbegin()->second.RX_time * 1000.0);
const uint32_t adjust_next_obs_interval_ms = d_observable_interval_ms - t0_int_ms % d_observable_interval_ms;

40
src/algorithms/signal_source/libs/ad936x_iio_custom.cc
View File

@@ -13,6 +13,7 @@
* -----------------------------------------------------------------------------
*/
#include "ad936x_iio_custom.h"
#include "display.h"
#include <boost/filesystem.hpp>
#include <boost/lexical_cast.hpp>
#include <chrono>
@@ -44,6 +45,7 @@ ad936x_iio_custom::ad936x_iio_custom(int debug_level_, int log_level_)
n_channels = 0;
}
ad936x_iio_custom::~ad936x_iio_custom()
{
// disable TX
@@ -59,11 +61,13 @@ void ad936x_iio_custom::set_gnsstime_queue(std::shared_ptr<Concurrent_Queue<Gnss
GnssTime_queue = std::move(queue);
}
void ad936x_iio_custom::set_pps_samplestamp_queue(std::shared_ptr<Concurrent_Queue<PpsSamplestamp>> queue)
{
Pps_queue = std::move(queue);
}
bool ad936x_iio_custom::initialize_device(std::string pluto_device_uri, std::string board_type)
{
// Find devices
@@ -125,7 +129,6 @@ bool ad936x_iio_custom::initialize_device(std::string pluto_device_uri, std::str
return false;
}
phy = iio_context_find_device(ctx, "ad9361-phy");
if (phy == NULL)
@@ -328,7 +331,6 @@ bool ad936x_iio_custom::config_ad9361_dds(uint64_t freq_rf_tx_hz_,
configure_params(dds_dev, params_dds);
}
return true;
}
@@ -345,6 +347,7 @@ bool ad936x_iio_custom::check_device()
}
}
bool ad936x_iio_custom::get_iio_param(iio_device *dev, const std::string &param, std::string &value)
{
struct iio_channel *chn = 0;
@@ -386,6 +389,7 @@ bool ad936x_iio_custom::get_iio_param(iio_device *dev, const std::string &param,
}
}
bool ad936x_iio_custom::read_die_temp(double &temp_c)
{
std::string temp_mC_str;
@@ -410,6 +414,8 @@ bool ad936x_iio_custom::read_die_temp(double &temp_c)
return false;
}
}
bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
long long sample_rate_,
long long freq_,
@@ -425,7 +431,6 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
double lo_attenuation_db_,
bool high_side_lo_,
int tx_lo_channel_)
{
if (check_device() == false) return false;
@@ -610,14 +615,12 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
std::cerr << "Warning: rf_port_select write returned: " << ret << "\n";
no_errors = false;
}
// ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
// if (ret < 0)
// {
// std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
// no_errors = false;
// }
long long set_rf_bw;
ret = iio_channel_attr_read_longlong(phy_ch, "rf_bandwidth", &set_rf_bw);
if (ret < 0)
@@ -630,7 +633,6 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
std::cerr << "Info: rf_bandwidth read returned: " << set_rf_bw << " Hz \n";
}
if (setRXGain(0, gain_mode_rx0_, rf_gain_rx0_) == false)
{
std::cerr << "Info: setRXGain read returned false \n";
@@ -662,14 +664,12 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
std::cerr << "Warning: rf_port_select write returned: " << ret << "\n";
no_errors = false;
}
// ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
// if (ret < 0)
// {
// std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
// no_errors = false;
// }
long long set_rf_bw;
ret = iio_channel_attr_read_longlong(phy_ch, "rf_bandwidth", &set_rf_bw);
if (ret < 0)
@@ -702,6 +702,7 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
return no_errors;
}
bool ad936x_iio_custom::set_rx_frequency(long long freq_hz)
{
if (check_device() == false) return false;
@@ -747,6 +748,7 @@ bool ad936x_iio_custom::get_rx_frequency(long long &freq_hz)
return true;
}
bool ad936x_iio_custom::setRXGain(int ch_num, std::string gain_mode, double gain_dB)
{
if (check_device() == false) return false;
@@ -779,6 +781,7 @@ bool ad936x_iio_custom::setRXGain(int ch_num, std::string gain_mode, double gain
}
}
double ad936x_iio_custom::get_rx_gain(int ch_num)
{
if (check_device() == false) return -1;
@@ -817,6 +820,7 @@ bool ad936x_iio_custom::calibrate([[maybe_unused]] int ch, [[maybe_unused]] doub
return true;
}
void ad936x_iio_custom::monitor_thread_fn()
{
uint32_t val;
@@ -849,11 +853,12 @@ void ad936x_iio_custom::monitor_thread_fn()
// } else {
if (val & 4)
{
std::cout << "WARNING: IIO status register reported overflow!\n";
LOG(INFO) << "WARNING: IIO status register reported overflow!";
std::cout
<< TEXT_BOLD_RED
<< "WARNING: IIO status register reported overflow!\n";
LOG(WARNING) << "WARNING: IIO status register reported overflow!";
}
/* Clear bits */
if (val)
{
@@ -867,6 +872,7 @@ void ad936x_iio_custom::monitor_thread_fn()
return;
}
void ad936x_iio_custom::stop_record()
{
receive_samples = false;
@@ -915,6 +921,7 @@ void ad936x_iio_custom::PlutoTxEnable(bool txon)
}
}
void ad936x_iio_custom::setPlutoGpo(int p)
{
char pins[11];
@@ -953,7 +960,6 @@ bool ad936x_iio_custom::select_rf_filter(std::string rf_filter)
// 1 Enable
// X Enable Mask if Identifier=0xF
if (check_device() == false) return false;
// int plutoGpo = 0;
int ret;
@@ -1006,6 +1012,8 @@ bool ad936x_iio_custom::select_rf_filter(std::string rf_filter)
return true;
}
void ad936x_iio_custom::get_PPS_timestamp()
{
GnssTime tow;
@@ -1042,7 +1050,6 @@ void ad936x_iio_custom::get_PPS_timestamp()
// record pps rise samplestamp associated to the absolute sample counter
// PPS rising edge must be associated with the corresponding uBlox time message (tx once a second)
if (GnssTime_queue->timed_wait_and_pop(tow, 2000) == false)
{
if (receive_samples == true)
@@ -1073,6 +1080,8 @@ void ad936x_iio_custom::get_PPS_timestamp()
}
}
}
bool ad936x_iio_custom::start_sample_rx(bool ppsmode)
{
// using queues of smart pointers to preallocated buffers
@@ -1118,9 +1127,7 @@ bool ad936x_iio_custom::start_sample_rx(bool ppsmode)
// start sample overflow detector
overflow_monitor_thread = std::thread(&ad936x_iio_custom::monitor_thread_fn, this);
// start PPS and GNSS Time capture thread
if (ppsmode == true)
{
capture_time_thread = std::thread(&ad936x_iio_custom::get_PPS_timestamp, this);
@@ -1128,16 +1135,19 @@ bool ad936x_iio_custom::start_sample_rx(bool ppsmode)
return true;
}
void ad936x_iio_custom::pop_sample_buffer(std::shared_ptr<ad936x_iio_samples> &current_buffer)
{
used_buffers.wait_and_pop(current_buffer);
}
void ad936x_iio_custom::push_sample_buffer(std::shared_ptr<ad936x_iio_samples> &current_buffer)
{
free_buffers.push(current_buffer);
}
void ad936x_iio_custom::capture(const std::vector<std::string> &channels)
{
if (check_device() == false) return;

43
src/core/libs/CMakeLists.txt
View File

@@ -9,36 +9,42 @@ protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${GNSSSDR_SOURCE_DIR}/docs/protobuf/
add_subdirectory(supl)
set(CORE_LIBS_SOURCES
ini.cc
INIReader.cc
string_converter.cc
gnss_sdr_supl_client.cc
gnss_sdr_sample_counter.cc
channel_status_msg_receiver.cc
channel_event.cc
channel_status_msg_receiver.cc
command_event.cc
galileo_e6_has_msg_receiver.cc
galileo_tow_map.cc
gnss_crypto.cc
gnss_sdr_sample_counter.cc
gnss_sdr_supl_client.cc
ini.cc
INIReader.cc
nav_message_monitor.cc
nav_message_udp_sink.cc
galileo_tow_map.cc
osnma_helper.cc
osnma_msg_receiver.cc
osnma_nav_data_manager.cc
string_converter.cc
)
set(CORE_LIBS_HEADERS
channel_event.h
channel_status_msg_receiver.h
command_event.h
galileo_tow_map.h
gnss_crypto.h
gnss_sdr_sample_counter.h
gnss_sdr_supl_client.h
ini.h
INIReader.h
string_converter.h
gnss_sdr_supl_client.h
gnss_sdr_sample_counter.h
channel_status_msg_receiver.h
channel_event.h
command_event.h
nav_message_monitor.h
nav_message_packet.h
nav_message_udp_sink.h
serdes_nav_message.h
nav_message_monitor.h
galileo_tow_map.h
osnma_helper.h
osnma_msg_receiver.h
osnma_nav_data_manager.h
serdes_nav_message.h
string_converter.h
)
if(ENABLE_FPGA)
@@ -96,6 +102,7 @@ target_link_libraries(core_libs
PRIVATE
algorithms_libs
Boost::serialization
Boost::system
Pugixml::pugixml
)
@@ -123,6 +130,10 @@ target_include_directories(core_libs
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
)
# links to the appropriate library and defines
# USE_GNUTLS_FALLBACK, USE_OPENSSL_3, or USE_OPENSSL_111 accordingly.
link_to_crypto_dependencies(core_libs)
if(USE_GENERIC_LAMBDAS)
set(has_generic_lambdas HAS_GENERIC_LAMBDA=1)
set(no_has_generic_lambdas HAS_GENERIC_LAMBDA=0)

6
src/core/system_parameters/gnss_crypto.cc → src/core/libs/gnss_crypto.cc
View File

@@ -205,7 +205,7 @@ bool Gnss_Crypto::verify_signature_ecdsa_p256(const std::vector<uint8_t>& messag
{
if (!have_public_key())
{
LOG(WARNING) << "Galileo OSNMA KROOT verification error: Public key is not available";
LOG(WARNING) << "Signature verification error: Public key is not available";
return false;
}
std::vector<uint8_t> digest = this->compute_SHA_256(message);
@@ -344,7 +344,7 @@ bool Gnss_Crypto::verify_signature_ecdsa_p521(const std::vector<uint8_t>& messag
{
if (!have_public_key())
{
LOG(WARNING) << "Galileo OSNMA KROOT verification error: Public key is not available";
LOG(WARNING) << "Signature verification error: Public key is not available";
return false;
}
@@ -797,7 +797,7 @@ std::string Gnss_Crypto::get_public_key_type() const
{
if (d_PublicKeyType.empty())
{
return std::string("Unknown");
return {"Unknown"};
}
return d_PublicKeyType;
}

2
src/core/system_parameters/gnss_crypto.h → src/core/libs/gnss_crypto.h
View File

@@ -31,7 +31,7 @@
/** \addtogroup Core
* \{ */
/** \addtogroup System_Parameters
/** \addtogroup Core_Receiver_Library
* \{ */
/*!

0
src/core/system_parameters/osnma_helper.cc → src/core/libs/osnma_helper.cc
View File

2
src/core/system_parameters/osnma_helper.h → src/core/libs/osnma_helper.h
View File

@@ -25,7 +25,7 @@
/** \addtogroup Core
* \{ */
/** \addtogroup System_Parameters
/** \addtogroup Core_Receiver_Library
* \{ */
class Osnma_Helper

35
src/core/system_parameters/osnma_nav_data_manager.cc → src/core/libs/osnma_nav_data_manager.cc
View File

@@ -17,7 +17,6 @@
#include "osnma_nav_data_manager.h"
#if USE_GLOG_AND_GFLAGS
#include <glog/logging.h> // for DLOG
#include <vector>
#else
#include <absl/log/log.h>
#endif
@@ -61,11 +60,13 @@ void OSNMA_nav_data_Manager::update_nav_data(const std::multimap<uint32_t, Tag>&
{
nav_data = tow_it.second.get_ephemeris_data();
}
else if (tag.second.ADKD == 4){
else if (tag.second.ADKD == 4)
{
nav_data = tow_it.second.get_utc_data();
}
// find associated OSNMA_NavData
if (tag.second.nav_data == nav_data){
if (tag.second.nav_data == nav_data)
{
_satellite_nav_data[tag.second.PRN_d][tow_it.first].verified_bits += tag_size;
}
}
@@ -138,7 +139,8 @@ bool OSNMA_nav_data_Manager::have_nav_data(uint32_t PRNd, uint32_t TOW, uint8_t
std::string OSNMA_nav_data_Manager::get_navigation_data(const Tag& tag)
{
auto prn_it = _satellite_nav_data.find(tag.PRN_d);
if (prn_it == _satellite_nav_data.end()){
if (prn_it == _satellite_nav_data.end())
{
return "";
}
@@ -158,7 +160,6 @@ std::string OSNMA_nav_data_Manager::get_navigation_data(const Tag& tag)
}
else if (tag.ADKD == 4)
{
if (!tow_it.second.get_utc_data().empty())
{
return tow_it.second.get_utc_data();
@@ -179,17 +180,22 @@ std::string OSNMA_nav_data_Manager::get_navigation_data(const Tag& tag)
*/
bool OSNMA_nav_data_Manager::have_nav_data(const std::string& nav_bits, uint32_t PRNd, uint32_t TOW)
{
if (_satellite_nav_data.find(PRNd) != _satellite_nav_data.end()){
if (_satellite_nav_data.find(PRNd) != _satellite_nav_data.end())
{
for (auto& data_timestamp : _satellite_nav_data[PRNd])
{
if (nav_bits.size() == EPH_SIZE){
if (data_timestamp.second.get_ephemeris_data() == nav_bits){
if (nav_bits.size() == EPH_SIZE)
{
if (data_timestamp.second.get_ephemeris_data() == nav_bits)
{
data_timestamp.second.update_last_received_timestamp(TOW);
return true;
}
}
else if (nav_bits.size() == UTC_SIZE){
if (data_timestamp.second.get_utc_data() == nav_bits){
else if (nav_bits.size() == UTC_SIZE)
{
if (data_timestamp.second.get_utc_data() == nav_bits)
{
data_timestamp.second.update_last_received_timestamp(TOW);
return true;
}
@@ -208,7 +214,8 @@ bool OSNMA_nav_data_Manager::have_nav_data(const std::string& nav_bits, uint32_t
bool OSNMA_nav_data_Manager::have_nav_data(const Tag& t) const
{
auto prn_it = _satellite_nav_data.find(t.PRN_d);
if (prn_it == _satellite_nav_data.end()){
if (prn_it == _satellite_nav_data.end())
{
return false;
}
// satellite was found, check if TOW exists in inner map
@@ -240,10 +247,12 @@ bool OSNMA_nav_data_Manager::have_nav_data(const Tag& t) const
void OSNMA_nav_data_Manager::print_status()
{
for (const auto& satellite : _satellite_nav_data){
for (const auto& satellite : _satellite_nav_data)
{
LOG(INFO) << "Galileo OSNMA: NavData status :: SVID=" << satellite.first;
const auto& tow_data = satellite.second;
for (const auto& nav_data : tow_data) {
for (const auto& nav_data : tow_data)
{
LOG(INFO) << "Galileo OSNMA: IOD_nav=0b" << std::uppercase
<< std::bitset<10>(nav_data.second.IOD_nav)
<< ", TOW_start="

14
src/core/system_parameters/osnma_nav_data_manager.h → src/core/libs/osnma_nav_data_manager.h
View File

@@ -20,8 +20,13 @@
#include "osnma_data.h" // NavData
#include <cstdint> // uint32_t
#include <map>
#include <vector>
#include <string>
#include <vector>
/** \addtogroup Core
* \{ */
/** \addtogroup Core_Receiver_Library
* \{ */
/**
* @class OSNMA_nav_data_Manager
@@ -29,7 +34,8 @@
* @details It does good stuff
* @remarks throw it whatever, it will improve it. Does good stuff
*/
class OSNMA_nav_data_Manager{
class OSNMA_nav_data_Manager
{
public:
OSNMA_nav_data_Manager() = default;
bool have_nav_data(const std::string& nav_bits, uint32_t PRNd, uint32_t TOW);
@@ -41,6 +47,7 @@ public:
void update_nav_data(const std::multimap<uint32_t, Tag>& tags_verified, const uint8_t tag_size);
std::vector<OSNMA_NavData> get_verified_data();
void print_status();
private:
bool have_PRNd_nav_data(uint32_t PRNd);
@@ -50,4 +57,7 @@ private:
const uint16_t UTC_SIZE{141};
const uint16_t MAX_ALLOWED_SIZE{150}; // arbitrary maximum for the navigation data container
};
/** \} */
/** \} */
#endif // GNSS_SDR_OSNMA_NAV_DATA_MANAGER_H

2
src/core/monitor/gnss_synchro_monitor.cc
View File

@@ -46,6 +46,7 @@ gnss_synchro_monitor::gnss_synchro_monitor(int n_channels,
: gr::block("gnss_synchro_monitor",
gr::io_signature::make(n_channels, n_channels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0)),
count(0),
d_nchannels(n_channels),
d_decimation_factor(decimation_factor)
{
@@ -73,7 +74,6 @@ int gnss_synchro_monitor::general_work(int noutput_items __attribute__((unused))
for (int channel_index = 0; channel_index < d_nchannels; channel_index++)
{
// Loop through each item in each input stream channel
int count = 0;
for (int item_index = 0; item_index < ninput_items[channel_index]; item_index++)
{
// Use the count variable to limit how many items are sent per channel

3
src/core/monitor/gnss_synchro_monitor.h
View File

@@ -71,9 +71,10 @@ private:
const std::vector<std::string>& udp_addresses,
bool enable_protobuf);
std::unique_ptr<Gnss_Synchro_Udp_Sink> udp_sink_ptr;
int count;
int d_nchannels;
int d_decimation_factor;
std::unique_ptr<Gnss_Synchro_Udp_Sink> udp_sink_ptr;
};

40
src/core/receiver/concurrent_map.h
View File

@@ -36,52 +36,48 @@ template <typename Data>
*/
class Concurrent_Map
{
typedef typename std::map<int, Data>::iterator Data_iterator; // iterator is scope dependent
public:
void write(int key, Data const& data)
{
std::unique_lock<std::mutex> lock(the_mutex);
Data_iterator data_iter;
data_iter = the_map.find(key);
std::lock_guard<std::mutex> lock(the_mutex);
auto data_iter = the_map.find(key);
if (data_iter != the_map.end())
{
data_iter->second = data; // update
}
else
{
the_map.insert(std::pair<int, Data>(key, data)); // insert SILENTLY fails if the item already exists in the map!
the_map.insert(std::pair<int, Data>(key, data)); // insert does not overwrite if the item already exists in the map!
}
lock.unlock();
}
std::map<int, Data> get_map_copy()
std::map<int, Data> get_map_copy() const&
{
std::unique_lock<std::mutex> lock(the_mutex);
std::map<int, Data> map_aux = the_map;
lock.unlock();
return map_aux;
std::lock_guard<std::mutex> lock(the_mutex);
return the_map; // This implicitly creates a copy
}
size_t size()
std::map<int, Data> get_map_copy() &&
{
std::unique_lock<std::mutex> lock(the_mutex);
size_t size_ = the_map.size();
lock.unlock();
return size_;
std::lock_guard<std::mutex> lock(the_mutex);
return std::move(the_map);
}
bool read(int key, Data& p_data)
size_t size() const
{
std::unique_lock<std::mutex> lock(the_mutex);
Data_iterator data_iter;
data_iter = the_map.find(key);
std::lock_guard<std::mutex> lock(the_mutex);
return the_map.size();
}
bool read(int key, Data& p_data) const
{
std::lock_guard<std::mutex> lock(the_mutex);
auto data_iter = the_map.find(key);
if (data_iter != the_map.end())
{
p_data = data_iter->second;
lock.unlock();
return true;
}
lock.unlock();
return false;
}

57
src/core/receiver/concurrent_queue.h
View File

@@ -19,9 +19,10 @@
#include <chrono>
#include <condition_variable>
#include <cstddef>
#include <mutex>
#include <queue>
#include <thread>
#include <utility>
/** \addtogroup Core
* \{ */
@@ -33,48 +34,53 @@ template <typename Data>
/*!
* \brief This class implements a thread-safe std::queue
*
* Thread-safe object queue which uses the library
* boost_thread to perform MUTEX based on the code available at
* https://www.justsoftwaresolutions.co.uk/threading/implementing-a-thread-safe-queue-using-condition-variables.html
*/
class Concurrent_Queue
{
public:
void push(Data const& data)
void push(const Data& data)
{
std::unique_lock<std::mutex> lock(the_mutex);
{
std::lock_guard<std::mutex> lock(the_mutex);
the_queue.push(data);
lock.unlock();
}
the_condition_variable.notify_one();
}
bool empty() const
void push(Data&& data)
{
std::unique_lock<std::mutex> lock(the_mutex);
return the_queue.empty();
{
std::lock_guard<std::mutex> lock(the_mutex);
the_queue.push(std::move(data));
}
the_condition_variable.notify_one();
}
size_t size() const
bool empty() const noexcept
{
std::unique_lock<std::mutex> lock(the_mutex);
return size() == 0;
}
size_t size() const noexcept
{
std::lock_guard<std::mutex> lock(the_mutex);
return the_queue.size();
}
void clear()
{
std::unique_lock<std::mutex> lock(the_mutex);
the_queue = std::queue<Data>();
std::lock_guard<std::mutex> lock(the_mutex);
std::queue<Data>().swap(the_queue);
}
bool try_pop(Data& popped_value)
{
std::unique_lock<std::mutex> lock(the_mutex);
std::lock_guard<std::mutex> lock(the_mutex);
if (the_queue.empty())
{
return false;
}
popped_value = the_queue.front();
popped_value = std::move(the_queue.front());
the_queue.pop();
return true;
}
@@ -82,26 +88,21 @@ public:
void wait_and_pop(Data& popped_value)
{
std::unique_lock<std::mutex> lock(the_mutex);
while (the_queue.empty())
{
the_condition_variable.wait(lock);
}
popped_value = the_queue.front();
the_condition_variable.wait(lock, [this] { return !the_queue.empty(); });
popped_value = std::move(the_queue.front());
the_queue.pop();
}
bool timed_wait_and_pop(Data& popped_value, int wait_ms)
{
std::unique_lock<std::mutex> lock(the_mutex);
if (the_queue.empty())
{
the_condition_variable.wait_for(lock, std::chrono::milliseconds(wait_ms));
if (the_queue.empty())
if (!the_condition_variable.wait_for(lock,
std::chrono::milliseconds(wait_ms),
[this] { return !the_queue.empty(); }))
{
return false;
}
}
popped_value = the_queue.front();
popped_value = std::move(the_queue.front());
the_queue.pop();
return true;
}

1
src/core/receiver/gnss_block_factory.cc
View File

@@ -113,6 +113,7 @@
#include "tracking_interface.h"
#include "two_bit_cpx_file_signal_source.h"
#include "two_bit_packed_file_signal_source.h"
#include <cstdlib> // for exit
#include <exception> // for exception
#include <iostream> // for cerr
#include <utility> // for move

13
src/core/receiver/gnss_flowgraph.cc
View File

@@ -49,6 +49,7 @@
#include <algorithm> // for transform, sort, unique
#include <cmath> // for floor
#include <cstddef> // for size_t
#include <cstdlib> // for exit
#include <exception> // for exception
#include <iostream> // for operator<<
#include <iterator> // for insert_iterator, inserter
@@ -144,9 +145,9 @@ void GNSSFlowgraph::init()
sources_count_ = configuration_->property("GNSS-SDR.num_sources", sources_count_deprecated);
// Avoid segmentation fault caused by wrong configuration
if (sources_count_ == 2 && block_factory->GetSignalSource(configuration_.get(), queue_.get(), 0)->implementation() == "Multichannel_File_Signal_Source")
if (sources_count_ == 2 && configuration_->property("SignalSource.implementation", std::string("")) == "Multichannel_File_Signal_Source")
{
std::cout << " * Please set GNSS-SDR.num_sources=1 in your configuraiion file\n";
std::cout << " * Please set GNSS-SDR.num_sources=1 in your configuration file\n";
std::cout << " if you are using the Multichannel_File_Signal_Source implementation.\n";
sources_count_ = 1;
}
@@ -156,7 +157,13 @@ void GNSSFlowgraph::init()
for (int i = 0; i < sources_count_; i++)
{
DLOG(INFO) << "Creating source " << i;
sig_source_.push_back(block_factory->GetSignalSource(configuration_.get(), queue_.get(), i));
auto check_not_nullptr = block_factory->GetSignalSource(configuration_.get(), queue_.get(), i);
if (!check_not_nullptr)
{
std::cout << "GNSS-SDR program ended.\n";
exit(1);
}
sig_source_.push_back(std::move(check_not_nullptr));
if (enable_fpga_offloading_ == false)
{
auto& src = sig_source_.back();

10
src/core/system_parameters/CMakeLists.txt
View File

@@ -7,7 +7,6 @@
set(SYSTEM_PARAMETERS_SOURCES
gnss_almanac.cc
gnss_crypto.cc
gnss_ephemeris.cc
gnss_satellite.cc
gnss_signal.cc
@@ -31,13 +30,10 @@ set(SYSTEM_PARAMETERS_SOURCES
reed_solomon.cc
osnma_data.cc
osnma_dsm_reader.cc
osnma_helper.cc
osnma_nav_data_manager.cc
)
set(SYSTEM_PARAMETERS_HEADERS
gnss_almanac.h
gnss_crypto.h
gnss_ephemeris.h
gnss_satellite.h
gnss_signal.h
@@ -98,8 +94,6 @@ set(SYSTEM_PARAMETERS_HEADERS
Galileo_OSNMA.h
osnma_data.h
osnma_dsm_reader.h
osnma_helper.h
osnma_nav_data_manager.h
)
list(SORT SYSTEM_PARAMETERS_HEADERS)
@@ -142,10 +136,6 @@ target_include_directories(core_system_parameters
${GNSSSDR_SOURCE_DIR}/src/algorithms/libs
)
# links to the appropriate library and defines
# USE_GNUTLS_FALLBACK, USE_OPENSSL_3, or USE_OPENSSL_111 accordingly.
link_to_crypto_dependencies(core_system_parameters)
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(core_system_parameters

40
src/core/system_parameters/osnma_data.h
View File

@@ -40,6 +40,7 @@ public:
bool reserved{};
};
class DSM_dsm_header
{
public:
@@ -48,6 +49,7 @@ public:
uint8_t dsm_block_id{};
};
class MACK_header
{
public:
@@ -57,6 +59,7 @@ public:
uint8_t cop{};
};
class MACK_tag_info
{
public:
@@ -66,6 +69,7 @@ public:
uint8_t cop{};
};
class MACK_tag_and_info
{
public:
@@ -75,6 +79,7 @@ public:
uint32_t counter; // CTR
};
class DSM_PKR_message
{
public:
@@ -89,6 +94,7 @@ public:
uint8_t npktid{};
};
class DSM_KROOT_message
{
public:
@@ -112,6 +118,7 @@ public:
uint8_t towh_k{};
};
class MACK_message
{
public:
@@ -124,33 +131,38 @@ public:
uint32_t PRNa;
};
class OSNMA_NavData
{
public:
OSNMA_NavData() : nav_data_id(id_counter++) {}
bool have_this_bits(std::string nav_data);
bool add_nav_data(const std::string& nav_data);
void update_last_received_timestamp(uint32_t TOW);
const uint32_t nav_data_id;
uint32_t verified_bits{0};
uint32_t get_tow_sf0() const {return TOW_sf0;}
void set_tow_sf0(int value) {TOW_sf0 = value;}
uint32_t last_received_TOW{0};
uint32_t IOD_nav{0};
std::string get_utc_data() const;
std::string get_ephemeris_data() const;
uint32_t get_tow_sf0() const { return TOW_sf0; }
const uint32_t nav_data_id;
bool have_this_bits(std::string nav_data);
bool add_nav_data(const std::string& nav_data);
bool verified{false};
void update_last_received_timestamp(uint32_t TOW);
void set_tow_sf0(int value) { TOW_sf0 = value; }
void set_ephemeris_data(std::string value) { d_ephemeris_iono = value; }
void set_utc_data(std::string value) { d_utc = value; }
bool verified{false};
uint32_t verified_bits{0};
uint32_t last_received_TOW{0};
uint32_t IOD_nav{0};
uint32_t PRNd{0};
uint32_t ADKD{};
private:
std::string d_ephemeris_iono{""};
std::string d_utc{""};
uint32_t TOW_sf0{0};
uint32_t static id_counter;
static uint32_t id_counter;
};
/*!
@@ -224,6 +236,8 @@ public:
uint32_t skipped;
std::string nav_data;
};
/** \} */
/** \} */
#endif // GNSS_SDR_OSNMA_DATA_H

2
src/tests/benchmarks/CMakeLists.txt
View File

@@ -111,7 +111,7 @@ endif()
add_benchmark(benchmark_atan2 Gnuradio::runtime)
add_benchmark(benchmark_copy)
add_benchmark(benchmark_crypto core_system_parameters ${EXTRA_BENCHMARK_DEPENDENCIES})
add_benchmark(benchmark_crypto core_libs Boost::headers ${EXTRA_BENCHMARK_DEPENDENCIES})
add_benchmark(benchmark_detector core_system_parameters ${EXTRA_BENCHMARK_DEPENDENCIES})
add_benchmark(benchmark_preamble core_system_parameters ${EXTRA_BENCHMARK_DEPENDENCIES})
add_benchmark(benchmark_reed_solomon core_system_parameters ${EXTRA_BENCHMARK_DEPENDENCIES})

86
src/tests/benchmarks/benchmark_crypto.cc
View File

@@ -106,26 +106,12 @@ void bm_verify_ecdsa_p256(benchmark::State& state)
0x6B, 0xFF, 0x70, 0x06, 0xE0, 0xC4, 0x51, 0xEE, 0x3F, 0x87,
0x28, 0xC1, 0x77, 0xFB};
// PEM format
// compressed ECDSA P-256 format
std::vector<uint8_t> publicKey = {
0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x42, 0x45, 0x47, 0x49, 0x4E,
0x20, 0x50, 0x55, 0x42, 0x4C, 0x49, 0x43, 0x20, 0x4B, 0x45,
0x59, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x0A, 0x4D, 0x46, 0x6B,
0x77, 0x45, 0x77, 0x59, 0x48, 0x4B, 0x6F, 0x5A, 0x49, 0x7A,
0x6A, 0x30, 0x43, 0x41, 0x51, 0x59, 0x49, 0x4B, 0x6F, 0x5A,
0x49, 0x7A, 0x6A, 0x30, 0x44, 0x41, 0x51, 0x63, 0x44, 0x51,
0x67, 0x41, 0x45, 0x41, 0x37, 0x4C, 0x4F, 0x5A, 0x4C, 0x77,
0x67, 0x65, 0x39, 0x32, 0x4C, 0x78, 0x4E, 0x2B, 0x46, 0x6B,
0x59, 0x66, 0x38, 0x74, 0x6F, 0x59, 0x79, 0x44, 0x57, 0x50,
0x2F, 0x0A, 0x6F, 0x4A, 0x46, 0x42, 0x44, 0x38, 0x46, 0x59,
0x2B, 0x37, 0x64, 0x35, 0x67, 0x4F, 0x71, 0x49, 0x61, 0x45,
0x32, 0x52, 0x6A, 0x50, 0x41, 0x6E, 0x4B, 0x49, 0x36, 0x38,
0x73, 0x2F, 0x4F, 0x4B, 0x2F, 0x48, 0x50, 0x67, 0x6F, 0x4C,
0x6B, 0x4F, 0x32, 0x69, 0x6A, 0x51, 0x38, 0x78, 0x41, 0x5A,
0x79, 0x44, 0x64, 0x50, 0x42, 0x31, 0x64, 0x48, 0x53, 0x51,
0x3D, 0x3D, 0x0A, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x45, 0x4E,
0x44, 0x20, 0x50, 0x55, 0x42, 0x4C, 0x49, 0x43, 0x20, 0x4B,
0x45, 0x59, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x0A};
0x03, 0x03, 0xB2, 0xCE, 0x64, 0xBC, 0x20, 0x7B, 0xDD, 0x8B,
0xC4, 0xDF, 0x85, 0x91, 0x87, 0xFC, 0xB6, 0x86, 0x32, 0x0D,
0x63, 0xFF, 0xA0, 0x91, 0x41, 0x0F, 0xC1, 0x58, 0xFB, 0xB7,
0x79, 0x80, 0xEA};
d_crypto->set_public_key(publicKey);
@@ -146,50 +132,34 @@ void bm_verify_ecdsa_p521(benchmark::State& state)
// Message to be verified
std::vector<uint8_t> message = {
0x48, 0x65, 0x6C, 0x6C, 0x6F, 0x20, 0x57, 0x6F, 0x72, 0x6C, 0x64};
0x48, 0x65, 0x6C, 0x6C, 0x6F, 0x20, 0x77, 0x6F, 0x72, 0x6C, 0x64, 0x0A}; // "Hello world\n"
// Public key in PEM format
// Public key in compressed X format
std::vector<uint8_t> publicKey = {
0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x42, 0x45, 0x47, 0x49, 0x4E, 0x20, 0x50,
0x55, 0x42, 0x4C, 0x49, 0x43, 0x20, 0x4B, 0x45, 0x59, 0x2D, 0x2D, 0x2D,
0x2D, 0x2D, 0x0A, 0x4D, 0x49, 0x47, 0x62, 0x4D, 0x42, 0x41, 0x47, 0x42,
0x79, 0x71, 0x47, 0x53, 0x4D, 0x34, 0x39, 0x41, 0x67, 0x45, 0x47, 0x42,
0x53, 0x75, 0x42, 0x42, 0x41, 0x41, 0x6A, 0x41, 0x34, 0x47, 0x47, 0x41,
0x41, 0x51, 0x41, 0x6F, 0x35, 0x76, 0x77, 0x66, 0x6E, 0x47, 0x57, 0x47,
0x33, 0x44, 0x63, 0x59, 0x75, 0x2B, 0x2F, 0x61, 0x58, 0x47, 0x32, 0x7A,
0x74, 0x65, 0x41, 0x46, 0x50, 0x54, 0x33, 0x0A, 0x48, 0x36, 0x4C, 0x76,
0x4F, 0x4C, 0x76, 0x49, 0x51, 0x6A, 0x61, 0x2B, 0x6A, 0x74, 0x57, 0x73,
0x70, 0x4F, 0x38, 0x37, 0x6F, 0x50, 0x32, 0x4E, 0x6D, 0x72, 0x34, 0x6E,
0x50, 0x68, 0x76, 0x62, 0x53, 0x58, 0x52, 0x4D, 0x37, 0x6A, 0x49, 0x69,
0x46, 0x38, 0x47, 0x70, 0x6B, 0x75, 0x58, 0x6A, 0x75, 0x4E, 0x7A, 0x34,
0x72, 0x61, 0x56, 0x4F, 0x65, 0x49, 0x4D, 0x42, 0x77, 0x45, 0x2B, 0x61,
0x0A, 0x30, 0x4C, 0x76, 0x7A, 0x37, 0x69, 0x54, 0x4D, 0x5A, 0x46, 0x41,
0x41, 0x51, 0x64, 0x2B, 0x70, 0x47, 0x72, 0x56, 0x54, 0x47, 0x77, 0x66,
0x53, 0x48, 0x49, 0x72, 0x49, 0x49, 0x45, 0x78, 0x74, 0x5A, 0x35, 0x77,
0x30, 0x38, 0x51, 0x4F, 0x43, 0x58, 0x2F, 0x75, 0x46, 0x65, 0x2B, 0x30,
0x78, 0x52, 0x78, 0x4C, 0x64, 0x2F, 0x33, 0x36, 0x42, 0x4E, 0x74, 0x63,
0x74, 0x69, 0x2F, 0x45, 0x4C, 0x0A, 0x4B, 0x31, 0x35, 0x67, 0x2B, 0x4B,
0x32, 0x71, 0x67, 0x2F, 0x6C, 0x39, 0x46, 0x42, 0x47, 0x67, 0x4D, 0x2B,
0x51, 0x3D, 0x0A, 0x2D, 0x2D, 0x2D, 0x2D, 0x2D, 0x45, 0x4E, 0x44, 0x20,
0x50, 0x55, 0x42, 0x4C, 0x49, 0x43, 0x20, 0x4B, 0x45, 0x59, 0x2D, 0x2D,
0x2D, 0x2D, 0x2D, 0x0A};
0x03, 0x00, 0x28, 0x35, 0xBB, 0xE9, 0x24, 0x59, 0x4E, 0xF0,
0xE3, 0xA2, 0xDB, 0xC0, 0x49, 0x30, 0x60, 0x7C, 0x61, 0x90,
0xE4, 0x03, 0xE0, 0xC7, 0xB8, 0xC2, 0x62, 0x37, 0xF7, 0x58,
0x56, 0xBE, 0x63, 0x5C, 0x97, 0xF7, 0x53, 0x64, 0x7E, 0xE1,
0x0C, 0x07, 0xD3, 0x97, 0x8D, 0x58, 0x46, 0xFD, 0x6E, 0x06,
0x44, 0x01, 0xA7, 0xAA, 0xC4, 0x95, 0x13, 0x5D, 0xC9, 0x77,
0x26, 0xE9, 0xF8, 0x72, 0x0C, 0xD3, 0x88};
// ECDSA P-521 signature, raw format
std::vector<uint8_t> signature = {
0x01, 0x7B, 0x59, 0xAC, 0x3A, 0x03, 0x5C, 0xB4, 0x07, 0xCD,
0xC1, 0xEB, 0xBE, 0xE5, 0xA6, 0xCB, 0xDA, 0x0A, 0xFF, 0x4D,
0x38, 0x61, 0x16, 0x0F, 0xB3, 0x77, 0xE5, 0x8A, 0xDC, 0xF3,
0xFD, 0x79, 0x38, 0x1E, 0xE8, 0x08, 0x3D, 0x5D, 0xBC, 0xC2,
0x80, 0x6E, 0xE9, 0x2B, 0xC3, 0xEF, 0x07, 0x3D, 0x0C, 0x82,
0x4C, 0x9B, 0x7A, 0x5C, 0x2E, 0xD5, 0x46, 0xBD, 0x22, 0x21,
0x13, 0x8A, 0xB2, 0xCA, 0x96, 0x3D, 0x01, 0xBA, 0x2A, 0xC4,
0x3F, 0xDB, 0x66, 0x3C, 0x40, 0x26, 0xD9, 0xBC, 0x26, 0xD5,
0x57, 0xD4, 0xBD, 0x15, 0x16, 0x88, 0x21, 0x3B, 0xAA, 0x07,
0x89, 0xEF, 0x29, 0x8F, 0x2F, 0x85, 0x76, 0x58, 0x9D, 0xCA,
0x00, 0xCC, 0xC8, 0x30, 0x88, 0x31, 0x99, 0xC1, 0x94, 0xB9,
0xAF, 0x91, 0xDC, 0xC4, 0x6F, 0x19, 0x2B, 0x12, 0xA2, 0x82,
0xA5, 0x66, 0x5E, 0x4B, 0xBB, 0xDF, 0x65, 0x81, 0x52, 0x14,
0x01, 0xD7};
0x01, 0x5C, 0x23, 0xC0, 0xBE, 0xAD, 0x1E, 0x44, 0x60, 0xD4,
0xE0, 0x81, 0x38, 0xF2, 0xBA, 0xF5, 0xB5, 0x37, 0x5A, 0x34,
0xB5, 0xCA, 0x6B, 0xC8, 0x0F, 0xCD, 0x75, 0x1D, 0x5E, 0xC0,
0x8A, 0xD3, 0xD7, 0x79, 0xA7, 0xC1, 0xB8, 0xA2, 0xC6, 0xEA,
0x5A, 0x7D, 0x60, 0x66, 0x50, 0x97, 0x37, 0x6C, 0xF9, 0x0A,
0xF6, 0x3D, 0x77, 0x9A, 0xE2, 0x19, 0xF7, 0xF9, 0xDD, 0x52,
0xC4, 0x0F, 0x98, 0xAA, 0xA2, 0xA4, 0x01, 0xC9, 0x41, 0x0B,
0xD0, 0x25, 0xDD, 0xC9, 0x7C, 0x3F, 0x70, 0x32, 0x23, 0xCF,
0xFE, 0x37, 0x67, 0x3A, 0xBC, 0x0B, 0x76, 0x16, 0x82, 0x83,
0x27, 0x3D, 0x1D, 0x19, 0x15, 0x78, 0x08, 0x2B, 0xD4, 0xA7,
0xC2, 0x0F, 0x11, 0xF4, 0xDD, 0xE5, 0x5A, 0x5D, 0x04, 0x8D,
0x6D, 0x5E, 0xC4, 0x1F, 0x54, 0x44, 0xA9, 0x13, 0x34, 0x71,
0x0F, 0xF7, 0x57, 0x9A, 0x9F, 0x2E, 0xF4, 0x97, 0x7D, 0xAE,
0x28, 0xEF};
d_crypto->set_public_key(publicKey);