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

docs/changelog

@@ -3,6 +3,7 @@
 ### Improvements in Availability
 
 - Fixed bug that caused a random deadlock in the Observables block, preventing the computation of PVT fixes.
+- Fixed bug in Galileo INAV message decoding when PLL is locked at 180 degrees, which prevented from correct navigation message decoding in some situations.
 
 
 ### Improvements in Efficiency
@@ -42,6 +43,7 @@
 - The receiver now admits FPGA off-loading, allowing for real time operation at high sampling rates and higher number of signals and channels.
 - Fixed program termination (avoiding hangs and segfaults in some platforms/configurations).
 - CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory.
+- New parameter PVT.show_local_time_zone displays time in the local time zone. Subject to the proper system configuration of the machine running the software receiver.
 - Improved information provided to the user in case of failure.
 
 

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -714,6 +714,9 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
     pvt_output_parameters.udp_addresses = configuration->property(role + ".monitor_client_addresses", std::string("127.0.0.1"));
     pvt_output_parameters.udp_port = configuration->property(role + ".monitor_udp_port", 1234);
 
+    // Show time in local zone
+    pvt_output_parameters.show_local_time_zone = configuration->property(role + ".show_local_time_zone", false);
+
     // make PVT object
     pvt_ = rtklib_make_pvt_gs(in_streams_, pvt_output_parameters, rtk);
     DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -76,7 +76,10 @@
 #include <algorithm>                    // for sort, unique
 #include <exception>                    // for exception
 #include <fstream>                      // for ofstream
+#include <iomanip>                      // for put_time, setprecision
 #include <iostream>                     // for operator<<
+#include <locale>                       // for locale
+#include <sstream>                      // for ostringstream
 #include <stdexcept>                    // for length_error
 #include <sys/ipc.h>                    // for IPC_CREAT
 #include <sys/msg.h>                    // for msgctl
@@ -361,6 +364,39 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
             throw std::exception();
         }
 
+    // Display time in local time zone
+    d_show_local_time_zone = conf_.show_local_time_zone;
+    time_t when = std::time(nullptr);
+    auto const tm = *std::localtime(&when);
+    std::ostringstream os;
+    os << std::put_time(&tm, "%z");
+    std::string utc_diff_str = os.str();  // in ISO 8601 format: "+HHMM" or "-HHMM"
+    if (utc_diff_str.empty())
+        {
+            utc_diff_str = "+0000";
+        }
+    int h = std::stoi(utc_diff_str.substr(0, 3), nullptr, 10);
+    int m = std::stoi(utc_diff_str[0] + utc_diff_str.substr(3), nullptr, 10);
+    d_utc_diff_time = boost::posix_time::hours(h) + boost::posix_time::minutes(m);
+    std::ostringstream os2;
+    os2 << std::put_time(&tm, "%Z");
+    std::string time_zone_abrv = os2.str();
+    if (time_zone_abrv.empty())
+        {
+            if (utc_diff_str == "+0000")
+                {
+                    d_local_time_str = " UTC";
+                }
+            else
+                {
+                    d_local_time_str = " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
+                }
+        }
+    else
+        {
+            d_local_time_str = std::string(" ") + time_zone_abrv + " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
+        }
+
     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();
@@ -1464,8 +1500,16 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
 
                                     if (first_fix == true)
                                         {
-                                            std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_pvt_solver->get_position_UTC_time())
+                                            if (d_show_local_time_zone)
-                                                      << " UTC is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
+                                                {
+                                                    boost::posix_time::ptime time_first_solution = d_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
+                                                    std::cout << "First position fix at " << time_first_solution << d_local_time_str;
+                                                }
+                                            else
+                                                {
+                                                    std::cout << "First position fix at " << d_pvt_solver->get_position_UTC_time() << " UTC";
+                                                }
+                                            std::cout << " is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
                                                       << " [deg], Height= " << d_pvt_solver->get_height() << " [m]" << std::endl;
                                             ttff_msgbuf ttff;
                                             ttff.mtype = 1;
@@ -3287,18 +3331,31 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                     // DEBUG MESSAGE: Display position in console output
                     if (d_pvt_solver->is_valid_position() and flag_display_pvt)
                         {
+                            boost::posix_time::ptime time_solution;
+                            std::string UTC_solution_str;
+                            if (d_show_local_time_zone)
+                                {
+                                    time_solution = d_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
+                                    UTC_solution_str = d_local_time_str;
+                                }
+                            else
+                                {
+                                    time_solution = d_pvt_solver->get_position_UTC_time();
+                                    UTC_solution_str = " UTC";
+                                }
                             std::streamsize ss = std::cout.precision();  // save current precision
                             std::cout.setf(std::ios::fixed, std::ios::floatfield);
                             auto facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z");
                             std::cout.imbue(std::locale(std::cout.getloc(), facet));
-
+                            std::cout
-                            std::cout << TEXT_BOLD_GREEN
+                                << TEXT_BOLD_GREEN
-                                      << "Position at " << d_pvt_solver->get_position_UTC_time()
+                                << "Position at " << time_solution << UTC_solution_str
-                                      << " UTC using " << d_pvt_solver->get_num_valid_observations()
+                                << " using " << d_pvt_solver->get_num_valid_observations()
                                 << std::fixed << std::setprecision(9)
                                 << " observations is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
                                 << std::fixed << std::setprecision(3)
                                 << " [deg], Height = " << d_pvt_solver->get_height() << " [m]" << TEXT_RESET << std::endl;
+
                             std::cout << std::setprecision(ss);
                             DLOG(INFO) << "RX clock offset: " << d_pvt_solver->get_time_offset_s() << "[s]";
 

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h

@@ -162,6 +162,10 @@ private:
     std::unique_ptr<Monitor_Pvt_Udp_Sink> udp_sink_ptr;
     std::vector<std::string> split_string(const std::string& s, char delim) const;
 
+    bool d_show_local_time_zone;
+    std::string d_local_time_str;
+    boost::posix_time::time_duration d_utc_diff_time;
+
 public:
     ~rtklib_pvt_gs();  //!< Default destructor
 

src/algorithms/PVT/libs/pvt_conf.cc

@@ -70,4 +70,6 @@ Pvt_Conf::Pvt_Conf()
 
     monitor_enabled = false;
     udp_port = 0;
+
+    show_local_time_zone = false;
 }

src/algorithms/PVT/libs/pvt_conf.h

@@ -83,6 +83,8 @@ public:
     std::string udp_addresses;
     int udp_port;
 
+    bool show_local_time_zone;
+
     Pvt_Conf();
 };
 

src/algorithms/PVT/libs/rtcm.h

@@ -144,6 +144,7 @@ public:
      * \return string with message contents
      */
     std::string print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
+
     /*!
      * \brief Prints Extended L1-Only GLONASS RTK Observables
      * \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
@@ -154,6 +155,7 @@ public:
      * \return string with message contents
      */
     std::string print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
+
     /*!
      * \brief Prints L1&L2 GLONASS RTK Observables
      * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
@@ -164,6 +166,7 @@ public:
      * \return string with message contents
      */
     std::string print_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
+
     /*!
      * \brief Prints Extended L1&L2 GLONASS RTK Observables
      * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content.  This is one of the most common messages found.
@@ -335,6 +338,7 @@ public:
     uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);       //!< Returns the time period in which GPS L1 signals have been continually tracked.
     uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);  //!< Returns the time period in which GPS L2 signals have been continually tracked.
     uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);   //!< Returns the time period in which Galileo signals have been continually tracked.
+
     /*!
      * \brief Locks time period in which GLONASS signals have been continually tracked.
      * \note Code added as part of GSoC 2017 program

src/algorithms/libs/rtklib/rtklib_rtkcmn.cc

@@ -51,7 +51,6 @@
  *----------------------------------------------------------------------------*/
 
 #include "rtklib_rtkcmn.h"
-//#include <cstdio>
 #include <glog/logging.h>
 #include <dirent.h>
 #include <iostream>