Small fixes

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -802,5 +802,5 @@ gr::basic_block_sptr RtklibPvt::get_left_block()
 
 gr::basic_block_sptr RtklibPvt::get_right_block()
 {
-    return pvt_;  // this is a sink, nothing downstream
+    return nullptr;  // this is a sink, nothing downstream
 }

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc

@@ -562,8 +562,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
             xml_base_path = xml_base_path + boost::filesystem::path::preferred_separator;
         }
 
-    d_pvt_solver = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk);
-    d_pvt_solver->set_averaging_depth(1);
 
     d_rx_time = 0.0;
 
@@ -580,7 +578,10 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
 
             udp_sink_ptr = std::unique_ptr<Monitor_Pvt_Udp_Sink>(new Monitor_Pvt_Udp_Sink(udp_addr_vec, conf_.udp_port));
         }
-
+    else
+        {
+            udp_sink_ptr = nullptr;
+        }
 
     // Create Sys V message queue
     first_fix = true;
@@ -591,6 +592,9 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
             std::cout << "GNSS-SDR can not create message queues!" << std::endl;
             throw std::exception();
         }
+
+    d_pvt_solver = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk);
+    d_pvt_solver->set_averaging_depth(1);
     start = std::chrono::system_clock::now();
 }
 
@@ -1210,14 +1214,28 @@ bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string& file_name)
 }
 
 
+std::vector<std::string> rtklib_pvt_cc::split_string(const std::string& s, char delim)
+{
+    std::vector<std::string> v;
+    std::stringstream ss(s);
+    std::string item;
+
+    while (std::getline(ss, item, delim))
+        {
+            *(std::back_inserter(v)++) = item;
+        }
+
+    return v;
+}
+
+
 bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
     double* latitude_deg,
     double* height_m,
     double* ground_speed_kmh,
     double* course_over_ground_deg,
-    time_t* UTC_time)
+    time_t* UTC_time) const
 {
-    gr::thread::scoped_lock lock(d_setlock);
     if (d_pvt_solver->is_valid_position())
         {
             *latitude_deg = d_pvt_solver->get_latitude();
@@ -1225,7 +1243,7 @@ bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
             *height_m = d_pvt_solver->get_height();
             *ground_speed_kmh = d_pvt_solver->get_speed_over_ground() * 3600.0 / 1000.0;
             *course_over_ground_deg = d_pvt_solver->get_course_over_ground();
-            *UTC_time = to_time_t(d_pvt_solver->get_position_UTC_time());
+            *UTC_time = convert_to_time_t(d_pvt_solver->get_position_UTC_time());
 
             return true;
         }
@@ -1237,8 +1255,6 @@ bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
 int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items,
     gr_vector_void_star& output_items __attribute__((unused)))
 {
-    gr::thread::scoped_lock l(d_setlock);
-
     for (int32_t epoch = 0; epoch < noutput_items; epoch++)
         {
             bool flag_display_pvt = false;
@@ -3284,17 +3300,3 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
 
     return noutput_items;
 }
-
-std::vector<std::string> rtklib_pvt_cc::split_string(const std::string& s, char delim)
-{
-    std::vector<std::string> v;
-    std::stringstream ss(s);
-    std::string item;
-
-    while (std::getline(ss, item, delim))
-        {
-            *(std::back_inserter(v)++) = item;
-        }
-
-    return v;
-}

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h

@@ -85,15 +85,15 @@ private:
 
     bool b_rtcm_writing_started;
     bool b_rtcm_enabled;
-    int32_t d_rtcm_MT1045_rate_ms;  //!< Galileo Broadcast Ephemeris
+    int32_t d_rtcm_MT1045_rate_ms;  // Galileo Broadcast Ephemeris
-    int32_t d_rtcm_MT1019_rate_ms;  //!< GPS Broadcast Ephemeris (orbits)
+    int32_t d_rtcm_MT1019_rate_ms;  // GPS Broadcast Ephemeris (orbits)
-    int32_t d_rtcm_MT1020_rate_ms;  //!< GLONASS Broadcast Ephemeris (orbits)
+    int32_t d_rtcm_MT1020_rate_ms;  // GLONASS Broadcast Ephemeris (orbits)
-    int32_t d_rtcm_MT1077_rate_ms;  //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
+    int32_t d_rtcm_MT1077_rate_ms;  // The type 7 Multiple Signal Message format for the USA’s GPS system, popular
-    int32_t d_rtcm_MT1087_rate_ms;  //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
+    int32_t d_rtcm_MT1087_rate_ms;  // GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
-    int32_t d_rtcm_MT1097_rate_ms;  //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
+    int32_t d_rtcm_MT1097_rate_ms;  // Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
     int32_t d_rtcm_MSM_rate_ms;
 
-    int32_t d_last_status_print_seg;  //for status printer
+    int32_t d_last_status_print_seg;  // for status printer
 
     uint32_t d_nchannels;
     std::string d_dump_filename;
@@ -132,14 +132,14 @@ private:
     bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
     std::chrono::time_point<std::chrono::system_clock> start, end;
 
-    bool save_gnss_synchro_map_xml(const std::string& file_name);  //debug helper function
+    bool save_gnss_synchro_map_xml(const std::string& file_name);  // debug helper function
 
-    bool load_gnss_synchro_map_xml(const std::string& file_name);  //debug helper function
+    bool load_gnss_synchro_map_xml(const std::string& file_name);  // debug helper function
 
     bool d_xml_storage;
     std::string xml_base_path;
 
-    inline std::time_t to_time_t(boost::posix_time::ptime pt)
+    inline std::time_t convert_to_time_t(const boost::posix_time::ptime pt) const
     {
         return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds();
     }
@@ -153,8 +153,10 @@ public:
         const Pvt_Conf& conf_,
         const rtk_t& rtk);
 
+    ~rtklib_pvt_cc();  //!< Default destructor
+
     /*!
-     * \brief Get latest set of ephemeris from PVT block
+     * \brief Get latest set of GPS ephemeris from PVT block
      *
      */
     std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
@@ -183,9 +185,7 @@ public:
         double* height_m,
         double* ground_speed_kmh,
         double* course_over_ground_deg,
-        time_t* UTC_time);
+        time_t* UTC_time) const;
-
-    ~rtklib_pvt_cc();  //!< Default destructor
 
     int work(int noutput_items, gr_vector_const_void_star& input_items,
         gr_vector_void_star& output_items);  //!< PVT Signal Processing

src/core/receiver/control_thread.cc

@@ -293,7 +293,11 @@ int ControlThread::run()
         }
     catch (const boost::thread_interrupted &interrupt)
         {
-            DLOG(INFO) << "Thread interrupted";
+            DLOG(WARNING) << "Thread interrupted";
+        }
+    catch (const boost::system::system_error &e)
+        {
+            LOG(WARNING) << "System error";
         }
 
     if (restart_)