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

src/algorithms/acquisition/libs/fpga_acquisition.cc

@@ -81,7 +81,6 @@ Fpga_Acquisition::Fpga_Acquisition(std::string device_name,
     int64_t fs_in,
     uint32_t sampled_ms __attribute__((unused)),
     uint32_t select_queue,
-    //lv_16sc_t *all_fft_codes,
     uint32_t *all_fft_codes,
     uint32_t excludelimit)
 {
@@ -209,6 +208,7 @@ void Fpga_Acquisition::set_block_exp(uint32_t total_block_exp)
     d_map_base[11] = total_block_exp;
 }
 
+
 void Fpga_Acquisition::set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_step, int32_t doppler_min)
 {
     float phase_step_rad_real;
@@ -233,7 +233,6 @@ void Fpga_Acquisition::set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_s
 void Fpga_Acquisition::configure_acquisition()
 {
     //Fpga_Acquisition::open_device();
-
     d_map_base[0] = d_select_queue;
     d_map_base[1] = d_vector_length;
     d_map_base[2] = d_nsamples;
@@ -318,6 +317,7 @@ void Fpga_Acquisition::read_fpga_total_scale_factor(uint32_t *total_scale_factor
     *fw_scale_factor = 0;
 }
 
+
 void Fpga_Acquisition::read_result_valid(uint32_t *result_valid)
 {
     uint32_t readval = 0;

src/algorithms/acquisition/libs/fpga_acquisition.h

@@ -36,7 +36,6 @@
 #ifndef GNSS_SDR_FPGA_ACQUISITION_H_
 #define GNSS_SDR_FPGA_ACQUISITION_H_
 
-#include <volk/volk_complex.h>  // for lv_16sc_t
 #include <cstdint>
 #include <string>
 
@@ -46,7 +45,8 @@
 class Fpga_Acquisition
 {
 public:
-    Fpga_Acquisition(std::string device_name,
+    Fpga_Acquisition(
+        std::string device_name,
         uint32_t nsamples,
         uint32_t doppler_max,
         uint32_t nsamples_total,
@@ -57,13 +57,24 @@ public:
         uint32_t excludelimit);
 
     ~Fpga_Acquisition();
+
     bool set_local_code(uint32_t PRN);
+
     void set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_step, int32_t doppler_min);
+
     void run_acquisition(void);
 
-    void read_acquisition_results(uint32_t *max_index, float *firstpeak, float *secondpeak, uint64_t *initial_sample, float *power_sum, uint32_t *doppler_index, uint32_t *total_blk_exp);
+    void read_acquisition_results(
+        uint32_t *max_index,
+        float *firstpeak,
+        float *secondpeak,
+        uint64_t *initial_sample,
+        float *power_sum,
+        uint32_t *doppler_index,
+        uint32_t *total_blk_exp);
 
     void block_samples();
+
     void unblock_samples();
 
     /*!
@@ -100,9 +111,10 @@ public:
 
     void configure_acquisition(void);
 
-    void close_device();
     void open_device();
 
+    void close_device();
+
 private:
     int64_t d_fs_in;
     // data related to the hardware module and the driver

src/algorithms/channel/libs/channel_fsm.cc

@@ -87,6 +87,7 @@ bool ChannelFsm::Event_start_acquisition_fpga()
     return true;
 }
 
+
 bool ChannelFsm::Event_start_acquisition()
 {
     std::lock_guard<std::mutex> lk(mx);
@@ -170,11 +171,14 @@ void ChannelFsm::set_tracking(std::shared_ptr<TrackingInterface> tracking)
     trk_ = std::move(tracking);
 }
 
+
 void ChannelFsm::set_telemetry(std::shared_ptr<TelemetryDecoderInterface> telemetry)
 {
     std::lock_guard<std::mutex> lk(mx);
     nav_ = std::move(telemetry);
 }
+
+
 void ChannelFsm::set_queue(gr::msg_queue::sptr queue)
 {
     std::lock_guard<std::mutex> lk(mx);
@@ -194,6 +198,7 @@ void ChannelFsm::stop_acquisition()
     acq_->stop_acquisition();
 }
 
+
 void ChannelFsm::stop_tracking()
 {
     trk_->stop_tracking();

src/algorithms/channel/libs/channel_msg_receiver_cc.h

@@ -51,11 +51,11 @@ public:
     ~channel_msg_receiver_cc();  //!< Default destructor
 
 private:
+    friend channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat);
+    channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat);
     std::shared_ptr<ChannelFsm> d_channel_fsm;
     bool d_repeat;  // todo: change FSM to include repeat value
-    friend channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat);
     void msg_handler_events(pmt::pmt_t msg);
-    channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat);
 };
 
 #endif

src/algorithms/input_filter/adapters/beamformer_filter.cc

@@ -49,7 +49,7 @@ BeamformerFilter::BeamformerFilter(
     if (item_type_ == "gr_complex")
         {
             item_size_ = sizeof(gr_complex);
-            beamformer_ = make_beamformer();
+            beamformer_ = make_beamformer_sptr();
             DLOG(INFO) << "Item size " << item_size_;
             DLOG(INFO) << "resampler(" << beamformer_->unique_id() << ")";
         }

src/algorithms/input_filter/gnuradio_blocks/beamformer.cc

@@ -36,7 +36,7 @@
 
 #define GNSS_SDR_BEAMFORMER_CHANNELS 8
 
-beamformer_sptr make_beamformer()
+beamformer_sptr make_beamformer_sptr()
 {
     return beamformer_sptr(new beamformer());
 }

src/algorithms/input_filter/gnuradio_blocks/beamformer.h

@@ -36,7 +36,7 @@
 class beamformer;
 using beamformer_sptr = boost::shared_ptr<beamformer>;
 
-beamformer_sptr make_beamformer();
+beamformer_sptr make_beamformer_sptr();
 
 /*!
  * \brief This class implements a real-time software-defined spatial filter using the CTTC GNSS experimental antenna array input and a set of dynamically reloadable weights
@@ -44,13 +44,13 @@ beamformer_sptr make_beamformer();
 class beamformer : public gr::sync_block
 {
 public:
-    beamformer();
     ~beamformer();
     int work(int noutput_items, gr_vector_const_void_star &input_items,
         gr_vector_void_star &output_items);
 
 private:
     friend beamformer_sptr make_beamformer_sptr();
+    beamformer();
     gr_complex *weight_vector;
 };
 

src/algorithms/input_filter/gnuradio_blocks/notch_cc.h

@@ -41,8 +41,12 @@ class Notch;
 
 using notch_sptr = boost::shared_ptr<Notch>;
 
-notch_sptr make_notch_filter(float pfa, float p_c_factor,
-    int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
+notch_sptr make_notch_filter(
+    float pfa,
+    float p_c_factor,
+    int32_t length_,
+    int32_t n_segments_est,
+    int32_t n_segments_reset);
 
 /*!
  * \brief This class implements a real-time software-defined multi state notch filter
@@ -50,8 +54,6 @@ notch_sptr make_notch_filter(float pfa, float p_c_factor,
 class Notch : public gr::block
 {
 public:
-    Notch(float pfa, float p_c_factor, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
-
     ~Notch();
 
     void forecast(int noutput_items, gr_vector_int &ninput_items_required);
@@ -61,6 +63,8 @@ public:
         gr_vector_void_star &output_items);
 
 private:
+    friend notch_sptr make_notch_filter(float pfa, float p_c_factor, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
+    Notch(float pfa, float p_c_factor, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
     float pfa;
     float noise_pow_est;
     float thres_;

src/algorithms/input_filter/gnuradio_blocks/notch_lite_cc.h

@@ -41,7 +41,13 @@ class NotchLite;
 
 using notch_lite_sptr = boost::shared_ptr<NotchLite>;
 
-notch_lite_sptr make_notch_filter_lite(float p_c_factor, float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset, int32_t n_segments_coeff);
+notch_lite_sptr make_notch_filter_lite(
+    float p_c_factor,
+    float pfa,
+    int32_t length_,
+    int32_t n_segments_est,
+    int32_t n_segments_reset,
+    int32_t n_segments_coeff);
 
 /*!
  * \brief This class implements a real-time software-defined multi state notch filter light version
@@ -49,8 +55,6 @@ notch_lite_sptr make_notch_filter_lite(float p_c_factor, float pfa, int32_t leng
 class NotchLite : public gr::block
 {
 public:
-    NotchLite(float p_c_factor, float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset, int32_t n_segments_coeff);
-
     ~NotchLite();
 
     void forecast(int noutput_items, gr_vector_int &ninput_items_required);
@@ -60,6 +64,8 @@ public:
         gr_vector_void_star &output_items);
 
 private:
+    friend notch_lite_sptr make_notch_filter_lite(float p_c_factor, float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset, int32_t n_segments_coeff);
+    NotchLite(float p_c_factor, float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset, int32_t n_segments_coeff);
     int32_t length_;
     int32_t n_segments;
     int32_t n_segments_est;

src/algorithms/input_filter/gnuradio_blocks/pulse_blanking_cc.h

@@ -39,14 +39,15 @@ class pulse_blanking_cc;
 
 using pulse_blanking_cc_sptr = boost::shared_ptr<pulse_blanking_cc>;
 
-pulse_blanking_cc_sptr make_pulse_blanking_cc(float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
-
+pulse_blanking_cc_sptr make_pulse_blanking_cc(
+    float pfa,
+    int32_t length_,
+    int32_t n_segments_est,
+    int32_t n_segments_reset);
 
 class pulse_blanking_cc : public gr::block
 {
 public:
-    pulse_blanking_cc(float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
-
     ~pulse_blanking_cc();
 
     void forecast(int noutput_items, gr_vector_int &ninput_items_required);
@@ -55,6 +56,8 @@ public:
         gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
 
 private:
+    friend pulse_blanking_cc_sptr make_pulse_blanking_cc(float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
+    pulse_blanking_cc(float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
     int32_t length_;
     int32_t n_segments;
     int32_t n_segments_est;

src/algorithms/signal_source/libs/gnss_sdr_valve.cc

@@ -55,14 +55,14 @@ Gnss_Sdr_Valve::Gnss_Sdr_Valve(size_t sizeof_stream_item,
 }
 
 
-boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item, uint64_t nitems, gr::msg_queue::sptr queue, bool stop_flowgraph)
+boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(size_t sizeof_stream_item, uint64_t nitems, gr::msg_queue::sptr queue, bool stop_flowgraph)
 {
     boost::shared_ptr<Gnss_Sdr_Valve> valve_(new Gnss_Sdr_Valve(sizeof_stream_item, nitems, std::move(queue), stop_flowgraph));
     return valve_;
 }
 
 
-boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item, uint64_t nitems, gr::msg_queue::sptr queue)
+boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(size_t sizeof_stream_item, uint64_t nitems, gr::msg_queue::sptr queue)
 {
     boost::shared_ptr<Gnss_Sdr_Valve> valve_(new Gnss_Sdr_Valve(sizeof_stream_item, nitems, std::move(queue), true));
     return valve_;

src/algorithms/signal_source/libs/gnss_sdr_valve.h

@@ -41,12 +41,14 @@
 #include <cstddef>                // for size_t
 #include <cstdint>
 
-boost::shared_ptr<gr::block> gnss_sdr_make_valve(
+class Gnss_Sdr_Valve;
+
+boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(
     size_t sizeof_stream_item,
     uint64_t nitems,
     gr::msg_queue::sptr queue);
 
-boost::shared_ptr<gr::block> gnss_sdr_make_valve(
+boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(
     size_t sizeof_stream_item,
     uint64_t nitems,
     gr::msg_queue::sptr queue,
@@ -65,22 +67,22 @@ public:
         gr_vector_const_void_star &input_items,
         gr_vector_void_star &output_items);
 
-    Gnss_Sdr_Valve(size_t sizeof_stream_item,
-        uint64_t nitems,
-        gr::msg_queue::sptr queue, bool stop_flowgraph);
-
 private:
-    friend boost::shared_ptr<gr::block> gnss_sdr_make_valve(
+    friend boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(
         size_t sizeof_stream_item,
         uint64_t nitems,
         gr::msg_queue::sptr queue);
 
-    friend boost::shared_ptr<gr::block> gnss_sdr_make_valve(
+    friend boost::shared_ptr<Gnss_Sdr_Valve> gnss_sdr_make_valve(
         size_t sizeof_stream_item,
         uint64_t nitems,
         gr::msg_queue::sptr queue,
         bool stop_flowgraph);
 
+    Gnss_Sdr_Valve(size_t sizeof_stream_item,
+        uint64_t nitems,
+        gr::msg_queue::sptr queue, bool stop_flowgraph);
+
     uint64_t d_nitems;
     uint64_t d_ncopied_items;
     gr::msg_queue::sptr d_queue;

src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc

@@ -796,9 +796,8 @@ TEST_F(TrackingPullInTest, ValidationOfResults)
     // create the msg queue for valve
 
     queue = gr::msg_queue::make(0);
-    boost::shared_ptr<Gnss_Sdr_Valve> reseteable_valve;
     long long int acq_to_trk_delay_samples = ceil(static_cast<double>(FLAGS_fs_gen_sps) * FLAGS_acq_to_trk_delay_s);
-    boost::shared_ptr<Gnss_Sdr_Valve> resetable_valve_(new Gnss_Sdr_Valve(sizeof(gr_complex), acq_to_trk_delay_samples, queue, false));
+    auto resetable_valve_ = gnss_sdr_make_valve(sizeof(gr_complex), acq_to_trk_delay_samples, queue, false);
 
     std::shared_ptr<ControlMessageFactory> control_message_factory_;
     std::shared_ptr<std::vector<std::shared_ptr<ControlMessage>>> control_messages_;