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

CMakeLists.txt

@@ -45,7 +45,7 @@ endif(NOT CMAKE_PREFIX_PATH)
 ########################################################################
 # Support of optional RF front-ends
 option(ENABLE_UHD "Enable the use of UHD (driver for all USRP devices)" ON)
-option(ENABLE_OSMOSDR "Enable the use of OsmoSDR and other front-ends (RTL-based dongles, HackRF, bladeRF, etc.) as signal source (experimental)" OFF)
+option(ENABLE_OSMOSDR "Enable the use of OsmoSDR and other front-ends (RTL-based dongles, HackRF, bladeRF, etc.) as signal source" OFF)
 option(ENABLE_FLEXIBAND "Enable the use of the signal source adater for the Teleorbit Flexiband GNURadio driver" OFF)
 option(ENABLE_ARRAY "Enable the use of CTTC's antenna array front-end as signal source (experimental)" OFF)
 option(ENABLE_GN3S "Enable the use of the GN3S dongle as signal source (experimental)" OFF)
@@ -341,10 +341,10 @@ set(GNSSSDR_MATIO_MIN_VERSION "1.5.3")
 ################################################################################
 set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1")
 set(GNSSSDR_GLOG_LOCAL_VERSION "0.3.5")
-set(GNSSSDR_ARMADILLO_LOCAL_VERSION "unstable")
+set(GNSSSDR_ARMADILLO_LOCAL_VERSION "9.200.x")
 set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
-set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10")
+set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10.6")
 set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.12")
 
 
@@ -622,7 +622,9 @@ if(NOT VOLK_GNSSSDR_FOUND)
         if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
             set(STRIP_VOLK_GNSSSDR_PROFILE "-DENABLE_STRIP=ON -DCMAKE_VERBOSE_MAKEFILE=ON")
         endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32)
+        if(NOT DEFINED ENV{PROTECT_PASSWORDS})
             set(READ_ENVIRO ${CMAKE_COMMAND} -E environment)
+        endif(NOT DEFINED ENV{PROTECT_PASSWORDS})
     endif(ENABLE_PACKAGING)
 
     set(VOLK_GNSSSDR_BUILD_COMMAND "${CMAKE_MAKE_PROGRAM}")

README.md

@@ -186,9 +186,9 @@ $ sudo apt-get install libblas-dev liblapack-dev       # For Debian/Ubuntu/Linux
 $ sudo yum install lapack-devel blas-devel             # For Fedora/CentOS/RHEL
 $ sudo zypper install lapack-devel blas-devel          # For OpenSUSE
 $ sudo pacman -S blas lapack                           # For Arch Linux
-$ wget https://sourceforge.net/projects/arma/files/armadillo-8.500.1.tar.xz
+$ wget https://sourceforge.net/projects/arma/files/armadillo-9.100.5.tar.xz
-$ tar xvfz armadillo-8.500.1.tar.xz
+$ tar xvfz armadillo-9.100.5.tar.xz
-$ cd armadillo-8.500.1
+$ cd armadillo-9.100.5
 $ cmake .
 $ make
 $ sudo make install

src/algorithms/PVT/adapters/CMakeLists.txt

@@ -25,6 +25,10 @@ set(PVT_ADAPTER_SOURCES
 	rtklib_pvt.cc
 )
 
+set(PVT_ADAPTER_HEADERS
+	rtklib_pvt.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -41,8 +45,6 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB PVT_ADAPTER_HEADERS "*.h")
-list(SORT PVT_ADAPTER_HEADERS)
 add_library(pvt_adapters ${PVT_ADAPTER_SOURCES} ${PVT_ADAPTER_HEADERS})
 source_group(Headers FILES ${PVT_ADAPTER_HEADERS})
 target_link_libraries(pvt_adapters pvt_gr_blocks ${ARMADILLO_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -506,12 +506,12 @@ bool RtklibPvt::save_assistance_to_XML()
 
     if (eph_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
-                    ofs.close();
                     LOG(INFO) << "Saved GPS L1 Ephemeris map data";
                 }
             catch (const std::exception& e)
@@ -519,13 +519,13 @@ bool RtklibPvt::save_assistance_to_XML()
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;  // return variable (true == succeeded)
         }
     else
         {
             LOG(WARNING) << "Failed to save Ephemeris, map is empty";
             return false;
         }
+    return true;  // return variable (true == succeeded)
 }
 
 

src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt

@@ -25,6 +25,10 @@ set(PVT_GR_BLOCKS_SOURCES
 	rtklib_pvt_cc.cc
 )
 
+set(PVT_GR_BLOCKS_HEADERS
+	rtklib_pvt_cc.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -39,8 +43,6 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB PVT_GR_BLOCKS_HEADERS "*.h")
-list(SORT PVT_GR_BLOCKS_HEADERS)
 add_library(pvt_gr_blocks ${PVT_GR_BLOCKS_SOURCES} ${PVT_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${PVT_GR_BLOCKS_HEADERS})
 target_link_libraries(pvt_gr_blocks pvt_lib ${ARMADILLO_LIBRARIES})

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc

@@ -50,6 +50,10 @@ namespace bc = boost::math;
 namespace bc = boost::integer;
 #endif
 
+//includes used by the observables serializarion (export observables for rtklib unit test)
+#include <boost/archive/xml_oarchive.hpp>
+#include <boost/archive/xml_iarchive.hpp>
+#include <boost/serialization/map.hpp>
 
 using google::LogMessage;
 
@@ -396,12 +400,12 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
 
     if (d_ls_pvt->gps_cnav_ephemeris_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->gps_cnav_ephemeris_map);
-                    ofs.close();
                     LOG(INFO) << "Saved GPS L2CM or L5 Ephemeris map data";
                 }
             catch (std::exception& e)
@@ -419,12 +423,12 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
 
     if (d_ls_pvt->gps_ephemeris_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->gps_ephemeris_map);
-                    ofs.close();
                     LOG(INFO) << "Saved GPS L1 CA Ephemeris map data";
                 }
             catch (const std::exception& e)
@@ -442,12 +446,12 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
 
     if (d_ls_pvt->galileo_ephemeris_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->galileo_ephemeris_map);
-                    ofs.close();
                     LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
                 }
             catch (const std::exception& e)
@@ -465,12 +469,12 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
 
     if (d_ls_pvt->glonass_gnav_ephemeris_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->glonass_gnav_ephemeris_map);
-                    ofs.close();
                     LOG(INFO) << "Saved GLONASS GNAV Ephemeris map data";
                 }
             catch (std::exception& e)
@@ -507,6 +511,54 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
 }
 
 
+bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string file_name)
+{
+    if (gnss_observables_map.empty() == false)
+        {
+            std::ofstream ofs;
+            try
+                {
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    boost::archive::xml_oarchive xml(ofs);
+                    xml << boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
+                    LOG(INFO) << "Saved gnss_sychro map data";
+                }
+            catch (std::exception& e)
+                {
+                    LOG(WARNING) << e.what();
+                    return false;
+                }
+            return true;
+        }
+    else
+        {
+            LOG(WARNING) << "Failed to save gnss_synchro, map is empty";
+            return false;
+        }
+}
+
+
+bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string file_name)
+{
+    // load from xml (boost serialize)
+    std::ifstream ifs;
+    try
+        {
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            boost::archive::xml_iarchive xml(ifs);
+            gnss_observables_map.clear();
+            xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
+            //std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl;
+        }
+    catch (std::exception& e)
+        {
+            std::cout << e.what() << "File: " << file_name;
+            return false;
+        }
+    return true;
+}
+
+
 int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items,
     gr_vector_void_star& output_items __attribute__((unused)))
 {
@@ -526,7 +578,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
 
             gnss_observables_map.clear();
             const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]);  // Get the input buffer pointer
-
             // ############ 1. READ PSEUDORANGES ####
             for (uint32_t i = 0; i < d_nchannels; i++)
                 {
@@ -610,8 +661,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                             //        it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s;
                             //    }
 
+
                             if (d_ls_pvt->get_PVT(gnss_observables_map, false))
                                 {
+                                    //Optional debug code: export observables snapshot for rtklib unit testing
+                                    //std::cout << "step 1: save gnss_synchro map" << std::endl;
+                                    //save_gnss_synchro_map_xml("./gnss_synchro_map.xml");
+                                    //getchar(); //stop the execution
+                                    //end debug
+
                                     if (current_RX_time_ms % d_display_rate_ms == 0)
                                         {
                                             flag_display_pvt = true;
@@ -2060,7 +2118,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                         {
                             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));
 

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h

@@ -152,6 +152,10 @@ 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 load_gnss_synchro_map_xml(const std::string file_name);  //debug helper function
+
 public:
     rtklib_pvt_cc(uint32_t nchannels,
         bool dump, std::string dump_filename,

src/algorithms/PVT/libs/CMakeLists.txt

@@ -31,6 +31,20 @@ set(PVT_LIB_SOURCES
      rtklib_solver.cc
 )
 
+set(PVT_LIB_HEADERS 
+     pvt_solution.h
+     ls_pvt.h
+     hybrid_ls_pvt.h
+     kml_printer.h
+     gpx_printer.h
+     rinex_printer.h
+     nmea_printer.h  
+     rtcm_printer.h
+     geojson_printer.h
+     rtklib_solver.h
+)
+
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -45,8 +59,9 @@ include_directories(
      ${GLOG_INCLUDE_DIRS}
 )
 
-file(GLOB PVT_LIB_HEADERS "*.h")
 list(SORT PVT_LIB_HEADERS)
+list(SORT PVT_LIB_SOURCES)
+
 add_library(pvt_lib ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
 source_group(Headers FILES ${PVT_LIB_HEADERS})
 add_dependencies(pvt_lib rtklib_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE})
@@ -61,4 +76,3 @@ target_link_libraries(
     ${BLAS}
     ${LAPACK}
 )
-    

src/algorithms/PVT/libs/rtklib_solver.h

@@ -76,12 +76,13 @@ private:
     rtk_t rtk_;
     std::string d_dump_filename;
     std::ofstream d_dump_file;
-    sol_t pvt_sol;
+
     bool d_flag_dump_enabled;
     int d_nchannels;  // Number of available channels for positioning
     double dop_[4];
 
 public:
+    sol_t pvt_sol;
     rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk);
     ~rtklib_solver();
 

src/algorithms/acquisition/adapters/CMakeLists.txt

@@ -36,12 +36,43 @@ set(ACQ_ADAPTER_SOURCES
     glonass_l2_ca_pcps_acquisition.cc
 )
 
+set(ACQ_ADAPTER_HEADERS
+    gps_l1_ca_pcps_acquisition.h
+    gps_l1_ca_pcps_assisted_acquisition.h
+    gps_l1_ca_pcps_acquisition_fine_doppler.h
+    gps_l1_ca_pcps_tong_acquisition.h
+    gps_l1_ca_pcps_quicksync_acquisition.h
+    gps_l2_m_pcps_acquisition.h
+    gps_l5i_pcps_acquisition.h
+    galileo_e1_pcps_ambiguous_acquisition.h
+    galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
+    galileo_e1_pcps_quicksync_ambiguous_acquisition.h
+    galileo_e1_pcps_tong_ambiguous_acquisition.h
+    galileo_e1_pcps_8ms_ambiguous_acquisition.h
+    galileo_e5a_noncoherent_iq_acquisition_caf.h
+    galileo_e5a_pcps_acquisition.h
+    glonass_l1_ca_pcps_acquisition.h
+    glonass_l2_ca_pcps_acquisition.h
+)
+
+
 if(ENABLE_FPGA)
-    set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_acquisition_fpga.cc gps_l2_m_pcps_acquisition_fpga.cc galileo_e1_pcps_ambiguous_acquisition_fpga.cc galileo_e5a_pcps_acquisition_fpga.cc gps_l5i_pcps_acquisition_fpga.cc)
+    set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_acquisition_fpga.cc 
+                                                   gps_l2_m_pcps_acquisition_fpga.cc
+                                                   galileo_e1_pcps_ambiguous_acquisition_fpga.cc
+                                                   galileo_e5a_pcps_acquisition_fpga.cc
+                                                   gps_l5i_pcps_acquisition_fpga.cc)
+
+    set(ACQ_ADAPTER_HEADERS ${ACQ_ADAPTER_HEADERS} gps_l1_ca_pcps_acquisition_fpga.h 
+                                                   gps_l2_m_pcps_acquisition_fpga.h
+                                                   galileo_e1_pcps_ambiguous_acquisition_fpga.h
+                                                   galileo_e5a_pcps_acquisition_fpga.h
+                                                   gps_l5i_pcps_acquisition_fpga.h)                                                   
 endif(ENABLE_FPGA)
     
 if(OPENCL_FOUND)
     set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_opencl_acquisition.cc)
+    set(ACQ_ADAPTER_HEADERS ${ACQ_ADAPTER_HEADERS} gps_l1_ca_pcps_opencl_acquisition.h)
 endif(OPENCL_FOUND)
 
 include_directories(
@@ -61,8 +92,8 @@ include_directories(
      ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
 
-file(GLOB ACQ_ADAPTER_HEADERS "*.h")
 list(SORT ACQ_ADAPTER_HEADERS)
+list(SORT ACQ_ADAPTER_SOURCES)
 add_library(acq_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS})
 source_group(Headers FILES ${ACQ_ADAPTER_HEADERS})
 target_link_libraries(acq_adapters acquisition_lib gnss_sp_libs gnss_sdr_flags acq_gr_blocks ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})

src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt

@@ -28,12 +28,25 @@ set(ACQ_GR_BLOCKS_SOURCES
     galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
 )
 
+set(ACQ_GR_BLOCKS_HEADERS
+    pcps_acquisition.h
+    pcps_assisted_acquisition_cc.h
+    pcps_acquisition_fine_doppler_cc.h
+    pcps_tong_acquisition_cc.h
+    pcps_cccwsr_acquisition_cc.h
+    pcps_quicksync_acquisition_cc.h
+    galileo_pcps_8ms_acquisition_cc.h
+    galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
+) 
+
 if(ENABLE_FPGA)
     set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_acquisition_fpga.cc)
+    set(ACQ_GR_BLOCKS_HEADERS ${ACQ_GR_BLOCKS_HEADERS} pcps_acquisition_fpga.h)
 endif(ENABLE_FPGA)
     
 if(OPENCL_FOUND)
     set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_opencl_acquisition_cc.cc)
+    set(ACQ_GR_BLOCKS_HEADERS ${ACQ_GR_BLOCKS_HEADERS} pcps_opencl_acquisition_cc.h)
 endif(OPENCL_FOUND)
 
 include_directories(
@@ -61,8 +74,8 @@ if(OPENCL_FOUND)
     endif(OS_IS_MACOSX)
 endif(OPENCL_FOUND)
 
-file(GLOB ACQ_GR_BLOCKS_HEADERS "*.h")
 list(SORT ACQ_GR_BLOCKS_HEADERS)
+list(SORT ACQ_GR_BLOCKS_SOURCES)
 add_library(acq_gr_blocks ${ACQ_GR_BLOCKS_SOURCES} ${ACQ_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${ACQ_GR_BLOCKS_HEADERS})
 

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc

@@ -78,7 +78,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
     d_single_doppler_flag = false;
 
     d_downsampling_factor = acq_parameters.downsampling_factor;
-    //printf("downsampling_factor = %f\n", d_downsampling_factor);
+    //printf("AAAAAAAAAA downsampling_factor = %f\n", d_downsampling_factor);
     d_select_queue_Fpga = acq_parameters.select_queue_Fpga;
     //printf("zzzz acq_parameters.code_length = %d\n", acq_parameters.code_length);
     //printf("zzzz acq_parameters.samples_per_ms = %d\n", acq_parameters.samples_per_ms);

src/algorithms/acquisition/libs/CMakeLists.txt

@@ -18,6 +18,7 @@
 
 if(ENABLE_FPGA)
    set(ACQUISITION_LIB_SOURCES fpga_acquisition.cc )
+   set(ACQUISITION_LIB_HEADERS fpga_acquisition.h )
    include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -29,15 +30,14 @@ if(ENABLE_FPGA)
      ${GFlags_INCLUDE_DIRS}
      ${VOLK_GNSSSDR_INCLUDE_DIRS}
    )
-
-   file(GLOB ACQUISITION_LIB_HEADERS "*.h")
 endif(ENABLE_FPGA)
 
 set(ACQUISITION_LIB_HEADERS ${ACQUISITION_LIB_HEADERS} acq_conf.h)
-list(SORT ACQUISITION_LIB_HEADERS)
-
 set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} acq_conf.cc)
 
+list(SORT ACQUISITION_LIB_HEADERS)
+list(SORT ACQUISITION_LIB_SOURCES)
+
 add_library(acquisition_lib ${ACQUISITION_LIB_SOURCES} ${ACQUISITION_LIB_HEADERS})
 source_group(Headers FILES ${ACQUISITION_LIB_HEADERS})
 target_link_libraries(acquisition_lib ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})

src/algorithms/channel/adapters/CMakeLists.txt

@@ -17,6 +17,7 @@
 #
 
 set(CHANNEL_ADAPTER_SOURCES channel.cc)
+set(CHANNEL_ADAPTER_HEADERS channel.h)
 
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
@@ -31,8 +32,6 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB CHANNEL_ADAPTER_HEADERS "*.h")
-list(SORT CHANNEL_ADAPTER_HEADERS)
 add_library(channel_adapters ${CHANNEL_ADAPTER_SOURCES} ${CHANNEL_ADAPTER_HEADERS})
 source_group(Headers FILES ${CHANNEL_ADAPTER_HEADERS})
 target_link_libraries(channel_adapters channel_fsm ${GNURADIO_RUNTIME_LIBRARIES} ${Boost_LIBRARIES} gnss_sdr_flags)

src/algorithms/channel/libs/CMakeLists.txt

@@ -21,6 +21,11 @@ set(CHANNEL_FSM_SOURCES
     channel_msg_receiver_cc.cc
     )
     
+set(CHANNEL_FSM_HEADERS 
+    channel_fsm.h 
+    channel_msg_receiver_cc.h
+    )    
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -33,8 +38,9 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB CHANNEL_FSM_HEADERS "*.h")
 list(SORT CHANNEL_FSM_HEADERS)
+list(SORT CHANNEL_FSM_SOURCES)
+
 add_library(channel_fsm ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
 source_group(Headers FILES ${CHANNEL_FSM_HEADERS})
 add_dependencies(channel_fsm glog-${glog_RELEASE})

src/algorithms/conditioner/adapters/CMakeLists.txt

@@ -22,6 +22,11 @@ set(COND_ADAPTER_SOURCES
 	array_signal_conditioner.cc
 )
 
+set(COND_ADAPTER_HEADERS 
+	signal_conditioner.h
+	array_signal_conditioner.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -34,8 +39,9 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB COND_ADAPTER_HEADERS "*.h")
 list(SORT COND_ADAPTER_HEADERS)
+list(SORT COND_ADAPTER_SOURCES)
+
 add_library(conditioner_adapters ${COND_ADAPTER_SOURCES} ${COND_ADAPTER_HEADERS})
 source_group(Headers FILES ${COND_ADAPTER_HEADERS})
 add_dependencies(conditioner_adapters glog-${glog_RELEASE})

src/algorithms/data_type_adapter/adapters/CMakeLists.txt

@@ -26,6 +26,15 @@ set(DATATYPE_ADAPTER_SOURCES
 	ishort_to_complex.cc 
 )
 	 
+set(DATATYPE_ADAPTER_HEADERS 
+    byte_to_short.h
+    ibyte_to_cbyte.h
+    ibyte_to_complex.h
+    ibyte_to_cshort.h
+    ishort_to_cshort.h
+	ishort_to_complex.h 
+)	 
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -38,10 +47,10 @@ include_directories(
      ${VOLK_INCLUDE_DIRS}
 )
 
-file(GLOB DATATYPE_ADAPTER_HEADERS "*.h")
 list(SORT DATATYPE_ADAPTER_HEADERS)
+list(SORT DATATYPE_ADAPTER_SOURCES)
+
 add_library(datatype_adapters ${DATATYPE_ADAPTER_SOURCES} ${DATATYPE_ADAPTER_HEADERS})
 source_group(Headers FILES ${DATATYPE_ADAPTER_HEADERS})
 add_dependencies(datatype_adapters glog-${glog_RELEASE})
 target_link_libraries(datatype_adapters data_type_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES})
-

src/algorithms/data_type_adapter/gnuradio_blocks/CMakeLists.txt

@@ -23,14 +23,21 @@ set(DATA_TYPE_GR_BLOCKS_SOURCES
      interleaved_byte_to_complex_short.cc
 )
 
+set(DATA_TYPE_GR_BLOCKS_HEADERS 
+     interleaved_byte_to_complex_byte.h
+     interleaved_short_to_complex_short.h
+     interleaved_byte_to_complex_short.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
      ${VOLK_INCLUDE_DIRS}
 )
 
-file(GLOB DATA_TYPE_GR_BLOCKS_HEADERS "*.h")
 list(SORT DATA_TYPE_GR_BLOCKS_HEADERS)
+list(SORT DATA_TYPE_GR_BLOCKS_SOURCES)
+
 add_library(data_type_gr_blocks ${DATA_TYPE_GR_BLOCKS_SOURCES} ${DATA_TYPE_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${DATA_TYPE_GR_BLOCKS_HEADERS})
 target_link_libraries(data_type_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${VOLK_LIBRARIES})

src/algorithms/input_filter/adapters/CMakeLists.txt

@@ -25,6 +25,15 @@ set(INPUT_FILTER_ADAPTER_SOURCES
      notch_filter_lite.cc
 )
 
+set(INPUT_FILTER_ADAPTER_HEADERS 
+     fir_filter.h
+     freq_xlating_fir_filter.h
+     beamformer_filter.h
+     pulse_blanking_filter.h
+     notch_filter.h
+     notch_filter_lite.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -41,8 +50,9 @@ if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
      add_definitions( -DGR_GREATER_38=1 )
 endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
 
-file(GLOB INPUT_FILTER_ADAPTER_HEADERS "*.h")
 list(SORT INPUT_FILTER_ADAPTER_HEADERS)
+list(SORT INPUT_FILTER_ADAPTER_SOURCES)
+
 add_library(input_filter_adapters ${INPUT_FILTER_ADAPTER_SOURCES} ${INPUT_FILTER_ADAPTER_HEADERS})
 source_group(Headers FILES ${INPUT_FILTER_ADAPTER_HEADERS})
 add_dependencies(input_filter_adapters glog-${glog_RELEASE} gnss_sp_libs)

src/algorithms/input_filter/gnuradio_blocks/CMakeLists.txt

@@ -24,6 +24,13 @@ set(INPUT_FILTER_GR_BLOCKS_SOURCES
      notch_lite_cc.cc
 )
 
+set(INPUT_FILTER_GR_BLOCKS_HEADERS
+     beamformer.h
+     pulse_blanking_cc.h
+     notch_cc.h
+     notch_lite_cc.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
@@ -33,8 +40,9 @@ include_directories(
      ${GFlags_INCLUDE_DIRS}
 )
 
-file(GLOB INPUT_FILTER_GR_BLOCKS_HEADERS "*.h")
 list(SORT INPUT_FILTER_GR_BLOCKS_HEADERS)
+list(SORT INPUT_FILTER_GR_BLOCKS_SOURCES)
+
 add_library(input_filter_gr_blocks ${INPUT_FILTER_GR_BLOCKS_SOURCES} ${INPUT_FILTER_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${INPUT_FILTER_GR_BLOCKS_HEADERS})
 

src/algorithms/libs/CMakeLists.txt

@@ -18,14 +18,12 @@
 
 add_subdirectory(rtklib)
 
-if(ENABLE_FPGA)
 set(GNSS_SPLIBS_SOURCES
         gps_l2c_signal.cc
         gps_l5_signal.cc
         galileo_e1_signal_processing.cc
         gnss_sdr_valve.cc
         gnss_sdr_sample_counter.cc
-        gnss_sdr_time_counter.cc
         gnss_signal_processing.cc
         gps_sdr_signal_processing.cc
         glonass_l1_signal_processing.cc
@@ -40,30 +38,43 @@ if(ENABLE_FPGA)
         conjugate_cc.cc
         conjugate_sc.cc
         conjugate_ic.cc
+)
+
+set(GNSS_SPLIBS_HEADERS
+        gps_l2c_signal.h
+        gps_l5_signal.h
+        galileo_e1_signal_processing.h
+        gnss_sdr_valve.h
+        gnss_sdr_sample_counter.h
+        gnss_signal_processing.h
+        gps_sdr_signal_processing.h
+        glonass_l1_signal_processing.h
+        glonass_l2_signal_processing.h
+        pass_through.h
+        galileo_e5_signal_processing.h
+        complex_byte_to_float_x2.h
+        byte_x2_to_complex_byte.h
+        cshort_to_float_x2.h
+        short_x2_to_cshort.h
+        complex_float_to_complex_byte.h
+        conjugate_cc.h
+        conjugate_sc.h
+        conjugate_ic.h
+        gnss_circular_deque.h
+)
+
+
+if(ENABLE_FPGA)
+    set(GNSS_SPLIBS_SOURCES ${GNSS_SPLIBS_SOURCES}
+        gnss_sdr_time_counter.cc
         gnss_sdr_fpga_sample_counter.cc
 	)
-else(ENABLE_FPGA)
+
-    set(GNSS_SPLIBS_SOURCES
+    set(GNSS_SPLIBS_HEADERS ${GNSS_SPLIBS_HEADERS}
-        gps_l2c_signal.cc
+        gnss_sdr_time_counter.h
-        gps_l5_signal.cc
+        gnss_sdr_fpga_sample_counter.h
-        galileo_e1_signal_processing.cc
-        gnss_sdr_valve.cc
-        gnss_sdr_sample_counter.cc
-        gnss_signal_processing.cc
-        gps_sdr_signal_processing.cc
-        glonass_l1_signal_processing.cc
-        glonass_l2_signal_processing.cc
-        pass_through.cc
-        galileo_e5_signal_processing.cc
-        complex_byte_to_float_x2.cc
-        byte_x2_to_complex_byte.cc
-        cshort_to_float_x2.cc
-        short_x2_to_cshort.cc
-        complex_float_to_complex_byte.cc
-        conjugate_cc.cc
-        conjugate_sc.cc
-        conjugate_ic.cc
 	)
+	
 endif(ENABLE_FPGA)
 
 if(OPENCL_FOUND)
@@ -72,6 +83,12 @@ if(OPENCL_FOUND)
                             opencl/fft_setup.cc # Needs OpenCL
                             opencl/fft_kernelstring.cc # Needs OpenCL
     )
+       
+    set(GNSS_SPLIBS_HEADERS ${GNSS_SPLIBS_HEADERS}
+                            opencl/fft_execute.h # Needs OpenCL
+                            opencl/fft_setup.h # Needs OpenCL
+                            opencl/fft_kernelstring.h # Needs OpenCL
+    )       
 endif(OPENCL_FOUND)
 
 include_directories(
@@ -99,9 +116,9 @@ endif(OPENCL_FOUND)
 
 add_definitions(-DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}")
 
-file(GLOB GNSS_SPLIBS_HEADERS "*.h")
-list(REMOVE_ITEM GNSS_SPLIBS_HEADERS gnss_sdr_flags.h)
 list(SORT GNSS_SPLIBS_HEADERS)
+list(SORT GNSS_SPLIBS_SOURCES)
+
 add_library(gnss_sp_libs ${GNSS_SPLIBS_SOURCES} ${GNSS_SPLIBS_HEADERS})
 source_group(Headers FILES ${GNSS_SPLIBS_HEADERS})
 

src/algorithms/libs/rtklib/CMakeLists.txt

@@ -38,6 +38,27 @@ set(RTKLIB_LIB_SOURCES
      rtklib_rtcm3.cc
 )
 
+set(RTKLIB_LIB_HEADERS
+     rtklib_rtkcmn.h
+     rtklib_ephemeris.h
+     rtklib_preceph.h
+     rtklib_sbas.h
+     rtklib_ionex.h
+     rtklib_pntpos.h
+     rtklib_ppp.h
+     rtklib_tides.h
+     rtklib_lambda.h
+     rtklib_rtkpos.h
+     rtklib_conversions.h
+     rtklib_stream.h
+     rtklib_rtksvr.h
+     rtklib_solution.h
+     rtklib_rtcm.h
+     rtklib_rtcm2.h
+     rtklib_rtcm3.h
+     rtklib.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -48,8 +69,10 @@ include_directories(
      ${GLOG_INCLUDE_DIRS}
 )
 
-file(GLOB RTKLIB_LIB_HEADERS "*.h")
+
 list(SORT RTKLIB_LIB_HEADERS)
+list(SORT RTKLIB_LIB_SOURCES)
+
 add_library(rtklib_lib ${RTKLIB_LIB_SOURCES} ${RTKLIB_LIB_HEADERS})
 source_group(Headers FILES ${RTKLIB_LIB_HEADERS})
 add_dependencies(rtklib_lib glog-${glog_RELEASE})

src/algorithms/libs/rtklib/rtklib_ppp.cc

@@ -673,277 +673,6 @@ void pppoutsolstat(rtk_t *rtk, int level, FILE *fp)
 }
 
 
-/* solar/lunar tides (ref [2] 7) ---------------------------------------------*/
-void tide_pl(const double *eu, const double *rp, double GMp,
-    const double *pos, double *dr)
-{
-    const double H3 = 0.292, L3 = 0.015;
-    double r, ep[3], latp, lonp, p, K2, K3, a, H2, L2, dp, du, cosp, sinl, cosl;
-    int i;
-
-    trace(4, "tide_pl : pos=%.3f %.3f\n", pos[0] * R2D, pos[1] * R2D);
-
-    if ((r = norm_rtk(rp, 3)) <= 0.0) return;
-
-    for (i = 0; i < 3; i++) ep[i] = rp[i] / r;
-
-    K2 = GMp / GME * std::pow(RE_WGS84, 2.0) * std::pow(RE_WGS84, 2.0) / (r * r * r);
-    K3 = K2 * RE_WGS84 / r;
-    latp = asin(ep[2]);
-    lonp = atan2(ep[1], ep[0]);
-    cosp = cos(latp);
-    sinl = sin(pos[0]);
-    cosl = cos(pos[0]);
-
-    /* step1 in phase (degree 2) */
-    p = (3.0 * sinl * sinl - 1.0) / 2.0;
-    H2 = 0.6078 - 0.0006 * p;
-    L2 = 0.0847 + 0.0002 * p;
-    a = dot(ep, eu, 3);
-    dp = K2 * 3.0 * L2 * a;
-    du = K2 * (H2 * (1.5 * a * a - 0.5) - 3.0 * L2 * a * a);
-
-    /* step1 in phase (degree 3) */
-    dp += K3 * L3 * (7.5 * a * a - 1.5);
-    du += K3 * (H3 * (2.5 * a * a * a - 1.5 * a) - L3 * (7.5 * a * a - 1.5) * a);
-
-    /* step1 out-of-phase (only radial) */
-    du += 3.0 / 4.0 * 0.0025 * K2 * sin(2.0 * latp) * sin(2.0 * pos[0]) * sin(pos[1] - lonp);
-    du += 3.0 / 4.0 * 0.0022 * K2 * cosp * cosp * cosl * cosl * sin(2.0 * (pos[1] - lonp));
-
-    dr[0] = dp * ep[0] + du * eu[0];
-    dr[1] = dp * ep[1] + du * eu[1];
-    dr[2] = dp * ep[2] + du * eu[2];
-
-    trace(5, "tide_pl : dr=%.3f %.3f %.3f\n", dr[0], dr[1], dr[2]);
-}
-
-
-/* displacement by solid earth tide (ref [2] 7) ------------------------------*/
-void tide_solid(const double *rsun, const double *rmoon,
-    const double *pos, const double *E, double gmst, int opt,
-    double *dr)
-{
-    double dr1[3], dr2[3], eu[3], du, dn, sinl, sin2l;
-
-    trace(3, "tide_solid: pos=%.3f %.3f opt=%d\n", pos[0] * R2D, pos[1] * R2D, opt);
-
-    /* step1: time domain */
-    eu[0] = E[2];
-    eu[1] = E[5];
-    eu[2] = E[8];
-    tide_pl(eu, rsun, GMS, pos, dr1);
-    tide_pl(eu, rmoon, GMM, pos, dr2);
-
-    /* step2: frequency domain, only K1 radial */
-    sin2l = sin(2.0 * pos[0]);
-    du = -0.012 * sin2l * sin(gmst + pos[1]);
-
-    dr[0] = dr1[0] + dr2[0] + du * E[2];
-    dr[1] = dr1[1] + dr2[1] + du * E[5];
-    dr[2] = dr1[2] + dr2[2] + du * E[8];
-
-    /* eliminate permanent deformation */
-    if (opt & 8)
-        {
-            sinl = sin(pos[0]);
-            du = 0.1196 * (1.5 * sinl * sinl - 0.5);
-            dn = 0.0247 * sin2l;
-            dr[0] += du * E[2] + dn * E[1];
-            dr[1] += du * E[5] + dn * E[4];
-            dr[2] += du * E[8] + dn * E[7];
-        }
-    trace(5, "tide_solid: dr=%.3f %.3f %.3f\n", dr[0], dr[1], dr[2]);
-}
-
-
-/* displacement by ocean tide loading (ref [2] 7) ----------------------------*/
-void tide_oload(gtime_t tut, const double *odisp, double *denu)
-{
-    const double args[][5] = {
-        {1.40519E-4, 2.0, -2.0, 0.0, 0.00},  /* M2 */
-        {1.45444E-4, 0.0, 0.0, 0.0, 0.00},   /* S2 */
-        {1.37880E-4, 2.0, -3.0, 1.0, 0.00},  /* N2 */
-        {1.45842E-4, 2.0, 0.0, 0.0, 0.00},   /* K2 */
-        {0.72921E-4, 1.0, 0.0, 0.0, 0.25},   /* K1 */
-        {0.67598E-4, 1.0, -2.0, 0.0, -0.25}, /* O1 */
-        {0.72523E-4, -1.0, 0.0, 0.0, -0.25}, /* P1 */
-        {0.64959E-4, 1.0, -3.0, 1.0, -0.25}, /* Q1 */
-        {0.53234E-5, 0.0, 2.0, 0.0, 0.00},   /* Mf */
-        {0.26392E-5, 0.0, 1.0, -1.0, 0.00},  /* Mm */
-        {0.03982E-5, 2.0, 0.0, 0.0, 0.00}    /* Ssa */
-    };
-    const double ep1975[] = {1975, 1, 1, 0, 0, 0};
-    double ep[6], fday, days, t, t2, t3, a[5], ang, dp[3] = {0};
-    int i, j;
-
-    trace(3, "tide_oload:\n");
-
-    /* angular argument: see subroutine arg.f for reference [1] */
-    time2epoch(tut, ep);
-    fday = ep[3] * 3600.0 + ep[4] * 60.0 + ep[5];
-    ep[3] = ep[4] = ep[5] = 0.0;
-    days = timediff(epoch2time(ep), epoch2time(ep1975)) / 86400.0;
-    t = (27392.500528 + 1.000000035 * days) / 36525.0;
-    t2 = t * t;
-    t3 = t2 * t;
-
-    a[0] = fday;
-    a[1] = (279.69668 + 36000.768930485 * t + 3.03E-4 * t2) * D2R;                 /* H0 */
-    a[2] = (270.434358 + 481267.88314137 * t - 0.001133 * t2 + 1.9E-6 * t3) * D2R; /* S0 */
-    a[3] = (334.329653 + 4069.0340329577 * t - 0.010325 * t2 - 1.2E-5 * t3) * D2R; /* P0 */
-    a[4] = 2.0 * PI;
-
-    /* displacements by 11 constituents */
-    for (i = 0; i < 11; i++)
-        {
-            ang = 0.0;
-            for (j = 0; j < 5; j++) ang += a[j] * args[i][j];
-            for (j = 0; j < 3; j++) dp[j] += odisp[j + i * 6] * cos(ang - odisp[j + 3 + i * 6] * D2R);
-        }
-    denu[0] = -dp[1];
-    denu[1] = -dp[2];
-    denu[2] = dp[0];
-
-    trace(5, "tide_oload: denu=%.3f %.3f %.3f\n", denu[0], denu[1], denu[2]);
-}
-
-
-/* iers mean pole (ref [7] eq.7.25) ------------------------------------------*/
-void iers_mean_pole(gtime_t tut, double *xp_bar, double *yp_bar)
-{
-    const double ep2000[] = {2000, 1, 1, 0, 0, 0};
-    double y, y2, y3;
-
-    y = timediff(tut, epoch2time(ep2000)) / 86400.0 / 365.25;
-
-    if (y < 3653.0 / 365.25)
-        { /* until 2010.0 */
-            y2 = y * y;
-            y3 = y2 * y;
-            *xp_bar = 55.974 + 1.8243 * y + 0.18413 * y2 + 0.007024 * y3; /* (mas) */
-            *yp_bar = 346.346 + 1.7896 * y - 0.10729 * y2 - 0.000908 * y3;
-        }
-    else
-        {                                  /* after 2010.0 */
-            *xp_bar = 23.513 + 7.6141 * y; /* (mas) */
-            *yp_bar = 358.891 - 0.6287 * y;
-        }
-}
-
-
-/* displacement by pole tide (ref [7] eq.7.26) --------------------------------*/
-void tide_pole(gtime_t tut, const double *pos, const double *erpv,
-    double *denu)
-{
-    double xp_bar, yp_bar, m1, m2, cosl, sinl;
-
-    trace(3, "tide_pole: pos=%.3f %.3f\n", pos[0] * R2D, pos[1] * R2D);
-
-    /* iers mean pole (mas) */
-    iers_mean_pole(tut, &xp_bar, &yp_bar);
-
-    /* ref [7] eq.7.24 */
-    m1 = erpv[0] / AS2R - xp_bar * 1E-3; /* (as) */
-    m2 = -erpv[1] / AS2R + yp_bar * 1E-3;
-
-    /* sin(2*theta) = sin(2*phi), cos(2*theta)=-cos(2*phi) */
-    cosl = cos(pos[1]);
-    sinl = sin(pos[1]);
-    denu[0] = 9E-3 * sin(pos[0]) * (m1 * sinl - m2 * cosl);         /* de= Slambda (m) */
-    denu[1] = -9E-3 * cos(2.0 * pos[0]) * (m1 * cosl + m2 * sinl);  /* dn=-Stheta  (m) */
-    denu[2] = -33E-3 * sin(2.0 * pos[0]) * (m1 * cosl + m2 * sinl); /* du= Sr      (m) */
-
-    trace(5, "tide_pole : denu=%.3f %.3f %.3f\n", denu[0], denu[1], denu[2]);
-}
-
-
-/* tidal displacement ----------------------------------------------------------
- * displacements by earth tides
- * args   : gtime_t tutc     I   time in utc
- *          double *rr       I   site position (ecef) (m)
- *          int    opt       I   options (or of the followings)
- *                                 1: solid earth tide
- *                                 2: ocean tide loading
- *                                 4: pole tide
- *                                 8: elimate permanent deformation
- *          double *erp      I   earth rotation parameters (NULL: not used)
- *          double *odisp    I   ocean loading parameters  (NULL: not used)
- *                                 odisp[0+i*6]: consituent i amplitude radial(m)
- *                                 odisp[1+i*6]: consituent i amplitude west  (m)
- *                                 odisp[2+i*6]: consituent i amplitude south (m)
- *                                 odisp[3+i*6]: consituent i phase radial  (deg)
- *                                 odisp[4+i*6]: consituent i phase west    (deg)
- *                                 odisp[5+i*6]: consituent i phase south   (deg)
- *                                (i=0:M2,1:S2,2:N2,3:K2,4:K1,5:O1,6:P1,7:Q1,
- *                                   8:Mf,9:Mm,10:Ssa)
- *          double *dr       O   displacement by earth tides (ecef) (m)
- * return : none
- * notes  : see ref [1], [2] chap 7
- *          see ref [4] 5.2.1, 5.2.2, 5.2.3
- *          ver.2.4.0 does not use ocean loading and pole tide corrections
- *-----------------------------------------------------------------------------*/
-void tidedisp(gtime_t tutc, const double *rr, int opt, const erp_t *erp,
-    const double *odisp, double *dr)
-{
-    gtime_t tut;
-    double pos[2], E[9], drt[3], denu[3], rs[3], rm[3], gmst, erpv[5] = {0};
-    int i;
-#ifdef IERS_MODEL
-    double ep[6], fhr;
-    int year, mon, day;
-#endif
-
-    trace(3, "tidedisp: tutc=%s\n", time_str(tutc, 0));
-
-    if (erp) geterp(erp, tutc, erpv);
-
-    tut = timeadd(tutc, erpv[2]);
-
-    dr[0] = dr[1] = dr[2] = 0.0;
-
-    if (norm_rtk(rr, 3) <= 0.0) return;
-
-    pos[0] = asin(rr[2] / norm_rtk(rr, 3));
-    pos[1] = atan2(rr[1], rr[0]);
-    xyz2enu(pos, E);
-
-    if (opt & 1)
-        { /* solid earth tides */
-
-            /* sun and moon position in ecef */
-            sunmoonpos(tutc, erpv, rs, rm, &gmst);
-
-#ifdef IERS_MODEL
-            time2epoch(tutc, ep);
-            year = (int)ep[0];
-            mon = (int)ep[1];
-            day = (int)ep[2];
-            fhr = ep[3] + ep[4] / 60.0 + ep[5] / 3600.0;
-
-            /* call DEHANTTIDEINEL */
-            dehanttideinel_((double *)rr, &year, &mon, &day, &fhr, rs, rm, drt);
-#else
-            tide_solid(rs, rm, pos, E, gmst, opt, drt);
-#endif
-            for (i = 0; i < 3; i++) dr[i] += drt[i];
-        }
-    if ((opt & 2) && odisp)
-        { /* ocean tide loading */
-            tide_oload(tut, odisp, denu);
-            matmul("TN", 3, 1, 3, 1.0, E, denu, 0.0, drt);
-            for (i = 0; i < 3; i++) dr[i] += drt[i];
-        }
-    if ((opt & 4) && erp)
-        { /* pole tide */
-            tide_pole(tut, pos, erpv, denu);
-            matmul("TN", 3, 1, 3, 1.0, E, denu, 0.0, drt);
-            for (i = 0; i < 3; i++) dr[i] += drt[i];
-        }
-    trace(5, "tidedisp: dr=%.3f %.3f %.3f\n", dr[0], dr[1], dr[2]);
-}
-
-
 /* exclude meas of eclipsing satellite (block IIA) ---------------------------*/
 void testeclipse(const obsd_t *obs, int n, const nav_t *nav, double *rs)
 {

src/algorithms/libs/rtklib/rtklib_ppp.h

@@ -129,21 +129,6 @@ int pppamb(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav, const double
 /* functions originally included in RTKLIB/src/ppp.c v2.4.2 */
 void pppoutsolstat(rtk_t *rtk, int level, FILE *fp);
 
-void tide_pl(const double *eu, const double *rp, double GMp, const double *pos, double *dr);
-
-void tide_solid(const double *rsun, const double *rmoon,
-    const double *pos, const double *E, double gmst, int opt,
-    double *dr);
-
-void tide_oload(gtime_t tut, const double *odisp, double *denu);
-
-void iers_mean_pole(gtime_t tut, double *xp_bar, double *yp_bar);
-
-void tide_pole(gtime_t tut, const double *pos, const double *erpv, double *denu);
-
-void tidedisp(gtime_t tutc, const double *rr, int opt, const erp_t *erp,
-    const double *odisp, double *dr);
-
 void testeclipse(const obsd_t *obs, int n, const nav_t *nav, double *rs);
 
 double varerr(int sat, int sys, double el, int type, const prcopt_t *opt);

src/algorithms/observables/adapters/CMakeLists.txt

@@ -20,6 +20,10 @@ set(OBS_ADAPTER_SOURCES
 	hybrid_observables.cc
 )
 
+set(OBS_ADAPTER_HEADERS
+	hybrid_observables.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -33,8 +37,6 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB OBS_ADAPTER_HEADERS "*.h")
-list(SORT OBS_ADAPTER_HEADERS)
 add_library(obs_adapters ${OBS_ADAPTER_SOURCES} ${OBS_ADAPTER_HEADERS})
 source_group(Headers FILES ${OBS_ADAPTER_HEADERS})
 target_link_libraries(obs_adapters obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES})

src/algorithms/observables/gnuradio_blocks/CMakeLists.txt

@@ -20,6 +20,10 @@ set(OBS_GR_BLOCKS_SOURCES
 	hybrid_observables_cc.cc
 )
 
+set(OBS_GR_BLOCKS_HEADERS 
+	hybrid_observables_cc.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -34,8 +38,6 @@ include_directories(
      ${MATIO_INCLUDE_DIRS}
 )
 
-file(GLOB OBS_GR_BLOCKS_HEADERS "*.h")
-list(SORT OBS_GR_BLOCKS_HEADERS)
 add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS})
 if(MATIO_FOUND)

src/algorithms/resampler/adapters/CMakeLists.txt

@@ -21,6 +21,12 @@ set(RESAMPLER_ADAPTER_SOURCES
         mmse_resampler_conditioner.cc
 )
 
+
+set(RESAMPLER_ADAPTER_HEADERS
+        direct_resampler_conditioner.h
+        mmse_resampler_conditioner.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/interfaces
@@ -36,9 +42,9 @@ if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
      add_definitions( -DGR_GREATER_38=1 )
 endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
 
-
-file(GLOB RESAMPLER_ADAPTER_HEADERS "*.h")
 list(SORT RESAMPLER_ADAPTER_HEADERS)
+list(SORT RESAMPLER_ADAPTER_SOURCES)
+
 add_library(resampler_adapters ${RESAMPLER_ADAPTER_SOURCES} ${RESAMPLER_ADAPTER_HEADERS})
 source_group(Headers FILES ${RESAMPLER_ADAPTER_HEADERS})
 target_link_libraries(resampler_adapters resampler_gr_blocks)

src/algorithms/resampler/gnuradio_blocks/CMakeLists.txt

@@ -23,6 +23,12 @@ set(RESAMPLER_GR_BLOCKS_SOURCES
      direct_resampler_conditioner_cb.cc
 )
 
+set(RESAMPLER_GR_BLOCKS_HEADERS 
+     direct_resampler_conditioner_cc.h
+     direct_resampler_conditioner_cs.h
+     direct_resampler_conditioner_cb.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${GLOG_INCLUDE_DIRS}
@@ -31,8 +37,9 @@ include_directories(
      ${VOLK_INCLUDE_DIRS}
 )
 
-file(GLOB RESAMPLER_GR_BLOCKS_HEADERS "*.h")
 list(SORT RESAMPLER_GR_BLOCKS_HEADERS)
+list(SORT RESAMPLER_GR_BLOCKS_SOURCES)
+
 add_library(resampler_gr_blocks ${RESAMPLER_GR_BLOCKS_SOURCES} ${RESAMPLER_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${RESAMPLER_GR_BLOCKS_HEADERS})
 add_dependencies(resampler_gr_blocks glog-${glog_RELEASE})

src/algorithms/signal_generator/adapters/CMakeLists.txt

@@ -17,6 +17,7 @@
 #
 
 set(SIGNAL_GENERATOR_ADAPTER_SOURCES signal_generator.cc)
+set(SIGNAL_GENERATOR_ADAPTER_HEADERS signal_generator.h)
 
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
@@ -30,8 +31,6 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB SIGNAL_GENERATOR_ADAPTER_HEADERS "*.h")
-list(SORT SIGNAL_GENERATOR_ADAPTER_HEADERS)
 add_library(signal_generator_adapters ${SIGNAL_GENERATOR_ADAPTER_SOURCES} ${SIGNAL_GENERATOR_ADAPTER_HEADERS})
 source_group(Headers FILES ${SIGNAL_GENERATOR_ADAPTER_HEADERS})
 target_link_libraries(signal_generator_adapters gnss_sp_libs 

src/algorithms/signal_generator/gnuradio_blocks/CMakeLists.txt

@@ -17,6 +17,7 @@
 #
 
 set(SIGNAL_GENERATOR_BLOCK_SOURCES signal_generator_c.cc)
+set(SIGNAL_GENERATOR_BLOCK_HEADERS signal_generator_c.h)
 
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
@@ -30,8 +31,6 @@ include_directories(
      ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
 
-file(GLOB SIGNAL_GENERATOR_BLOCK_HEADERS "*.h")
-list(SORT SIGNAL_GENERATOR_BLOCK_HEADERS)
 add_library(signal_generator_blocks ${SIGNAL_GENERATOR_BLOCK_SOURCES} ${SIGNAL_GENERATOR_BLOCK_HEADERS})
 source_group(Headers FILES ${SIGNAL_GENERATOR_BLOCK_HEADERS})
 target_link_libraries(signal_generator_blocks gnss_system_parameters gnss_sp_libs
@@ -44,4 +43,4 @@ if(VOLK_GNSSSDR_FOUND)
     # add_dependencies(signal_generator_blocks glog-${glog_RELEASE})
 else(VOLK_GNSSSDR_FOUND)
     add_dependencies(signal_generator_blocks volk_gnsssdr_module)
-endif()
+endif(VOLK_GNSSSDR_FOUND)

src/algorithms/signal_source/adapters/CMakeLists.txt

@@ -16,8 +16,6 @@
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 #
 
-file(GLOB SIGNAL_SOURCE_ADAPTER_HEADERS "*.h")
-list(SORT SIGNAL_SOURCE_ADAPTER_HEADERS)
 
 # Optional drivers
 
@@ -30,6 +28,7 @@ if(ENABLE_RAW_UDP)
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${PCAP_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${PCAP_INCLUDE_DIRS})
     set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} custom_udp_signal_source.cc)
+    set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} custom_udp_signal_source.h)
 endif(ENABLE_RAW_UDP)
 
 if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
@@ -67,6 +66,7 @@ if(ENABLE_PLUTOSDR)
     ##############################################
     if(IIO_FOUND)
         set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} plutosdr_signal_source.cc)
+        set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} plutosdr_signal_source.h)
     endif(IIO_FOUND)
 endif(ENABLE_PLUTOSDR)
 
@@ -77,6 +77,7 @@ if(ENABLE_FMCOMMS2)
     ###############################################
     if(IIO_FOUND)
         set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} fmcomms2_signal_source.cc)
+        set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} fmcomms2_signal_source.h)
     endif(IIO_FOUND)
 endif(ENABLE_FMCOMMS2)
 
@@ -86,6 +87,7 @@ if(ENABLE_AD9361)
     ###############################################
     if(LIBIIO_FOUND)
         set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} ad9361_fpga_signal_source.cc)
+        set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} ad9361_fpga_signal_source.h)
     endif(LIBIIO_FOUND)
 endif(ENABLE_AD9361)
 
@@ -103,6 +105,7 @@ if(ENABLE_GN3S)
      set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GR_GN3S_LIBRARIES})
      set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${GR_GN3S_INCLUDE_DIRS})
      set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} gn3s_signal_source.cc)
+     set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} gn3s_signal_source.h)
 endif(ENABLE_GN3S)
 
 
@@ -123,6 +126,7 @@ if(ENABLE_FLEXIBAND)
      set(OPT_LIBRARIES ${OPT_LIBRARIES} ${TELEORBIT_LIBRARIES})
      set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${FLEXIBAND_DRIVER_INCLUDE_DIRS})
      set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} flexiband_signal_source.cc)
+     set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} flexiband_signal_source.h)
 endif(ENABLE_FLEXIBAND)
 
 
@@ -138,6 +142,7 @@ if(ENABLE_ARRAY)
      set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GR_DBFCTTC_LIBRARIES})
      set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${GR_DBFCTTC_INCLUDE_DIRS})
      set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} raw_array_signal_source.cc)
+     set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} raw_array_signal_source.h)
 endif(ENABLE_ARRAY)
 
 
@@ -156,6 +161,7 @@ if(ENABLE_OSMOSDR)
             ${GROSMOSDR_INCLUDE_DIR}/osmosdr
         )
         set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} osmosdr_signal_source.cc)
+        set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} osmosdr_signal_source.h)
         set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GROSMOSDR_LIBRARIES})
         set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${OSMO_DRIVER_INCLUDE_DIRS})
     endif(NOT GROSMOSDR_FOUND)
@@ -163,10 +169,9 @@ endif(ENABLE_OSMOSDR)
 
 if(ENABLE_UHD AND GNURADIO_UHD_LIBRARIES_gnuradio-uhd)
     set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} uhd_signal_source.cc)
+    set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} uhd_signal_source.h)
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${UHD_LIBRARIES} ${GNURADIO_UHD_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${UHD_INCLUDE_DIRS})
-else(ENABLE_UHD AND GNURADIO_UHD_LIBRARIES_gnuradio-uhd)
-    list(REMOVE_ITEM SIGNAL_SOURCE_ADAPTER_HEADERS ${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/adapters/uhd_signal_source.h)
 endif(ENABLE_UHD AND GNURADIO_UHD_LIBRARIES_gnuradio-uhd)
 
 
@@ -180,10 +185,24 @@ set(SIGNAL_SOURCE_ADAPTER_SOURCES file_signal_source.cc
                                   ${OPT_DRIVER_SOURCES}
 )
 
+set(SIGNAL_SOURCE_ADAPTER_HEADERS file_signal_source.h
+                                  gen_signal_source.h
+                                  nsr_file_signal_source.h
+                                  spir_file_signal_source.h
+                                  spir_gss6450_file_signal_source.h
+                                  rtl_tcp_signal_source.h
+                                  labsat_signal_source.h
+                                  ${OPT_DRIVER_HEADERS}
+)
+
+
 if(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
      set(SIGNAL_SOURCE_ADAPTER_SOURCES ${SIGNAL_SOURCE_ADAPTER_SOURCES}
          two_bit_cpx_file_signal_source.cc
          two_bit_packed_file_signal_source.cc )
+     set(SIGNAL_SOURCE_ADAPTER_HEADERS ${SIGNAL_SOURCE_ADAPTER_HEADERS}
+         two_bit_cpx_file_signal_source.h
+         two_bit_packed_file_signal_source.h )         
 endif(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
 
 include_directories(
@@ -207,6 +226,9 @@ endif(ARCH_64BITS)
 
 add_definitions(-DGNSSSDR_INSTALL_DIR="${CMAKE_INSTALL_PREFIX}")
 
+list(SORT SIGNAL_SOURCE_ADAPTER_HEADERS)
+list(SORT SIGNAL_SOURCE_ADAPTER_SOURCES)
+
 add_library(signal_source_adapters ${SIGNAL_SOURCE_ADAPTER_SOURCES} ${SIGNAL_SOURCE_ADAPTER_HEADERS})
 source_group(Headers FILES ${SIGNAL_SOURCE_ADAPTER_HEADERS})
 target_link_libraries(signal_source_adapters signal_source_gr_blocks

src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt

@@ -26,8 +26,10 @@ if(ENABLE_RAW_UDP)
     set(OPT_LIBRARIES ${OPT_LIBRARIES} ${PCAP_LIBRARIES})
     set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${PCAP_INCLUDE_DIRS})
     set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} gr_complex_ip_packet_source.cc)
+    set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} gr_complex_ip_packet_source.h)
 endif(ENABLE_RAW_UDP)
 
+
 set(SIGNAL_SOURCE_GR_BLOCKS_SOURCES
      unpack_byte_2bit_samples.cc
      unpack_byte_2bit_cpx_samples.cc
@@ -40,6 +42,19 @@ set(SIGNAL_SOURCE_GR_BLOCKS_SOURCES
      ${OPT_DRIVER_SOURCES}
 )
 
+set(SIGNAL_SOURCE_GR_BLOCKS_HEADERS
+     unpack_byte_2bit_samples.h
+     unpack_byte_2bit_cpx_samples.h
+     unpack_byte_4bit_samples.h
+     unpack_intspir_1bit_samples.h
+     rtl_tcp_signal_source_c.h
+     unpack_2bit_samples.h
+     unpack_spir_gss6450_samples.h
+     labsat23_source.h
+     ${OPT_DRIVER_HEADERS}
+)
+
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/algorithms/signal_source/libs
@@ -50,8 +65,9 @@ include_directories(
      ${OPT_DRIVER_INCLUDE_DIRS}
 )
 
-file(GLOB SIGNAL_SOURCE_GR_BLOCKS_HEADERS "*.h")
 list(SORT SIGNAL_SOURCE_GR_BLOCKS_HEADERS)
+list(SORT SIGNAL_SOURCE_GR_BLOCKS_SOURCES)
+
 add_library(signal_source_gr_blocks ${SIGNAL_SOURCE_GR_BLOCKS_SOURCES} ${SIGNAL_SOURCE_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${SIGNAL_SOURCE_GR_BLOCKS_HEADERS})
 target_link_libraries(signal_source_gr_blocks 

src/algorithms/signal_source/libs/CMakeLists.txt

@@ -78,6 +78,8 @@ set(SIGNAL_SOURCE_LIB_HEADERS
 )
 
 list(SORT SIGNAL_SOURCE_LIB_HEADERS)
+list(SORT SIGNAL_SOURCE_LIB_SOURCES)
+
 add_library(signal_source_lib ${SIGNAL_SOURCE_LIB_SOURCES} ${SIGNAL_SOURCE_LIB_HEADERS})
 source_group(Headers FILES ${SIGNAL_SOURCE_LIB_HEADERS})
 target_link_libraries(signal_source_lib ${OPT_LIBRARIES})

src/algorithms/telemetry_decoder/adapters/CMakeLists.txt

@@ -28,6 +28,17 @@ set(TELEMETRY_DECODER_ADAPTER_SOURCES
     glonass_l2_ca_telemetry_decoder.cc 
 )
 
+set(TELEMETRY_DECODER_ADAPTER_HEADERS
+    gps_l1_ca_telemetry_decoder.h
+    gps_l2c_telemetry_decoder.h
+    gps_l5_telemetry_decoder.h 
+    galileo_e1b_telemetry_decoder.h
+    sbas_l1_telemetry_decoder.h
+    galileo_e5a_telemetry_decoder.h
+    glonass_l1_ca_telemetry_decoder.h
+    glonass_l2_ca_telemetry_decoder.h 
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -42,8 +53,9 @@ include_directories(
      ${GNURADIO_RUNTIME_INCLUDE_DIRS}
 )
 
-file(GLOB TELEMETRY_DECODER_ADAPTER_HEADERS "*.h")
 list(SORT TELEMETRY_DECODER_ADAPTER_HEADERS)
+list(SORT TELEMETRY_DECODER_ADAPTER_SOURCES)
+
 add_library(telemetry_decoder_adapters ${TELEMETRY_DECODER_ADAPTER_SOURCES} ${TELEMETRY_DECODER_ADAPTER_HEADERS})
 source_group(Headers FILES ${TELEMETRY_DECODER_ADAPTER_HEADERS})
 target_link_libraries(telemetry_decoder_adapters telemetry_decoder_gr_blocks gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES})

src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt

@@ -26,6 +26,16 @@ set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
      galileo_telemetry_decoder_cc.cc
 )
 
+set(TELEMETRY_DECODER_GR_BLOCKS_HEADERS
+     gps_l1_ca_telemetry_decoder_cc.h
+     gps_l2c_telemetry_decoder_cc.h
+     gps_l5_telemetry_decoder_cc.h
+     sbas_l1_telemetry_decoder_cc.h
+     glonass_l1_ca_telemetry_decoder_cc.h
+     glonass_l2_ca_telemetry_decoder_cc.h
+     galileo_telemetry_decoder_cc.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -39,8 +49,9 @@ include_directories(
      ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
 
-file(GLOB TELEMETRY_DECODER_GR_BLOCKS_HEADERS "*.h")
 list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS)
+list(SORT TELEMETRY_DECODER_GR_BLOCKS_SOURCES)
+
 add_library(telemetry_decoder_gr_blocks ${TELEMETRY_DECODER_GR_BLOCKS_SOURCES} ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
 target_link_libraries(telemetry_decoder_gr_blocks telemetry_decoder_libswiftcnav telemetry_decoder_lib gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES})

src/algorithms/telemetry_decoder/libs/CMakeLists.txt

@@ -22,6 +22,11 @@ set(TELEMETRY_DECODER_LIB_SOURCES
      viterbi_decoder.cc
 )
 
+set(TELEMETRY_DECODER_LIB_HEADERS
+     viterbi_decoder.h
+     convolutional.h
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
      ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -33,9 +38,9 @@ include_directories(
      ${GFlags_INCLUDE_DIRS}
 )
 
-file(GLOB TELEMETRY_DECODER_LIB_HEADERS "*.h")
-
 list(SORT TELEMETRY_DECODER_LIB_HEADERS)
+list(SORT TELEMETRY_DECODER_LIB_SOURCES)
+
 add_library(telemetry_decoder_lib ${TELEMETRY_DECODER_LIB_SOURCES} ${TELEMETRY_DECODER_LIB_HEADERS})
 source_group(Headers FILES ${TELEMETRY_DECODER_LIB_HEADERS})
 target_link_libraries(telemetry_decoder_lib gnss_system_parameters)

src/algorithms/telemetry_decoder/libs/libswiftcnav/CMakeLists.txt

@@ -23,12 +23,20 @@ set(TELEMETRY_DECODER_LIBSWIFTCNAV_SOURCES
      viterbi27.c   
 )
 
+set(TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS 
+     cnav_msg.h
+     bits.h
+     edc.h
+     swift_common.h  
+     fec.h 
+)
+
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
 )
 
-file(GLOB TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS "*.h")
 list(SORT TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS)
+list(SORT TELEMETRY_DECODER_LIBSWIFTCNAV_SOURCES)
 
 add_library(telemetry_decoder_libswiftcnav STATIC ${TELEMETRY_DECODER_LIBSWIFTCNAV_SOURCES} ${TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS})
 source_group(Headers FILES ${TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS})

src/algorithms/tracking/adapters/CMakeLists.txt

@@ -17,12 +17,25 @@
 #
 
 if(ENABLE_CUDA)
-     set(OPT_TRACKING_ADAPTERS ${OPT_TRACKING_ADAPTERS} gps_l1_ca_dll_pll_tracking_gpu.cc)
+     set(OPT_TRACKING_ADAPTERS_SOURCES ${OPT_TRACKING_ADAPTERS_SOURCES} gps_l1_ca_dll_pll_tracking_gpu.cc)
+     set(OPT_TRACKING_ADAPTERS_HEADERS ${OPT_TRACKING_ADAPTERS_HEADERS} gps_l1_ca_dll_pll_tracking_gpu.h)
      set(OPT_TRACKING_INCLUDE_DIRS ${OPT_TRACKING_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS})
 endif(ENABLE_CUDA)
 
 if(ENABLE_FPGA)
-     SET(OPT_TRACKING_ADAPTERS ${OPT_TRACKING_ADAPTERS} gps_l1_ca_dll_pll_tracking_fpga.cc gps_l2_m_dll_pll_tracking_fpga.cc galileo_e1_dll_pll_veml_tracking_fpga.cc galileo_e5a_dll_pll_tracking_fpga.cc gps_l5_dll_pll_tracking_fpga.cc)
+     set(OPT_TRACKING_ADAPTERS_SOURCES ${OPT_TRACKING_ADAPTERS_SOURCES} 
+                                       gps_l1_ca_dll_pll_tracking_fpga.cc
+                                       gps_l2_m_dll_pll_tracking_fpga.cc
+                                       galileo_e1_dll_pll_veml_tracking_fpga.cc
+                                       galileo_e5a_dll_pll_tracking_fpga.cc
+                                       gps_l5_dll_pll_tracking_fpga.cc)
+
+     set(OPT_TRACKING_ADAPTERS_HEADERS ${OPT_TRACKING_ADAPTERS_HEADERS} 
+                                       gps_l1_ca_dll_pll_tracking_fpga.h
+                                       gps_l2_m_dll_pll_tracking_fpga.h
+                                       galileo_e1_dll_pll_veml_tracking_fpga.h
+                                       galileo_e5a_dll_pll_tracking_fpga.h
+                                       gps_l5_dll_pll_tracking_fpga.h)                       
 endif(ENABLE_FPGA)
 
 set(TRACKING_ADAPTER_SOURCES
@@ -39,7 +52,24 @@ set(TRACKING_ADAPTER_SOURCES
      gps_l5_dll_pll_tracking.cc
      glonass_l2_ca_dll_pll_tracking.cc
      glonass_l2_ca_dll_pll_c_aid_tracking.cc
-     ${OPT_TRACKING_ADAPTERS}
+     ${OPT_TRACKING_ADAPTERS_SOURCES}
+)
+
+set(TRACKING_ADAPTER_HEADERS
+     galileo_e1_dll_pll_veml_tracking.h
+     galileo_e1_tcp_connector_tracking.h
+     gps_l1_ca_dll_pll_tracking.h
+     gps_l1_ca_dll_pll_c_aid_tracking.h
+     gps_l1_ca_tcp_connector_tracking.h
+     galileo_e5a_dll_pll_tracking.h
+     gps_l2_m_dll_pll_tracking.h
+     glonass_l1_ca_dll_pll_tracking.h
+     glonass_l1_ca_dll_pll_c_aid_tracking.h
+     gps_l1_ca_kf_tracking.h
+     gps_l5_dll_pll_tracking.h
+     glonass_l2_ca_dll_pll_tracking.h
+     glonass_l2_ca_dll_pll_c_aid_tracking.h
+     ${OPT_TRACKING_ADAPTERS_HEADERS}
 )
 
 include_directories(
@@ -58,8 +88,9 @@ include_directories(
      ${OPT_TRACKING_INCLUDE_DIRS}
 )
 
-file(GLOB TRACKING_ADAPTER_HEADERS "*.h")
 list(SORT TRACKING_ADAPTER_HEADERS)
+list(SORT TRACKING_ADAPTER_SOURCES)
+
 add_library(tracking_adapters ${TRACKING_ADAPTER_SOURCES} ${TRACKING_ADAPTER_HEADERS})
 source_group(Headers FILES ${TRACKING_ADAPTER_HEADERS})
 target_link_libraries(tracking_adapters tracking_gr_blocks gnss_sp_libs gnss_sdr_flags)

src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt

@@ -17,13 +17,15 @@
 #
 
 if(ENABLE_CUDA)
-     set(OPT_TRACKING_BLOCKS ${OPT_TRACKING_BLOCKS} gps_l1_ca_dll_pll_tracking_gpu_cc.cc)
+     set(OPT_TRACKING_BLOCKS_SOURCES ${OPT_TRACKING_BLOCKS_SOURCES} gps_l1_ca_dll_pll_tracking_gpu_cc.cc)
+     set(OPT_TRACKING_BLOCKS_HEADERS ${OPT_TRACKING_BLOCKS_HEADERS} gps_l1_ca_dll_pll_tracking_gpu_cc.h)
      set(OPT_TRACKING_INCLUDES ${OPT_TRACKING_INCLUDES} ${CUDA_INCLUDE_DIRS})
      set(OPT_TRACKING_LIBRARIES ${OPT_TRACKING_LIBRARIES} ${CUDA_LIBRARIES})
 endif(ENABLE_CUDA)
 
 if(ENABLE_FPGA)
-     set(OPT_TRACKING_BLOCKS ${OPT_TRACKING_BLOCKS} dll_pll_veml_tracking_fpga.cc)
+     set(OPT_TRACKING_BLOCKS_SOURCES ${OPT_TRACKING_BLOCKS_SOURCES} dll_pll_veml_tracking_fpga.cc)
+     set(OPT_TRACKING_BLOCKS_HEADERS ${OPT_TRACKING_BLOCKS_HEADERS} dll_pll_veml_tracking_fpga.h)
 endif(ENABLE_FPGA)
 
 set(TRACKING_GR_BLOCKS_SOURCES
@@ -39,7 +41,23 @@ set(TRACKING_GR_BLOCKS_SOURCES
      glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
      glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
      dll_pll_veml_tracking.cc
-     ${OPT_TRACKING_BLOCKS}
+     ${OPT_TRACKING_BLOCKS_SOURCES}
+)
+
+set(TRACKING_GR_BLOCKS_HEADERS
+     galileo_e1_tcp_connector_tracking_cc.h
+     gps_l1_ca_tcp_connector_tracking_cc.h
+     gps_l1_ca_dll_pll_c_aid_tracking_cc.h
+     gps_l1_ca_dll_pll_c_aid_tracking_sc.h
+     glonass_l1_ca_dll_pll_tracking_cc.h
+     glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
+     glonass_l1_ca_dll_pll_c_aid_tracking_sc.h
+     gps_l1_ca_kf_tracking_cc.h  
+     glonass_l2_ca_dll_pll_tracking_cc.h
+     glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
+     glonass_l2_ca_dll_pll_c_aid_tracking_sc.h
+     dll_pll_veml_tracking.h
+     ${OPT_TRACKING_BLOCKS_HEADERS}
 )
 
 include_directories(
@@ -63,8 +81,9 @@ if(ENABLE_GENERIC_ARCH)
     add_definitions( -DGENERIC_ARCH=1 )
 endif(ENABLE_GENERIC_ARCH)
 
-file(GLOB TRACKING_GR_BLOCKS_HEADERS "*.h")
 list(SORT TRACKING_GR_BLOCKS_HEADERS)
+list(SORT TRACKING_GR_BLOCKS_SOURCES)
+
 add_library(tracking_gr_blocks ${TRACKING_GR_BLOCKS_SOURCES} ${TRACKING_GR_BLOCKS_HEADERS})
 source_group(Headers FILES ${TRACKING_GR_BLOCKS_HEADERS})
 

src/algorithms/tracking/libs/CMakeLists.txt

@@ -30,7 +30,6 @@ if(ENABLE_CUDA)
 endif(ENABLE_CUDA)
 
 
-
 set(TRACKING_LIB_SOURCES
      cpu_multicorrelator.cc
      cpu_multicorrelator_real_codes.cc
@@ -47,8 +46,25 @@ set(TRACKING_LIB_SOURCES
      bayesian_estimation.cc
 )
 
+set(TRACKING_LIB_HEADERS
+     cpu_multicorrelator.h
+     cpu_multicorrelator_real_codes.h
+     cpu_multicorrelator_16sc.h
+     lock_detectors.h
+     tcp_communication.h
+     tcp_packet_data.h
+     tracking_2nd_DLL_filter.h
+     tracking_2nd_PLL_filter.h
+     tracking_discriminators.h
+     tracking_FLL_PLL_filter.h
+     tracking_loop_filter.h
+     dll_pll_conf.h
+     bayesian_estimation.h
+)
+
 if(ENABLE_FPGA)
-    SET(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc)
+    set(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc)
+    set(TRACKING_LIB_HEADERS ${TRACKING_LIB_HEADERS} fpga_multicorrelator.h dll_pll_conf_fpga.h)
 endif(ENABLE_FPGA)
 
 include_directories(
@@ -74,8 +90,9 @@ if (SSE3_AVAILABLE)
 endif(SSE3_AVAILABLE)
 
 
-file(GLOB TRACKING_LIB_HEADERS "*.h")
 list(SORT TRACKING_LIB_HEADERS)
+list(SORT TRACKING_LIB_SOURCES)
+
 add_library(tracking_lib ${TRACKING_LIB_SOURCES} ${TRACKING_LIB_HEADERS})
 source_group(Headers FILES ${TRACKING_LIB_HEADERS})
 target_link_libraries(tracking_lib ${OPT_TRACKING_LIBRARIES} ${VOLK_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${Boost_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})

src/core/libs/CMakeLists.txt

@@ -29,6 +29,13 @@ set(CORE_LIBS_SOURCES
     gnss_sdr_supl_client.cc
 )
 
+set(CORE_LIBS_HEADERS 
+    ini.h
+    INIReader.h
+    string_converter.h
+    gnss_sdr_supl_client.h
+)
+	
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -40,8 +47,9 @@ include_directories(
     ${Boost_INCLUDE_DIRS}
 )
 
-file(GLOB CORE_LIBS_HEADERS "*.h")
 list(SORT CORE_LIBS_HEADERS)
+list(SORT CORE_LIBS_SOURCES)
+
 add_library(rx_core_lib ${CORE_LIBS_SOURCES} ${CORE_LIBS_HEADERS})
 source_group(Headers FILES ${CORE_LIBS_HEADERS})
 target_link_libraries(rx_core_lib supl_library) 

src/core/libs/gnss_sdr_supl_client.cc

@@ -370,13 +370,13 @@ void gnss_sdr_supl_client::read_supl_data()
 
 bool gnss_sdr_supl_client::load_ephemeris_xml(const std::string file_name)
 {
+    std::ifstream ifs;
     try
         {
-            std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
             boost::archive::xml_iarchive xml(ifs);
             gps_ephemeris_map.clear();
             xml >> boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", this->gps_ephemeris_map);
-            ifs.close();
             LOG(INFO) << "Loaded Ephemeris map data with " << this->gps_ephemeris_map.size() << " satellites";
         }
     catch (std::exception& e)
@@ -392,12 +392,12 @@ bool gnss_sdr_supl_client::save_ephemeris_map_xml(const std::string file_name, s
 {
     if (eph_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
-                    ofs.close();
                     LOG(INFO) << "Saved Ephemeris map data";
                 }
             catch (std::exception& e)
@@ -405,24 +405,24 @@ bool gnss_sdr_supl_client::save_ephemeris_map_xml(const std::string file_name, s
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;
         }
     else
         {
             LOG(WARNING) << "Failed to save Ephemeris, map is empty";
             return false;
         }
+    return true;
 }
 
 
 bool gnss_sdr_supl_client::load_utc_xml(const std::string file_name)
 {
+    std::ifstream ifs;
     try
         {
-            std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
             boost::archive::xml_iarchive xml(ifs);
             xml >> boost::serialization::make_nvp("GNSS-SDR_utc_map", this->gps_utc);
-            ifs.close();
             LOG(INFO) << "Loaded UTC model data";
         }
     catch (std::exception& e)
@@ -438,12 +438,12 @@ bool gnss_sdr_supl_client::save_utc_map_xml(const std::string file_name, std::ma
 {
     if (utc_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_utc_map", utc_map);
-                    ofs.close();
                     LOG(INFO) << "Saved UTC Model data";
                 }
             catch (std::exception& e)
@@ -451,24 +451,24 @@ bool gnss_sdr_supl_client::save_utc_map_xml(const std::string file_name, std::ma
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;
         }
     else
         {
             LOG(WARNING) << "Failed to save UTC model, map is empty";
             return false;
         }
+    return true;
 }
 
 
 bool gnss_sdr_supl_client::load_iono_xml(const std::string file_name)
 {
+    std::ifstream ifs;
     try
         {
-            std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
             boost::archive::xml_iarchive xml(ifs);
             xml >> boost::serialization::make_nvp("GNSS-SDR_iono_map", this->gps_iono);
-            ifs.close();
             LOG(INFO) << "Loaded IONO model data";
         }
     catch (std::exception& e)
@@ -484,12 +484,12 @@ bool gnss_sdr_supl_client::save_iono_map_xml(const std::string file_name, std::m
 {
     if (iono_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_iono_map", iono_map);
-                    ofs.close();
                     LOG(INFO) << "Saved IONO Model data";
                 }
             catch (std::exception& e)
@@ -497,24 +497,24 @@ bool gnss_sdr_supl_client::save_iono_map_xml(const std::string file_name, std::m
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;
         }
     else
         {
             LOG(WARNING) << "Failed to save IONO model, map is empty";
             return false;
         }
+    return true;
 }
 
 
 bool gnss_sdr_supl_client::load_ref_time_xml(const std::string file_name)
 {
+    std::ifstream ifs;
     try
         {
-            std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
             boost::archive::xml_iarchive xml(ifs);
             xml >> boost::serialization::make_nvp("GNSS-SDR_ref_time_map", this->gps_time);
-            ifs.close();
             LOG(INFO) << "Loaded Ref Time data";
         }
     catch (std::exception& e)
@@ -530,12 +530,13 @@ bool gnss_sdr_supl_client::save_ref_time_map_xml(const std::string file_name, st
 {
     if (ref_time_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ref_time_map", ref_time_map);
-                    ofs.close();
+
                     LOG(INFO) << "Saved Ref Time data";
                 }
             catch (std::exception& e)
@@ -543,24 +544,24 @@ bool gnss_sdr_supl_client::save_ref_time_map_xml(const std::string file_name, st
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;
         }
     else
         {
             LOG(WARNING) << "Failed to save Ref Time, map is empty";
             return false;
         }
+    return true;
 }
 
 
 bool gnss_sdr_supl_client::load_ref_location_xml(const std::string file_name)
 {
+    std::ifstream ifs;
     try
         {
-            std::ifstream ifs(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
             boost::archive::xml_iarchive xml(ifs);
             xml >> boost::serialization::make_nvp("GNSS-SDR_ref_location_map", this->gps_ref_loc);
-            ifs.close();
             LOG(INFO) << "Loaded Ref Location data";
         }
     catch (std::exception& e)
@@ -576,12 +577,12 @@ bool gnss_sdr_supl_client::save_ref_location_map_xml(const std::string file_name
 {
     if (ref_location_map.empty() == false)
         {
+            std::ofstream ofs;
             try
                 {
-                    std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
+                    ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
                     boost::archive::xml_oarchive xml(ofs);
                     xml << boost::serialization::make_nvp("GNSS-SDR_ref_location_map", ref_location_map);
-                    ofs.close();
                     LOG(INFO) << "Saved Ref Location data";
                 }
             catch (std::exception& e)
@@ -589,11 +590,11 @@ bool gnss_sdr_supl_client::save_ref_location_map_xml(const std::string file_name
                     LOG(WARNING) << e.what();
                     return false;
                 }
-            return true;
         }
     else
         {
             LOG(WARNING) << "Failed to save Ref Location, map is empty";
             return false;
         }
+    return true;
 }

src/core/monitor/CMakeLists.txt

@@ -22,6 +22,12 @@ set(CORE_MONITOR_LIBS_SOURCES
 	gnss_synchro_udp_sink.cc
 )
 
+set(CORE_MONITOR_LIBS_HEADERS 
+	gnss_synchro_monitor.h
+	gnss_synchro_udp_sink.h
+)
+
+
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -31,8 +37,9 @@ include_directories(
     ${Boost_INCLUDE_DIRS}
 )
 
-file(GLOB CORE_MONITOR_LIBS_HEADERS "*.h")
 list(SORT CORE_MONITOR_LIBS_HEADERS)
+list(SORT CORE_MONITOR_LIBS_SOURCES)
+
 add_library(core_monitor_lib ${CORE_MONITOR_LIBS_SOURCES} ${CORE_MONITOR_LIBS_HEADERS})
 source_group(Headers FILES ${CORE_MONITOR_LIBS_HEADERS})
 target_link_libraries(core_monitor_lib ${Boost_LIBRARIES}) 

src/core/receiver/CMakeLists.txt

@@ -26,6 +26,17 @@ set(GNSS_RECEIVER_SOURCES
      in_memory_configuration.cc
 )
 
+set(GNSS_RECEIVER_HEADERS
+     control_thread.h
+     control_message_factory.h
+     file_configuration.h
+     gnss_block_factory.h
+     gnss_flowgraph.h
+     in_memory_configuration.h
+     concurrent_map.h
+     concurrent_queue.h
+     control_message.h
+)
 
 if(PC_GNURADIO_RUNTIME_VERSION VERSION_GREATER 3.7.3)
      add_definitions(-DMODERN_GNURADIO=1)
@@ -149,10 +160,21 @@ include_directories(
      ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
 
-file(GLOB GNSS_RECEIVER_HEADERS "*.h")
 list(SORT GNSS_RECEIVER_HEADERS)
-file(GLOB GNSS_RECEIVER_INTERFACE_HEADERS "../interfaces/*.h")
+list(SORT GNSS_RECEIVER_SOURCES)
+
+set(GNSS_RECEIVER_INTERFACE_HEADERS ../interfaces/acquisition_interface.h
+                                    ../interfaces/channel_interface.h
+                                    ../interfaces/configuration_interface.h
+                                    ../interfaces/gnss_block_interface.h
+                                    ../interfaces/observables_interface.h
+                                    ../interfaces/pvt_interface.h
+                                    ../interfaces/telemetry_decoder_interface.h
+                                    ../interfaces/tracking_interface.h
+)
+
 list(SORT GNSS_RECEIVER_INTERFACE_HEADERS)
+
 add_library(gnss_rx ${GNSS_RECEIVER_SOURCES} ${GNSS_RECEIVER_HEADERS} ${GNSS_RECEIVER_INTERFACE_HEADERS})
 source_group(Headers FILES ${GNSS_RECEIVER_HEADERS} ${GNSS_RECEIVER_INTERFACE_HEADERS})
 

src/core/receiver/gnss_flowgraph.cc

@@ -801,8 +801,8 @@ void GNSSFlowgraph::wait()
 
 bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg)
 {
-    //push ephemeris to PVT telemetry msg in port using a channel out port
+    // Push ephemeris to PVT telemetry msg in port using a channel out port
-    // it uses the first channel as a message produces (it is already connected to PVT)
+    // it uses the first channel as a message producer (it is already connected to PVT)
     channels_.at(0)->get_right_block()->message_port_pub(pmt::mp("telemetry"), msg);
     return true;
 }
@@ -816,6 +816,7 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg)
  */
 void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
 {
+    std::lock_guard<std::mutex> lock(signal_list_mutex);
     DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_;
     unsigned int sat = 0;
     try
@@ -826,7 +827,6 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
         {
             LOG(WARNING) << e.what();
         }
-    std::lock_guard<std::mutex> lock(signal_list_mutex);
     switch (what)
         {
         case 0:
@@ -1336,8 +1336,8 @@ void GNSSFlowgraph::set_signals_list()
     if (configuration_->property("Channels_1G.count", 0) > 0)
         {
             // Loop to create the list of GLONASS L1 C/A signals
-            for (available_gnss_prn_iter = available_glonass_prn.begin();
+            for (available_gnss_prn_iter = available_glonass_prn.cbegin();
-                 available_gnss_prn_iter != available_glonass_prn.end();
+                 available_gnss_prn_iter != available_glonass_prn.cend();
                  available_gnss_prn_iter++)
                 {
                     available_GLO_1G_signals_.push_back(Gnss_Signal(
@@ -1349,8 +1349,8 @@ void GNSSFlowgraph::set_signals_list()
     if (configuration_->property("Channels_2G.count", 0) > 0)
         {
             // Loop to create the list of GLONASS L2 C/A signals
-            for (available_gnss_prn_iter = available_glonass_prn.begin();
+            for (available_gnss_prn_iter = available_glonass_prn.cbegin();
-                 available_gnss_prn_iter != available_glonass_prn.end();
+                 available_gnss_prn_iter != available_glonass_prn.cend();
                  available_gnss_prn_iter++)
                 {
                     available_GLO_2G_signals_.push_back(Gnss_Signal(
@@ -1363,6 +1363,7 @@ void GNSSFlowgraph::set_signals_list()
 
 void GNSSFlowgraph::set_channels_state()
 {
+    std::lock_guard<std::mutex> lock(signal_list_mutex);
     max_acq_channels_ = configuration_->property("Channels.in_acquisition", channels_count_);
     if (max_acq_channels_ > channels_count_)
         {
@@ -1382,7 +1383,6 @@ void GNSSFlowgraph::set_channels_state()
                 }
             DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
         }
-    std::lock_guard<std::mutex> lock(signal_list_mutex);
     acq_channels_count_ = max_acq_channels_;
     DLOG(INFO) << acq_channels_count_ << " channels in acquisition state";
 }

src/core/system_parameters/CMakeLists.txt

@@ -45,6 +45,47 @@ set(SYSTEM_PARAMETERS_SOURCES
      glonass_gnav_navigation_message.cc
 )
 
+set(SYSTEM_PARAMETERS_HEADERS
+     gnss_satellite.h
+     gnss_signal.h
+     gps_navigation_message.h
+     gps_ephemeris.h
+     gps_iono.h
+     gps_almanac.h
+     gps_utc_model.h
+     gps_acq_assist.h
+     gps_ref_time.h
+     gps_ref_location.h
+     galileo_utc_model.h
+     galileo_ephemeris.h
+     galileo_almanac.h
+     galileo_iono.h
+     galileo_navigation_message.h
+     sbas_ephemeris.h
+     galileo_fnav_message.h
+     gps_cnav_ephemeris.h
+     gps_cnav_navigation_message.h
+     gps_cnav_iono.h
+     gps_cnav_utc_model.h
+     rtcm.h
+     glonass_gnav_ephemeris.h
+     glonass_gnav_almanac.h
+     glonass_gnav_utc_model.h
+     glonass_gnav_navigation_message.h
+     display.h
+     Galileo_E1.h
+     Galileo_E5a.h
+     GLONASS_L1_L2_CA.h
+     gnss_frequencies.h
+     gnss_obs_codes.h
+     gnss_synchro.h
+     GPS_CNAV.h
+     GPS_L1_CA.h
+     GPS_L2C.h
+     GPS_L5.h
+     MATH_CONSTANTS.h     
+)
+
 
 include_directories(
      ${CMAKE_CURRENT_SOURCE_DIR}
@@ -57,8 +98,10 @@ include_directories(
 )
 
 link_directories(${Boost_LIBRARY_DIR})
-file(GLOB SYSTEM_PARAMETERS_HEADERS "*.h")
+
 list(SORT SYSTEM_PARAMETERS_HEADERS)
+list(SORT SYSTEM_PARAMETERS_SOURCES)
+
 add_library(gnss_system_parameters ${SYSTEM_PARAMETERS_SOURCES} ${SYSTEM_PARAMETERS_HEADERS})
 source_group(Headers FILES ${SYSTEM_PARAMETERS_HEADERS})
 add_dependencies(gnss_system_parameters rtklib_lib glog-${glog_RELEASE})

src/core/system_parameters/gnss_synchro.h

@@ -33,6 +33,7 @@
 #ifndef GNSS_SDR_GNSS_SYNCHRO_H_
 #define GNSS_SDR_GNSS_SYNCHRO_H_
 
+#include <boost/serialization/nvp.hpp>
 #include "gnss_signal.h"
 #include <cstdint>
 
@@ -83,41 +84,42 @@ public:
      * Gnss_Synchro objects from a byte stream.
      */
     template <class Archive>
+
     void serialize(Archive& ar, const unsigned int version)
     {
         if (version)
             {
             };
         // Satellite and signal info
-        ar& System;
+        ar& BOOST_SERIALIZATION_NVP(System);
-        ar& Signal;
+        ar& BOOST_SERIALIZATION_NVP(Signal);
-        ar& PRN;
+        ar& BOOST_SERIALIZATION_NVP(PRN);
-        ar& Channel_ID;
+        ar& BOOST_SERIALIZATION_NVP(Channel_ID);
         // Acquisition
-        ar& Acq_delay_samples;
+        ar& BOOST_SERIALIZATION_NVP(Acq_delay_samples);
-        ar& Acq_doppler_hz;
+        ar& BOOST_SERIALIZATION_NVP(Acq_doppler_hz);
-        ar& Acq_samplestamp_samples;
+        ar& BOOST_SERIALIZATION_NVP(Acq_samplestamp_samples);
-        ar& Acq_doppler_step;
+        ar& BOOST_SERIALIZATION_NVP(Acq_doppler_step);
-        ar& Flag_valid_acquisition;
+        ar& BOOST_SERIALIZATION_NVP(Flag_valid_acquisition);
         // Tracking
-        ar& fs;
+        ar& BOOST_SERIALIZATION_NVP(fs);
-        ar& Prompt_I;
+        ar& BOOST_SERIALIZATION_NVP(Prompt_I);
-        ar& Prompt_Q;
+        ar& BOOST_SERIALIZATION_NVP(Prompt_Q);
-        ar& CN0_dB_hz;
+        ar& BOOST_SERIALIZATION_NVP(CN0_dB_hz);
-        ar& Carrier_Doppler_hz;
+        ar& BOOST_SERIALIZATION_NVP(Carrier_Doppler_hz);
-        ar& Carrier_phase_rads;
+        ar& BOOST_SERIALIZATION_NVP(Carrier_phase_rads);
-        ar& Code_phase_samples;
+        ar& BOOST_SERIALIZATION_NVP(Code_phase_samples);
-        ar& Tracking_sample_counter;
+        ar& BOOST_SERIALIZATION_NVP(Tracking_sample_counter);
-        ar& Flag_valid_symbol_output;
+        ar& BOOST_SERIALIZATION_NVP(Flag_valid_symbol_output);
-        ar& correlation_length_ms;
+        ar& BOOST_SERIALIZATION_NVP(correlation_length_ms);
         // Telemetry Decoder
-        ar& Flag_valid_word;
+        ar& BOOST_SERIALIZATION_NVP(Flag_valid_word);
-        ar& TOW_at_current_symbol_ms;
+        ar& BOOST_SERIALIZATION_NVP(TOW_at_current_symbol_ms);
         // Observables
-        ar& Pseudorange_m;
+        ar& BOOST_SERIALIZATION_NVP(Pseudorange_m);
-        ar& RX_time;
+        ar& BOOST_SERIALIZATION_NVP(RX_time);
-        ar& Flag_valid_pseudorange;
+        ar& BOOST_SERIALIZATION_NVP(Flag_valid_pseudorange);
-        ar& interp_TOW_ms;
+        ar& BOOST_SERIALIZATION_NVP(interp_TOW_ms);
     }
 };
 

src/core/system_parameters/gps_ephemeris.h

@@ -153,7 +153,7 @@ public:
         archive& make_nvp("d_Cus", d_Cus);                        //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
         archive& make_nvp("d_sqrt_A", d_sqrt_A);                  //!< Square Root of the Semi-Major Axis [sqrt(m)]
         archive& make_nvp("d_Toe", d_Toe);                        //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200E) [s]
-        archive& make_nvp("d_Toc", d_Toe);                        //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
+        archive& make_nvp("d_Toc", d_Toc);                        //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200E) [s]
         archive& make_nvp("d_Cic", d_Cic);                        //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
         archive& make_nvp("d_OMEGA0", d_OMEGA0);                  //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
         archive& make_nvp("d_Cis", d_Cis);                        //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]

src/tests/CMakeLists.txt

@@ -179,6 +179,7 @@ endif(ENABLE_UNIT_TESTING_MINIMAL)
 ################################################################################
 # Optional generator
 ################################################################################
+option(ENABLE_GNSS_SIM_INSTALL "Enable the installation of gnss_sim on the fly" ON)
 if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
    if(ENABLE_FPGA)
       set(CROSS_INSTALL_DIR "-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}")
@@ -189,11 +190,11 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
       set(CROSS_INSTALL_DIR "")
    endif(ENABLE_FPGA)
    find_package(GnssSimulator QUIET)
-   if(GNSS-SIMULATOR_FOUND)
+   if(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
       add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
       add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/brdc3540.14n")
       add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/circle.csv")
-   else(GNSS-SIMULATOR_FOUND)
+   else(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
       ExternalProject_Add(
          gnss-sim
          GIT_REPOSITORY https://bitbucket.org/jarribas/gnss-simulator
@@ -219,7 +220,7 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
          add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n")
          add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv")
       endif(ENABLE_INSTALL_TESTS)
-   endif(GNSS-SIMULATOR_FOUND)
+   endif(GNSS-SIMULATOR_FOUND OR NOT ENABLE_GNSS_SIM_INSTALL)
 
    ################################################################################
    # Local installation of GPSTk http://www.gpstk.org/
@@ -312,12 +313,16 @@ if(ENABLE_INSTALL_TESTS)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION share/gnss-sdr/signal_samples)
    install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION share/gnss-sdr/signal_samples)
+   install(FILES ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/obs_test1.xml DESTINATION share/gnss-sdr/data/rtklib_test)
+   install(FILES ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml DESTINATION share/gnss-sdr/data/rtklib_test)
    add_definitions(-DTEST_PATH="${CMAKE_INSTALL_PREFIX}/share/gnss-sdr/")
 else(ENABLE_INSTALL_TESTS)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
    file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/NT1065_GLONASS_L1_20160831_fs6625e6_if0e3_4ms.bin DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
+   file(COPY ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/obs_test1.xml DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/data/rtklib_test)
+   file(COPY ${CMAKE_SOURCE_DIR}/src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/data/rtklib_test)  
    add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
 endif(ENABLE_INSTALL_TESTS)
 

src/tests/common-files/observable_tests_flags.h

@@ -37,5 +37,6 @@
 DEFINE_double(skip_obs_transitory_s, 30.0, "Skip the initial observable outputs to avoid transitory results [s]");
 DEFINE_bool(compute_single_diffs, false, "Compute also the single difference errors for Accumulated Carrier Phase and Carrier Doppler (requires LO synchronization between receivers)");
 DEFINE_bool(compare_with_5X, false, "Compare the E5a Doppler and Carrier Phases with the E5 full bw in RINEX (expect discrepancy due to the center frequencies differences");
-
+DEFINE_bool(duplicated_satellites_test, false, "Enable special observable test mode where the scenario contains duplicated satellite orbits");
+DEFINE_string(duplicated_satellites_prns, "1,2,3,4", "List of duplicated satellites PRN pairs (i.e. 1,2,3,4 indicates that the PRNs 1,2 share the same orbit. The same applies for PRNs 3,4)");
 #endif

src/tests/data/rtklib_test/eph_GPS_L1CA_test1.xml

@@ -0,0 +1,481 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<!DOCTYPE boost_serialization>
+<boost_serialization signature="serialization::archive" version="12">
+<GNSS-SDR_ephemeris_map class_id="0" tracking_level="0" version="0">
+	<count>11</count>
+	<item_version>0</item_version>
+	<item class_id="1" tracking_level="0" version="0">
+		<first>1</first>
+		<second class_id="2" tracking_level="0" version="0">
+			<i_satellite_PRN>1</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>9.20000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>9.20000000000000000e+01</d_IODE_SF3>
+			<d_Crs>1.83125000000000000e+01</d_Crs>
+			<d_Delta_n>4.86413118201646669e-09</d_Delta_n>
+			<d_M_0>2.06468198930943725e+00</d_M_0>
+			<d_Cuc>9.42498445510864258e-07</d_Cuc>
+			<d_e_eccentricity>3.73082922305911736e-03</d_e_eccentricity>
+			<d_Cus>5.76488673686981201e-06</d_Cus>
+			<d_sqrt_A>5.15366174697875977e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-5.40167093276977539e-08</d_Cic>
+			<d_OMEGA0>9.52167247599200905e-01</d_OMEGA0>
+			<d_Cis>1.86264514923095703e-08</d_Cis>
+			<d_i_0>9.61377026423456127e-01</d_i_0>
+			<d_Crc>2.66968750000000000e+02</d_Crc>
+			<d_OMEGA>4.44935333708291858e-01</d_OMEGA>
+			<d_OMEGA_DOT>-8.14641075927847669e-09</d_OMEGA_DOT>
+			<d_IDOT>4.15017287135849497e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>5.12227416038513184e-09</d_TGD>
+			<d_IODC>9.20000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>-1.09937973320484161e-05</d_A_f0>
+			<d_A_f1>3.41060513164847988e-13</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>2</first>
+		<second>
+			<i_satellite_PRN>2</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>5.50000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>5.50000000000000000e+01</d_IODE_SF3>
+			<d_Crs>2.22812500000000000e+01</d_Crs>
+			<d_Delta_n>5.12771358985317661e-09</d_Delta_n>
+			<d_M_0>2.75926302782053146e+00</d_M_0>
+			<d_Cuc>1.10082328319549561e-06</d_Cuc>
+			<d_e_eccentricity>1.40569622162729484e-02</d_e_eccentricity>
+			<d_Cus>6.26407563686370850e-06</d_Cus>
+			<d_sqrt_A>5.15372654151916504e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-1.86264514923095703e-08</d_Cic>
+			<d_OMEGA0>9.18037446344556307e-01</d_OMEGA0>
+			<d_Cis>-2.16066837310791016e-07</d_Cis>
+			<d_i_0>9.39991586696909520e-01</d_i_0>
+			<d_Crc>2.45468750000000000e+02</d_Crc>
+			<d_OMEGA>-2.35598690357981555e+00</d_OMEGA>
+			<d_OMEGA_DOT>-8.07140763509730069e-09</d_OMEGA_DOT>
+			<d_IDOT>5.25736184736635464e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-2.00234353542327881e-08</d_TGD>
+			<d_IODC>5.50000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>5.36850653588771820e-04</d_A_f0>
+			<d_A_f1>2.16004991671070416e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>3</first>
+		<second>
+			<i_satellite_PRN>3</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>7.00000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>7.00000000000000000e+01</d_IODE_SF3>
+			<d_Crs>-2.04375000000000000e+01</d_Crs>
+			<d_Delta_n>4.75769817722603366e-09</d_Delta_n>
+			<d_M_0>-1.78871492992227910e+00</d_M_0>
+			<d_Cuc>-1.30012631416320801e-06</d_Cuc>
+			<d_e_eccentricity>9.70319728367030512e-04</d_e_eccentricity>
+			<d_Cus>8.26455652713775635e-06</d_Cus>
+			<d_sqrt_A>5.15378153991699219e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>7.82310962677001953e-08</d_Cic>
+			<d_OMEGA0>1.99297660614955263e+00</d_OMEGA0>
+			<d_Cis>-1.11758708953857422e-08</d_Cis>
+			<d_i_0>9.59058451948379909e-01</d_i_0>
+			<d_Crc>2.19593750000000000e+02</d_Crc>
+			<d_OMEGA>-3.00536842405812843e+00</d_OMEGA>
+			<d_OMEGA_DOT>-8.02712007605698577e-09</d_OMEGA_DOT>
+			<d_IDOT>-5.17164399115929480e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>5.12227416038513184e-09</d_TGD>
+			<d_IODC>7.00000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>8.80691222846508026e-05</d_A_f0>
+			<d_A_f1>2.89901436190120811e-11</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>6</first>
+		<second>
+			<i_satellite_PRN>6</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>2.30000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>2.30000000000000000e+01</d_IODE_SF3>
+			<d_Crs>1.63750000000000000e+01</d_Crs>
+			<d_Delta_n>4.76305554323897445e-09</d_Delta_n>
+			<d_M_0>-1.28531071631616522e+00</d_M_0>
+			<d_Cuc>9.12696123123168945e-07</d_Cuc>
+			<d_e_eccentricity>5.50022465176880251e-04</d_e_eccentricity>
+			<d_Cus>6.24358654022216797e-06</d_Cus>
+			<d_sqrt_A>5.15365166282653809e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-1.30385160446166992e-08</d_Cic>
+			<d_OMEGA0>9.43624288779246867e-01</d_OMEGA0>
+			<d_Cis>-1.86264514923095703e-09</d_Cis>
+			<d_i_0>9.61292940818096020e-01</d_i_0>
+			<d_Crc>2.58406250000000000e+02</d_Crc>
+			<d_OMEGA>2.29191014519991665e+00</d_OMEGA>
+			<d_OMEGA_DOT>-8.08069373618639861e-09</d_OMEGA_DOT>
+			<d_IDOT>4.79305679291144535e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>4.65661287307739258e-09</d_TGD>
+			<d_IODC>2.30000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>3.07881273329257965e-05</d_A_f0>
+			<d_A_f1>8.18545231595635253e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>9</first>
+		<second>
+			<i_satellite_PRN>9</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>4.70000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>4.70000000000000000e+01</d_IODE_SF3>
+			<d_Crs>1.12906250000000000e+02</d_Crs>
+			<d_Delta_n>4.37911097897818463e-09</d_Delta_n>
+			<d_M_0>-2.75253879947800195e+00</d_M_0>
+			<d_Cuc>5.85243105888366699e-06</d_Cuc>
+			<d_e_eccentricity>2.16206186451017829e-04</d_e_eccentricity>
+			<d_Cus>1.16303563117980957e-05</d_Cus>
+			<d_sqrt_A>5.15369471168518066e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>1.67638063430786133e-08</d_Cic>
+			<d_OMEGA0>3.03742251571970812e+00</d_OMEGA0>
+			<d_Cis>-1.11758708953857422e-08</d_Cis>
+			<d_i_0>9.59160503650671514e-01</d_i_0>
+			<d_Crc>1.56125000000000000e+02</d_Crc>
+			<d_OMEGA>2.60662251530764344e+00</d_OMEGA>
+			<d_OMEGA_DOT>-7.85854162551643464e-09</d_OMEGA_DOT>
+			<d_IDOT>-3.46443002170201364e-11</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>4.65661287307739258e-10</d_TGD>
+			<d_IODC>4.70000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>-3.18535603582859039e-05</d_A_f0>
+			<d_A_f1>-9.66338120633736091e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>10</first>
+		<second>
+			<i_satellite_PRN>10</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>5.80000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>5.80000000000000000e+01</d_IODE_SF3>
+			<d_Crs>-2.72500000000000000e+01</d_Crs>
+			<d_Delta_n>5.27093384126580581e-09</d_Delta_n>
+			<d_M_0>-8.86982818851813737e-01</d_M_0>
+			<d_Cuc>-1.17719173431396484e-06</d_Cuc>
+			<d_e_eccentricity>1.44534236751496774e-02</d_e_eccentricity>
+			<d_Cus>7.90506601333618164e-06</d_Cus>
+			<d_sqrt_A>5.15363725471496582e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>1.45286321640014648e-07</d_Cic>
+			<d_OMEGA0>2.00408517949479270e+00</d_OMEGA0>
+			<d_Cis>2.40281224250793457e-07</d_Cis>
+			<d_i_0>9.41160112993577269e-01</d_i_0>
+			<d_Crc>2.15406250000000000e+02</d_Crc>
+			<d_OMEGA>9.09732121011562200e-01</d_OMEGA>
+			<d_OMEGA_DOT>-8.42213653007785350e-09</d_OMEGA_DOT>
+			<d_IDOT>-5.42879755978047536e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-2.79396772384643555e-09</d_TGD>
+			<d_IODC>5.80000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>-1.54968351125717163e-04</d_A_f0>
+			<d_A_f1>-1.59161572810262401e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>12</first>
+		<second>
+			<i_satellite_PRN>12</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>1.06000000000000000e+02</d_IODE_SF2>
+			<d_IODE_SF3>1.06000000000000000e+02</d_IODE_SF3>
+			<d_Crs>-1.17468750000000000e+02</d_Crs>
+			<d_Delta_n>3.94516433192994276e-09</d_Delta_n>
+			<d_M_0>1.11631735294997192e+00</d_M_0>
+			<d_Cuc>-6.15417957305908203e-06</d_Cuc>
+			<d_e_eccentricity>5.05860964767634782e-03</d_e_eccentricity>
+			<d_Cus>4.52436506748199463e-06</d_Cus>
+			<d_sqrt_A>5.15376680946350098e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-5.40167093276977539e-08</d_Cic>
+			<d_OMEGA0>-1.10425023618040785e+00</d_OMEGA0>
+			<d_Cis>4.09781932830810547e-08</d_Cis>
+			<d_i_0>9.88803748742243305e-01</d_i_0>
+			<d_Crc>3.07187500000000000e+02</d_Crc>
+			<d_OMEGA>5.00154452274795935e-01</d_OMEGA>
+			<d_OMEGA_DOT>-7.97176062725659211e-09</d_OMEGA_DOT>
+			<d_IDOT>-4.18231706743614228e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-1.16415321826934814e-08</d_TGD>
+			<d_IODC>1.06000000000000000e+02</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>2.54871323704719543e-04</d_A_f0>
+			<d_A_f1>2.72848410531878391e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>17</first>
+		<second>
+			<i_satellite_PRN>17</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>2.60000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>2.60000000000000000e+01</d_IODE_SF3>
+			<d_Crs>-5.91250000000000000e+01</d_Crs>
+			<d_Delta_n>3.88194741297723567e-09</d_Delta_n>
+			<d_M_0>-1.94252959218893162e+00</d_M_0>
+			<d_Cuc>-3.04728746414184570e-06</d_Cuc>
+			<d_e_eccentricity>9.88844956737011498e-03</d_e_eccentricity>
+			<d_Cus>1.18296593427658081e-05</d_Cus>
+			<d_sqrt_A>5.15369299888610840e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>2.03028321266174316e-07</d_Cic>
+			<d_OMEGA0>-5.68690999805671268e-02</d_OMEGA0>
+			<d_Cis>-7.63684511184692383e-08</d_Cis>
+			<d_i_0>9.71201777972365177e-01</d_i_0>
+			<d_Crc>1.56531250000000000e+02</d_Crc>
+			<d_OMEGA>-2.06928329237789344e+00</d_OMEGA>
+			<d_OMEGA_DOT>-7.44602444251995675e-09</d_OMEGA_DOT>
+			<d_IDOT>4.40375486263771432e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-1.07102096080780029e-08</d_TGD>
+			<d_IODC>2.60000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>-1.44933816045522690e-04</d_A_f0>
+			<d_A_f1>-2.27373675443232019e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>20</first>
+		<second>
+			<i_satellite_PRN>20</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>1.17000000000000000e+02</d_IODE_SF2>
+			<d_IODE_SF3>1.17000000000000000e+02</d_IODE_SF3>
+			<d_Crs>-2.58437500000000000e+01</d_Crs>
+			<d_Delta_n>5.60380484953655626e-09</d_Delta_n>
+			<d_M_0>1.28625710142833249e-01</d_M_0>
+			<d_Cuc>-1.52923166751861572e-06</d_Cuc>
+			<d_e_eccentricity>5.80669869668781671e-03</d_e_eccentricity>
+			<d_Cus>7.51018524169921875e-06</d_Cus>
+			<d_sqrt_A>5.15578671264648438e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-2.23517417907714844e-08</d_Cic>
+			<d_OMEGA0>1.92543994118208528e+00</d_OMEGA0>
+			<d_Cis>4.65661287307739258e-08</d_Cis>
+			<d_i_0>9.26021286652122910e-01</d_i_0>
+			<d_Crc>2.18031250000000000e+02</d_Crc>
+			<d_OMEGA>1.23365536128043107e+00</d_OMEGA>
+			<d_OMEGA_DOT>-8.54892752571746483e-09</d_OMEGA_DOT>
+			<d_IDOT>-5.16450083647537340e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-8.38190317153930664e-09</d_TGD>
+			<d_IODC>1.17000000000000000e+02</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>2.69209500402212143e-04</d_A_f0>
+			<d_A_f1>4.20641299569979229e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>23</first>
+		<second>
+			<i_satellite_PRN>23</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>4.10000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>4.10000000000000000e+01</d_IODE_SF3>
+			<d_Crs>1.20250000000000000e+02</d_Crs>
+			<d_Delta_n>4.45161399901998963e-09</d_Delta_n>
+			<d_M_0>3.04794581942897569e+00</d_M_0>
+			<d_Cuc>6.13741576671600342e-06</d_Cuc>
+			<d_e_eccentricity>9.67817602213471954e-03</d_e_eccentricity>
+			<d_Cus>1.14180147647857666e-05</d_Cus>
+			<d_sqrt_A>5.15370163154602051e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-6.14672899246215820e-08</d_Cic>
+			<d_OMEGA0>3.04748172476042711e+00</d_OMEGA0>
+			<d_Cis>-1.04308128356933594e-07</d_Cis>
+			<d_i_0>9.50229191282804808e-01</d_i_0>
+			<d_Crc>1.56000000000000000e+02</d_Crc>
+			<d_OMEGA>-2.71676891930177256e+00</d_OMEGA>
+			<d_OMEGA_DOT>-7.78032408172749087e-09</d_OMEGA_DOT>
+			<d_IDOT>-2.75011455330984601e-11</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-1.95577740669250488e-08</d_TGD>
+			<d_IODC>4.10000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>-7.56788067519664764e-05</d_A_f0>
+			<d_A_f1>-2.72848410531878391e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+	<item>
+		<first>28</first>
+		<second>
+			<i_satellite_PRN>28</i_satellite_PRN>
+			<d_TOW>5.18448000000000000e+05</d_TOW>
+			<d_IODE_SF2>3.30000000000000000e+01</d_IODE_SF2>
+			<d_IODE_SF3>3.30000000000000000e+01</d_IODE_SF3>
+			<d_Crs>-1.27750000000000000e+02</d_Crs>
+			<d_Delta_n>4.04302555109966970e-09</d_Delta_n>
+			<d_M_0>-1.16607683198628931e+00</d_M_0>
+			<d_Cuc>-6.37024641036987305e-06</d_Cuc>
+			<d_e_eccentricity>1.97223023278638686e-02</d_e_eccentricity>
+			<d_Cus>5.66989183425903320e-06</d_Cus>
+			<d_sqrt_A>5.15368548965454102e+03</d_sqrt_A>
+			<d_Toe>5.18400000000000000e+05</d_Toe>
+			<d_Toc>5.18400000000000000e+05</d_Toc>
+			<d_Cic>-1.37835741043090820e-07</d_Cic>
+			<d_OMEGA0>-1.08006546321039543e+00</d_OMEGA0>
+			<d_Cis>4.35858964920043945e-07</d_Cis>
+			<d_i_0>9.87961552655681530e-01</d_i_0>
+			<d_Crc>2.84718750000000000e+02</d_Crc>
+			<d_OMEGA>-1.69047108635756738e+00</d_OMEGA>
+			<d_OMEGA_DOT>-8.17855495535612472e-09</d_OMEGA_DOT>
+			<d_IDOT>-4.44661379074124424e-10</d_IDOT>
+			<i_code_on_L2>0</i_code_on_L2>
+			<i_GPS_week>799</i_GPS_week>
+			<b_L2_P_data_flag>0</b_L2_P_data_flag>
+			<i_SV_accuracy>2</i_SV_accuracy>
+			<i_SV_health>0</i_SV_health>
+			<d_TGD>-1.11758708953857422e-08</d_TGD>
+			<d_IODC>3.30000000000000000e+01</d_IODC>
+			<i_AODO>27900</i_AODO>
+			<b_fit_interval_flag>0</b_fit_interval_flag>
+			<d_spare1>0.00000000000000000e+00</d_spare1>
+			<d_spare2>0.00000000000000000e+00</d_spare2>
+			<d_A_f0>4.06486913561820984e-04</d_A_f0>
+			<d_A_f1>2.61479726759716828e-12</d_A_f1>
+			<d_A_f2>0.00000000000000000e+00</d_A_f2>
+			<b_integrity_status_flag>0</b_integrity_status_flag>
+			<b_alert_flag>0</b_alert_flag>
+			<b_antispoofing_flag>0</b_antispoofing_flag>
+		</second>
+	</item>
+</GNSS-SDR_ephemeris_map>
+</boost_serialization>

src/tests/data/rtklib_test/obs_test1.xml

@@ -0,0 +1,358 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<!DOCTYPE boost_serialization>
+<boost_serialization signature="serialization::archive" version="12">
+<GNSS-SDR_gnss_synchro_map class_id="0" tracking_level="0" version="0">
+	<count>10</count>
+	<item_version>0</item_version>
+	<item class_id="1" tracking_level="0" version="0">
+		<first>0</first>
+		<second class_id="2" tracking_level="0" version="0">
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>1</PRN>
+			<Channel_ID>0</Channel_ID>
+			<Acq_delay_samples>2.28200000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>-2.50000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>10791</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>-3.85959140625000000e+04</Prompt_I>
+			<Prompt_Q>-9.03592163085937500e+02</Prompt_Q>
+			<CN0_dB_hz>5.96898384094238281e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>-2.57914688873291016e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>8.35350813421410858e+05</Carrier_phase_rads>
+			<Code_phase_samples>3.31084377635761484e-01</Code_phase_samples>
+			<Tracking_sample_counter>133923691</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451424</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.28178186234515086e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451423887949765e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>1</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>3</PRN>
+			<Channel_ID>1</Channel_ID>
+			<Acq_delay_samples>2.38500000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>-3.00000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>68450858</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>-4.34972734375000000e+04</Prompt_I>
+			<Prompt_Q>4.21364685058593750e+02</Prompt_Q>
+			<CN0_dB_hz>5.16798934936523438e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>-3.12509065246582031e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>4.93910706686261110e+05</Carrier_phase_rads>
+			<Code_phase_samples>7.36033200862493686e-01</Code_phase_samples>
+			<Tracking_sample_counter>133923971</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451431</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.07516033774388395e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451430780101955e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>2</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>28</PRN>
+			<Channel_ID>2</Channel_ID>
+			<Acq_delay_samples>1.52700000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>-3.00000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>1350770</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>4.46268046875000000e+04</Prompt_I>
+			<Prompt_Q>-3.98811938476562500e+03</Prompt_Q>
+			<CN0_dB_hz>5.25376167297363281e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>-2.92984253692626953e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>9.35704822809229488e+05</Carrier_phase_rads>
+			<Code_phase_samples>9.30327007595224131e-01</Code_phase_samples>
+			<Tracking_sample_counter>133923941</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451436</TOW_at_current_symbol_ms>
+			<Pseudorange_m>1.92492043561209217e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451435791565657e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>4</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>23</PRN>
+			<Channel_ID>4</Channel_ID>
+			<Acq_delay_samples>1.13100000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>1.00000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>994247</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>3.98655546875000000e+04</Prompt_I>
+			<Prompt_Q>-8.63781860351562500e+02</Prompt_Q>
+			<CN0_dB_hz>5.24684982299804688e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>1.09281750951009121e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-3.54128275530727289e+05</Carrier_phase_rads>
+			<Code_phase_samples>4.08304036132904002e-01</Code_phase_samples>
+			<Tracking_sample_counter>133922883</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451429</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.12256989876578376e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451429198689222e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>5</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>2</PRN>
+			<Channel_ID>5</Channel_ID>
+			<Acq_delay_samples>5.38000000000000000e+02</Acq_delay_samples>
+			<Acq_doppler_hz>1.75000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>4917751</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>-4.72456406250000000e+04</Prompt_I>
+			<Prompt_Q>-2.63723022460937500e+02</Prompt_Q>
+			<CN0_dB_hz>4.89446220397949219e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>1.83319645690917969e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-5.72184006019302527e+05</Carrier_phase_rads>
+			<Code_phase_samples>5.89544135488722532e-01</Code_phase_samples>
+			<Tracking_sample_counter>133922337</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451430</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.08629709015843943e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451430408619881e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>6</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>17</PRN>
+			<Channel_ID>6</Channel_ID>
+			<Acq_delay_samples>2.21000000000000000e+02</Acq_delay_samples>
+			<Acq_doppler_hz>2.50000000000000000e+02</Acq_doppler_hz>
+			<Acq_samplestamp_samples>514377</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>4.27717460937500000e+04</Prompt_I>
+			<Prompt_Q>-9.45822082519531250e+02</Prompt_Q>
+			<CN0_dB_hz>5.38986015319824219e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>2.73018497467041016e+02</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-9.09813659855529113e+04</Carrier_phase_rads>
+			<Code_phase_samples>6.57473345280777721e-01</Code_phase_samples>
+			<Tracking_sample_counter>133923172</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451440</TOW_at_current_symbol_ms>
+			<Pseudorange_m>1.79613337841309197e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451440087439477e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>7</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>9</PRN>
+			<Channel_ID>7</Channel_ID>
+			<Acq_delay_samples>1.56900000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>2.25000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>7365787</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>-3.96159960937500000e+04</Prompt_I>
+			<Prompt_Q>-5.03847460937500000e+03</Prompt_Q>
+			<CN0_dB_hz>5.33032913208007812e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>2.30021731185913086e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-7.04913853936602012e+05</Carrier_phase_rads>
+			<Code_phase_samples>3.21518194999043772e-01</Code_phase_samples>
+			<Tracking_sample_counter>133922169</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451430</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.08435687343175523e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451430473338544e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>8</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>10</PRN>
+			<Channel_ID>8</Channel_ID>
+			<Acq_delay_samples>2.12600000000000000e+03</Acq_delay_samples>
+			<Acq_doppler_hz>2.75000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>2173576</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>4.00322539062500000e+04</Prompt_I>
+			<Prompt_Q>-3.88590087890625000e+02</Prompt_Q>
+			<CN0_dB_hz>4.85561523437500000e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>2.81225794982910156e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-8.99142229977656389e+05</Carrier_phase_rads>
+			<Code_phase_samples>1.02370741655249731e-01</Code_phase_samples>
+			<Tracking_sample_counter>133922664</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451438</TOW_at_current_symbol_ms>
+			<Pseudorange_m>1.85022797143675610e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451438283038080e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>9</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>12</PRN>
+			<Channel_ID>9</Channel_ID>
+			<Acq_delay_samples>2.13000000000000000e+02</Acq_delay_samples>
+			<Acq_doppler_hz>3.00000000000000000e+03</Acq_doppler_hz>
+			<Acq_samplestamp_samples>7464974</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>-4.03654140625000000e+04</Prompt_I>
+			<Prompt_Q>3.92351245117187500e+03</Prompt_Q>
+			<CN0_dB_hz>5.17314453125000000e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>3.03019989013671875e+03</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-9.28340507655202877e+05</Carrier_phase_rads>
+			<Code_phase_samples>5.73995602361264901e-01</Code_phase_samples>
+			<Tracking_sample_counter>133923741</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451427</TOW_at_current_symbol_ms>
+			<Pseudorange_m>2.19242346189941987e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451426868625164e+08</interp_TOW_ms>
+		</second>
+	</item>
+	<item>
+		<first>10</first>
+		<second>
+			<System>71</System>
+			<Signal>
+				<count>3</count>
+				<item>49</item>
+				<item>67</item>
+				<item>0</item>
+			</Signal>
+			<PRN>6</PRN>
+			<Channel_ID>10</Channel_ID>
+			<Acq_delay_samples>4.70000000000000000e+01</Acq_delay_samples>
+			<Acq_doppler_hz>5.00000000000000000e+02</Acq_doppler_hz>
+			<Acq_samplestamp_samples>1859813</Acq_samplestamp_samples>
+			<Acq_doppler_step>0</Acq_doppler_step>
+			<Flag_valid_acquisition>0</Flag_valid_acquisition>
+			<fs>2600000</fs>
+			<Prompt_I>3.87814335937500000e+04</Prompt_I>
+			<Prompt_Q>2.13637329101562500e+03</Prompt_Q>
+			<CN0_dB_hz>6.00463027954101562e+01</CN0_dB_hz>
+			<Carrier_Doppler_hz>5.54514957427978516e+02</Carrier_Doppler_hz>
+			<Carrier_phase_rads>-1.78723083774703584e+05</Carrier_phase_rads>
+			<Code_phase_samples>3.47952294631795667e-01</Code_phase_samples>
+			<Tracking_sample_counter>133924211</Tracking_sample_counter>
+			<Flag_valid_symbol_output>1</Flag_valid_symbol_output>
+			<correlation_length_ms>1</correlation_length_ms>
+			<Flag_valid_word>1</Flag_valid_word>
+			<TOW_at_current_symbol_ms>518451439</TOW_at_current_symbol_ms>
+			<Pseudorange_m>1.83808922785463184e+07</Pseudorange_m>
+			<RX_time>5.18451500000000000e+05</RX_time>
+			<Flag_valid_pseudorange>1</Flag_valid_pseudorange>
+			<interp_TOW_ms>5.18451438687942982e+08</interp_TOW_ms>
+		</second>
+	</item>
+</GNSS-SDR_gnss_synchro_map>
+</boost_serialization>

src/tests/system-tests/position_test.cc

@@ -354,6 +354,7 @@ int PositionSystemTest::configure_receiver()
             config->set_property("Acquisition_1C.dump", "false");
             config->set_property("Acquisition_1C.dump_filename", "./acquisition");
             config->set_property("Acquisition_1C.dump_channel", "1");
+            config->set_property("Acquisition_1C.blocking", "true");
 
             // Set Tracking
             config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");

src/tests/test_main.cc

@@ -75,7 +75,7 @@ DECLARE_string(log_dir);
 #if EXTRA_TESTS
 #include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc"
-#if ENABLE_FPGA
+#if FPGA_BLOCKS_TEST
 #include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc"
 #endif
 #include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
@@ -171,6 +171,7 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_kf_tracking_test.cc"
 #include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc"
+#include "unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc"
 #if FPGA_BLOCKS_TEST
 #include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc"
 #endif

src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc

@@ -236,6 +236,11 @@ public:
         arma::mat& measured_ch1,
         std::string data_title);
 
+    void check_results_duplicated_satellite(
+        arma::mat& measured_sat1,
+        arma::mat& measured_sat2,
+        std::string data_title);
+
     HybridObservablesTest()
     {
         factory = std::make_shared<GNSSBlockFactory>();
@@ -987,6 +992,207 @@ void HybridObservablesTest::check_results_carrier_doppler(
     ASSERT_LT(rmse_ch0, 30);
 }
 
+void HybridObservablesTest::check_results_duplicated_satellite(
+    arma::mat& measured_sat1,
+    arma::mat& measured_sat2,
+    std::string data_title)
+{
+    //1. True value interpolation to match the measurement times
+
+    double t0 = measured_sat1(0, 0);
+    int size1 = measured_sat1.col(0).n_rows;
+    double t1 = measured_sat1(size1 - 1, 0);
+    arma::vec t = arma::linspace<arma::vec>(t0, t1, floor((t1 - t0) * 1e3));
+    //conversion between arma::vec and std:vector
+    arma::vec t_from_start = arma::linspace<arma::vec>(0, t1 - t0, floor((t1 - t0) * 1e3));
+    std::vector<double> time_vector(t_from_start.colptr(0), t_from_start.colptr(0) + t_from_start.n_rows);
+    //Doppler
+    arma::vec meas_sat1_doppler_interp;
+    arma::interp1(measured_sat1.col(0), measured_sat1.col(2), t, meas_sat1_doppler_interp);
+    arma::vec meas_sat2_doppler_interp;
+    arma::interp1(measured_sat2.col(0), measured_sat2.col(2), t, meas_sat2_doppler_interp);
+
+    //Carrier Phase
+    arma::vec meas_sat1_carrier_phase_interp;
+    arma::vec meas_sat2_carrier_phase_interp;
+    arma::interp1(measured_sat1.col(0), measured_sat1.col(3), t, meas_sat1_carrier_phase_interp);
+    arma::interp1(measured_sat2.col(0), measured_sat2.col(3), t, meas_sat2_carrier_phase_interp);
+
+    // generate double difference accumulated carrier phases
+    //compute error without the accumulated carrier phase offsets (which depends on the receiver starting time)
+    arma::vec delta_measured_carrier_phase_cycles = (meas_sat1_carrier_phase_interp - meas_sat1_carrier_phase_interp(0)) - (meas_sat2_carrier_phase_interp - meas_sat2_carrier_phase_interp(0));
+
+    //Pseudoranges
+    arma::vec meas_sat1_dist_interp;
+    arma::vec meas_sat2_dist_interp;
+    arma::interp1(measured_sat1.col(0), measured_sat1.col(4), t, meas_sat1_dist_interp);
+    arma::interp1(measured_sat2.col(0), measured_sat2.col(4), t, meas_sat2_dist_interp);
+    // generate delta pseudoranges
+    arma::vec delta_measured_dist_m = meas_sat1_dist_interp - meas_sat2_dist_interp;
+
+    //Carrier Doppler error
+    //2. RMSE
+    arma::vec err_ch0_hz;
+
+    //compute error
+    err_ch0_hz = meas_sat1_doppler_interp - meas_sat2_doppler_interp;
+
+    arma::vec err2_ch0 = arma::square(err_ch0_hz);
+    double rmse_ch0 = sqrt(arma::mean(err2_ch0));
+
+    //3. Mean err and variance
+    double error_mean_ch0 = arma::mean(err_ch0_hz);
+    double error_var_ch0 = arma::var(err_ch0_hz);
+
+    // 4. Peaks
+    double max_error_ch0 = arma::max(err_ch0_hz);
+    double min_error_ch0 = arma::min(err_ch0_hz);
+
+    //5. report
+    std::streamsize ss = std::cout.precision();
+    std::cout << std::setprecision(10) << data_title << "Carrier Doppler RMSE = "
+              << rmse_ch0 << ", mean = " << error_mean_ch0
+              << ", stdev = " << sqrt(error_var_ch0)
+              << " (max,min) = " << max_error_ch0
+              << "," << min_error_ch0
+              << " [Hz]" << std::endl;
+    std::cout.precision(ss);
+
+    //plots
+    if (FLAGS_show_plots)
+        {
+            Gnuplot g3("linespoints");
+            g3.set_title(data_title + "Carrier Doppler error [Hz]");
+            g3.set_grid();
+            g3.set_xlabel("Time [s]");
+            g3.set_ylabel("Carrier Doppler error [Hz]");
+            //conversion between arma::vec and std:vector
+            std::vector<double> error_vec(err_ch0_hz.colptr(0), err_ch0_hz.colptr(0) + err_ch0_hz.n_rows);
+            g3.cmd("set key box opaque");
+            g3.plot_xy(time_vector, error_vec,
+                "Carrier Doppler error");
+            g3.set_legend();
+            g3.savetops(data_title + "Carrier_doppler_error");
+
+            g3.showonscreen();  // window output
+        }
+
+    //check results against the test tolerance
+    ASSERT_LT(error_mean_ch0, 5);
+    ASSERT_GT(error_mean_ch0, -5);
+    //assuming PLL BW=35
+    ASSERT_LT(error_var_ch0, 250);
+    ASSERT_LT(max_error_ch0, 100);
+    ASSERT_GT(min_error_ch0, -100);
+    ASSERT_LT(rmse_ch0, 30);
+
+    //Carrier Phase error
+    //2. RMSE
+    arma::vec err_carrier_phase;
+
+    err_carrier_phase = delta_measured_carrier_phase_cycles;
+    arma::vec err2_carrier_phase = arma::square(err_carrier_phase);
+    double rmse_carrier_phase = sqrt(arma::mean(err2_carrier_phase));
+
+    //3. Mean err and variance
+    double error_mean_carrier_phase = arma::mean(err_carrier_phase);
+    double error_var_carrier_phase = arma::var(err_carrier_phase);
+
+    // 4. Peaks
+    double max_error_carrier_phase = arma::max(err_carrier_phase);
+    double min_error_carrier_phase = arma::min(err_carrier_phase);
+
+    //5. report
+    ss = std::cout.precision();
+    std::cout << std::setprecision(10) << data_title << "Carrier Phase RMSE = "
+              << rmse_carrier_phase << ", mean = " << error_mean_carrier_phase
+              << ", stdev = " << sqrt(error_var_carrier_phase)
+              << " (max,min) = " << max_error_carrier_phase
+              << "," << min_error_carrier_phase
+              << " [Cycles]" << std::endl;
+    std::cout.precision(ss);
+
+    //plots
+    if (FLAGS_show_plots)
+        {
+            Gnuplot g3("linespoints");
+            g3.set_title(data_title + "Carrier Phase error [Cycles]");
+            g3.set_grid();
+            g3.set_xlabel("Time [s]");
+            g3.set_ylabel("Carrier Phase error [Cycles]");
+            //conversion between arma::vec and std:vector
+            std::vector<double> range_error_m(err_carrier_phase.colptr(0), err_carrier_phase.colptr(0) + err_carrier_phase.n_rows);
+            g3.cmd("set key box opaque");
+            g3.plot_xy(time_vector, range_error_m,
+                "Carrier Phase error");
+            g3.set_legend();
+            g3.savetops(data_title + "duplicated_satellite_carrier_phase_error");
+
+            g3.showonscreen();  // window output
+        }
+
+    //check results against the test tolerance
+    ASSERT_LT(rmse_carrier_phase, 0.25);
+    ASSERT_LT(error_mean_carrier_phase, 0.2);
+    ASSERT_GT(error_mean_carrier_phase, -0.2);
+    ASSERT_LT(error_var_carrier_phase, 0.5);
+    ASSERT_LT(max_error_carrier_phase, 0.5);
+    ASSERT_GT(min_error_carrier_phase, -0.5);
+
+    //Pseudorange error
+    //2. RMSE
+    arma::vec err_pseudorange;
+
+    err_pseudorange = delta_measured_dist_m;
+    arma::vec err2_pseudorange = arma::square(err_pseudorange);
+    double rmse_pseudorange = sqrt(arma::mean(err2_pseudorange));
+
+    //3. Mean err and variance
+    double error_mean_pseudorange = arma::mean(err_pseudorange);
+    double error_var_pseudorange = arma::var(err_pseudorange);
+
+    // 4. Peaks
+    double max_error_pseudorange = arma::max(err_pseudorange);
+    double min_error_pseudorange = arma::min(err_pseudorange);
+
+    //5. report
+    ss = std::cout.precision();
+    std::cout << std::setprecision(10) << data_title << "Pseudorange RMSE = "
+              << rmse_pseudorange << ", mean = " << error_mean_pseudorange
+              << ", stdev = " << sqrt(error_var_pseudorange)
+              << " (max,min) = " << max_error_pseudorange
+              << "," << min_error_pseudorange
+              << " [meters]" << std::endl;
+    std::cout.precision(ss);
+
+    //plots
+    if (FLAGS_show_plots)
+        {
+            Gnuplot g3("linespoints");
+            g3.set_title(data_title + "Pseudorange error [m]");
+            g3.set_grid();
+            g3.set_xlabel("Time [s]");
+            g3.set_ylabel("Pseudorange error [m]");
+            //conversion between arma::vec and std:vector
+            std::vector<double> range_error_m(err_pseudorange.colptr(0), err_pseudorange.colptr(0) + err_pseudorange.n_rows);
+            g3.cmd("set key box opaque");
+            g3.plot_xy(time_vector, range_error_m,
+                "Pseudorrange error");
+            g3.set_legend();
+            g3.savetops(data_title + "duplicated_satellite_pseudorrange_error");
+
+            g3.showonscreen();  // window output
+        }
+
+    //check results against the test tolerance
+    ASSERT_LT(rmse_pseudorange, 3.0);
+    ASSERT_LT(error_mean_pseudorange, 1.0);
+    ASSERT_GT(error_mean_pseudorange, -1.0);
+    ASSERT_LT(error_var_pseudorange, 10.0);
+    ASSERT_LT(max_error_pseudorange, 10.0);
+    ASSERT_GT(min_error_pseudorange, -10.0);
+}
+
 bool HybridObservablesTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
 {
     try
@@ -1535,7 +1741,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
                 }
         }
 
-
     //Cut measurement tail zeros
     arma::uvec index;
     for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
@@ -1548,9 +1753,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
         }
 
     //Cut measurement initial transitory of the measurements
-
     double initial_transitory_s = FLAGS_skip_obs_transitory_s;
-
     for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
         {
             index = arma::find(measured_obs_vec.at(n).col(0) >= (measured_obs_vec.at(n)(0, 0) + initial_transitory_s), 1, "first");
@@ -1567,6 +1770,63 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
         }
 
 
+    if (FLAGS_duplicated_satellites_test)
+        {
+            //special test mode for duplicated satellites
+            std::vector<int> prn_pairs;
+            std::stringstream ss(FLAGS_duplicated_satellites_prns);
+            int i;
+            while (ss >> i)
+                {
+                    prn_pairs.push_back(i);
+                    if (ss.peek() == ',')
+                        ss.ignore();
+                }
+
+            if (prn_pairs.size() % 2 != 0)
+                {
+                    std::cout << "Test settings error: duplicated_satellites_prns are even\n";
+                }
+            else
+                {
+                    for (unsigned int n = 0; n < prn_pairs.size(); n = n + 2)
+                        {
+                            int sat1_ch_id = -1;
+                            int sat2_ch_id = -1;
+                            for (unsigned int ch = 0; ch < measured_obs_vec.size(); ch++)
+                                {
+                                    if (epoch_counters_vec.at(ch) > 10)  //discard non-valid channels
+                                        {
+                                            if (gnss_synchro_vec.at(ch).PRN == prn_pairs.at(n))
+                                                {
+                                                    sat1_ch_id = ch;
+                                                }
+                                            if (gnss_synchro_vec.at(ch).PRN == prn_pairs.at(n + 1))
+                                                {
+                                                    sat2_ch_id = ch;
+                                                }
+                                        }
+                                }
+                            if (sat1_ch_id != -1 and sat2_ch_id != -1)
+                                {
+                                    //compute single differences for the duplicated satellite
+
+                                    check_results_duplicated_satellite(
+                                        measured_obs_vec.at(sat1_ch_id),
+                                        measured_obs_vec.at(sat2_ch_id),
+                                        "Duplicated sat [CH " + std::to_string(sat1_ch_id) + "," + std::to_string(sat2_ch_id) + "] PRNs " + std::to_string(gnss_synchro_vec.at(sat1_ch_id).PRN) + "," + std::to_string(gnss_synchro_vec.at(sat2_ch_id).PRN) + " ");
+                                }
+                            else
+                                {
+                                    std::cout << "Satellites PRNs " << prn_pairs.at(n) << "and " << prn_pairs.at(n) << " not found\n";
+                                }
+                        }
+                }
+        }
+    else
+        {
+            //normal mode
+
             //Correct the clock error using true values (it is not possible for a receiver to correct
             //the receiver clock offset error at the observables level because it is required the
             //decoding of the ephemeris data and solve the PVT equations)
@@ -1681,5 +1941,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
                             std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
                         }
                 }
+        }
     std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
 }

src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc

@@ -0,0 +1,443 @@
+/*!
+ * \file rtklib_solver_test.cc
+ * \brief Implements Unit Test for the rtklib PVT solver class.
+ * \author Javier Arribas, 2018. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include <gtest/gtest.h>
+#include <string>
+#include <iomanip>
+#include <iostream>
+#include <boost/archive/xml_oarchive.hpp>
+#include <boost/archive/xml_iarchive.hpp>
+#include <boost/serialization/map.hpp>
+#include "rtklib_solver.h"
+#include "in_memory_configuration.h"
+#include "gnss_sdr_supl_client.h"
+
+
+rtk_t configure_rtklib_options()
+{
+    std::shared_ptr<InMemoryConfiguration> configuration;
+    configuration = std::make_shared<InMemoryConfiguration>();
+    std::string role = "rtklib_solver";
+    // custom options
+    configuration->set_property("rtklib_solver.positioning_mode", "Single");
+    configuration->set_property("rtklib_solver.elevation_mask", "0");
+    configuration->set_property("rtklib_solver.iono_model", "OFF");
+    configuration->set_property("rtklib_solver.trop_model", "OFF");
+    //RTKLIB PVT solver options
+
+    // Settings 1
+    int positioning_mode = -1;
+    std::string default_pos_mode("Single");
+    std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
+    if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
+    if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
+    if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
+    if (positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
+    if (positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
+
+    if (positioning_mode == -1)
+        {
+            //warn user and set the default
+            std::cout << "WARNING: Bad specification of positioning mode." << std::endl;
+            std::cout << "positioning_mode possible values: Single / Static / Kinematic / PPP_Static / PPP_Kinematic" << std::endl;
+            std::cout << "positioning_mode specified value: " << positioning_mode_str << std::endl;
+            std::cout << "Setting positioning_mode to Single" << std::endl;
+            positioning_mode = PMODE_SINGLE;
+        }
+
+    int num_bands = 1;
+
+    //    if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1;
+    //    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0))) num_bands = 2;
+    //    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2;
+    //    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3;
+
+    int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
+    if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
+        {
+            //warn user and set the default
+            number_of_frequencies = num_bands;
+        }
+
+    double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
+    if ((elevation_mask < 0.0) || (elevation_mask > 90.0))
+        {
+            //warn user and set the default
+            LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
+            elevation_mask = 15.0;
+        }
+
+    int dynamics_model = configuration->property(role + ".dynamics_model", 0); /*  dynamics model (0:none, 1:velocity, 2:accel) */
+    if ((dynamics_model < 0) || (dynamics_model > 2))
+        {
+            //warn user and set the default
+            LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
+            dynamics_model = 0;
+        }
+
+    std::string default_iono_model("OFF");
+    std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /*  (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
+    int iono_model = -1;
+    if (iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
+    if (iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
+    if (iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
+    if (iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
+    if (iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
+    if (iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
+    if (iono_model == -1)
+        {
+            //warn user and set the default
+            std::cout << "WARNING: Bad specification of ionospheric model." << std::endl;
+            std::cout << "iono_model possible values: OFF / Broadcast / SBAS / Iono-Free-LC / Estimate_STEC / IONEX" << std::endl;
+            std::cout << "iono_model specified value: " << iono_model_str << std::endl;
+            std::cout << "Setting iono_model to OFF" << std::endl;
+            iono_model = IONOOPT_OFF; /* 0: ionosphere option: correction off */
+        }
+
+    std::string default_trop_model("OFF");
+    int trop_model = -1;
+    std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /*  (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
+    if (trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
+    if (trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
+    if (trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
+    if (trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
+    if (trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
+    if (trop_model == -1)
+        {
+            //warn user and set the default
+            std::cout << "WARNING: Bad specification of tropospheric model." << std::endl;
+            std::cout << "trop_model possible values: OFF / Saastamoinen / SBAS / Estimate_ZTD / Estimate_ZTD_Grad" << std::endl;
+            std::cout << "trop_model specified value: " << trop_model_str << std::endl;
+            std::cout << "Setting trop_model to OFF" << std::endl;
+            trop_model = TROPOPT_OFF;
+        }
+
+    /* RTKLIB positioning options */
+    int sat_PCV = 0; /*  Set whether the satellite antenna PCV (phase center variation) model is used or not. This feature requires a Satellite Antenna PCV File. */
+    int rec_PCV = 0; /*  Set whether the receiver antenna PCV (phase center variation) model is used or not. This feature requires a Receiver Antenna PCV File. */
+
+    /* Set whether the phase windup correction for PPP modes is applied or not. Only applicable to PPP‐* modes.*/
+    int phwindup = configuration->property(role + ".phwindup", 0);
+
+    /* Set whether the GPS Block IIA satellites in eclipse are excluded or not.
+    The eclipsing Block IIA satellites often degrade the PPP solutions due to unpredicted behavior of yaw‐attitude. Only applicable to PPP‐* modes.*/
+    int reject_GPS_IIA = configuration->property(role + ".reject_GPS_IIA", 0);
+
+    /* Set whether RAIM (receiver autonomous integrity monitoring) FDE (fault detection and exclusion) feature is enabled or not.
+    In case of RAIM FDE enabled, a satellite is excluded if SSE (sum of squared errors) of residuals is over a threshold.
+    The excluded satellite is selected to indicate the minimum SSE. */
+    int raim_fde = configuration->property(role + ".raim_fde", 0);
+
+    int earth_tide = configuration->property(role + ".earth_tide", 0);
+
+    int nsys = SYS_GPS;
+    //    if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0)) nsys += SYS_GPS;
+    //    if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
+    //    if ((glo_1G_count > 0) || (glo_2G_count > 0)) nsys += SYS_GLO;
+    int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
+    if ((navigation_system < 1) || (navigation_system > 255))                           /* GPS: 1   SBAS: 2   GPS+SBAS: 3 Galileo: 8  Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
+        {
+            //warn user and set the default
+            LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
+            navigation_system = nsys;
+        }
+
+    // Settings 2
+    std::string default_gps_ar("Continuous");
+    std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
+    int integer_ambiguity_resolution_gps = -1;
+    if (integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
+    if (integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
+    if (integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
+    if (integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
+    if (integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
+    if (integer_ambiguity_resolution_gps == -1)
+        {
+            //warn user and set the default
+            std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
+            std::cout << "AR_GPS possible values: OFF / Continuous / Instantaneous / Fix-and-Hold / PPP-AR" << std::endl;
+            std::cout << "AR_GPS specified value: " << integer_ambiguity_resolution_gps_str << std::endl;
+            std::cout << "Setting AR_GPS to OFF" << std::endl;
+            integer_ambiguity_resolution_gps = ARMODE_OFF;
+        }
+
+    int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
+    if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3))
+        {
+            //warn user and set the default
+            LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
+            integer_ambiguity_resolution_glo = 1;
+        }
+
+    int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
+    if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1))
+        {
+            //warn user and set the default
+            LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
+            integer_ambiguity_resolution_bds = 1;
+        }
+
+    double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test,
+                                                                                                               which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */
+
+    int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.
+                                                                                                         If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */
+
+    double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity.
+                                                                                                                        If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */
+
+    int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value.  */
+
+    double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */
+
+    double threshold_reject_gdop = configuration->property(role + ".threshold_reject_gdop", 30.0); /* reject threshold of GDOP. If the GDOP is over the value, the observable is excluded for the estimation process as an outlier. */
+
+    double threshold_reject_innovation = configuration->property(role + ".threshold_reject_innovation", 30.0); /* reject threshold of innovation (m). If the innovation is over the value, the observable is excluded for the estimation process as an outlier. */
+
+    int number_filter_iter = configuration->property(role + ".number_filter_iter", 1); /* Set the number of iteration in the measurement update of the estimation filter.
+                                                                                         If the baseline length is very short like 1 m, the iteration may be effective to handle
+                                                                                         the nonlinearity of measurement equation. */
+
+    /// Statistics
+    double bias_0 = configuration->property(role + ".bias_0", 30.0);
+
+    double iono_0 = configuration->property(role + ".iono_0", 0.03);
+
+    double trop_0 = configuration->property(role + ".trop_0", 0.3);
+
+    double sigma_bias = configuration->property(role + ".sigma_bias", 1e-4); /* Set the process noise standard deviation of carrier‐phase
+                                                                                bias (ambiguity) (cycle/sqrt(s)) */
+
+    double sigma_iono = configuration->property(role + ".sigma_iono", 1e-3); /* Set the process noise standard deviation of vertical ionospheric delay per 10 km baseline (m/sqrt(s)). */
+
+    double sigma_trop = configuration->property(role + ".sigma_trop", 1e-4); /* Set the process noise standard deviation of zenith tropospheric delay (m/sqrt(s)). */
+
+    double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as
+                                                                                the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
+
+    double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as
+                                                                                the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
+
+    double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
+
+    double code_phase_error_ratio_l1 = configuration->property(role + ".code_phase_error_ratio_l1", 100.0);
+    double code_phase_error_ratio_l2 = configuration->property(role + ".code_phase_error_ratio_l2", 100.0);
+    double code_phase_error_ratio_l5 = configuration->property(role + ".code_phase_error_ratio_l5", 100.0);
+    double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
+    double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
+
+    snrmask_t snrmask = {{}, {{}, {}}};
+
+    prcopt_t rtklib_configuration_options = {
+        positioning_mode,                                                                  /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
+        0,                                                                                 /* solution type (0:forward,1:backward,2:combined) */
+        number_of_frequencies,                                                             /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
+        navigation_system,                                                                 /* navigation system  */
+        elevation_mask * D2R,                                                              /* elevation mask angle (degrees) */
+        snrmask,                                                                           /* snrmask_t snrmask    SNR mask */
+        0,                                                                                 /* satellite ephemeris/clock (EPHOPT_XXX) */
+        integer_ambiguity_resolution_gps,                                                  /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
+        integer_ambiguity_resolution_glo,                                                  /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
+        integer_ambiguity_resolution_bds,                                                  /* BeiDou AR mode (0:off,1:on) */
+        outage_reset_ambiguity,                                                            /* obs outage count to reset bias */
+        min_lock_to_fix_ambiguity,                                                         /* min lock count to fix ambiguity */
+        10,                                                                                /* min fix count to hold ambiguity */
+        1,                                                                                 /* max iteration to resolve ambiguity */
+        iono_model,                                                                        /* ionosphere option (IONOOPT_XXX) */
+        trop_model,                                                                        /* troposphere option (TROPOPT_XXX) */
+        dynamics_model,                                                                    /* dynamics model (0:none, 1:velocity, 2:accel) */
+        earth_tide,                                                                        /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
+        number_filter_iter,                                                                /* number of filter iteration */
+        0,                                                                                 /* code smoothing window size (0:none) */
+        0,                                                                                 /* interpolate reference obs (for post mission) */
+        0,                                                                                 /* sbssat_t sbssat  SBAS correction options */
+        0,                                                                                 /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
+        0,                                                                                 /* rover position for fixed mode */
+        0,                                                                                 /* base position for relative mode */
+                                                                                           /*    0:pos in prcopt,  1:average of single pos, */
+                                                                                           /*    2:read from file, 3:rinex header, 4:rtcm pos */
+        {code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
+        {100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0},     /* err[5]:  measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
+        {bias_0, iono_0, trop_0},                                                          /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
+        {sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos},           /* prn[6] process-noise std */
+        5e-12,                                                                             /* sclkstab: satellite clock stability (sec/sec) */
+        {min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0},              /* thresar[8]: AR validation threshold */
+        min_elevation_to_fix_ambiguity,                                                    /* elevation mask of AR for rising satellite (deg) */
+        0.0,                                                                               /* elevation mask to hold ambiguity (deg) */
+        slip_threshold,                                                                    /* slip threshold of geometry-free phase (m) */
+        30.0,                                                                              /* max difference of time (sec) */
+        threshold_reject_innovation,                                                       /* reject threshold of innovation (m) */
+        threshold_reject_gdop,                                                             /* reject threshold of gdop */
+        {},                                                                                /* double baseline[2] baseline length constraint {const,sigma} (m) */
+        {},                                                                                /* double ru[3]  rover position for fixed mode {x,y,z} (ecef) (m) */
+        {},                                                                                /* double rb[3]  base position for relative mode {x,y,z} (ecef) (m) */
+        {"", ""},                                                                          /* char anttype[2][MAXANT]  antenna types {rover,base}  */
+        {{}, {}},                                                                          /* double antdel[2][3]   antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
+        {},                                                                                /* pcv_t pcvr[2]   receiver antenna parameters {rov,base} */
+        {},                                                                                /* unsigned char exsats[MAXSAT]  excluded satellites (1:excluded, 2:included) */
+        0,                                                                                 /* max averaging epoches */
+        0,                                                                                 /* initialize by restart */
+        1,                                                                                 /* output single by dgps/float/fix/ppp outage */
+        {"", ""},                                                                          /* char rnxopt[2][256]   rinex options {rover,base} */
+        {sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde},                            /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
+        0,                                                                                 /* solution sync mode (0:off,1:on) */
+        {{}, {}},                                                                          /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
+        {{}, {{}, {}}, {{}, {}}, {}, {}},                                                  /* exterr_t exterr   extended receiver error model */
+        0,                                                                                 /* disable L2-AR */
+        {}                                                                                 /* char pppopt[256]   ppp option   "-GAP_RESION="  default gap to reset iono parameters (ep) */
+    };
+
+    rtk_t rtk;
+    rtkinit(&rtk, &rtklib_configuration_options);
+    return rtk;
+}
+
+
+//todo: add test cases for Galileo E1, E5 and GPS L5
+TEST(RTKLibSolverTest, test1)
+{
+    //test case #1: GPS L1 CA simulated with gnss-sim
+    std::string path = std::string(TEST_PATH);
+    int nchannels = 8;
+    std::string dump_filename = ".rtklib_solver_dump.dat";
+    bool flag_dump_to_file = false;
+    rtk_t rtk = configure_rtklib_options();
+
+    std::unique_ptr<rtklib_solver> d_ls_pvt(new rtklib_solver(nchannels, dump_filename, flag_dump_to_file, rtk));
+    d_ls_pvt->set_averaging_depth(1);
+
+    // load ephemeris
+    std::string eph_xml_filename = path + "data/rtklib_test/eph_GPS_L1CA_test1.xml";
+    gnss_sdr_supl_client supl_client_ephemeris_;
+
+    std::cout << "SUPL: Try read GPS ephemeris from XML file " << eph_xml_filename << std::endl;
+    if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
+        {
+            std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter;
+            for (gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.cbegin();
+                 gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend();
+                 gps_eph_iter++)
+                {
+                    std::cout << "SUPL: Read XML Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
+                    std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(gps_eph_iter->second);
+                    // update/insert new ephemeris record to the global ephemeris map
+                    d_ls_pvt->gps_ephemeris_map[gps_eph_iter->first] = *tmp_obj;
+                }
+        }
+    else
+        {
+            std::cout << "ERROR: SUPL client error reading XML" << std::endl;
+        }
+
+    // insert observables epoch
+    std::map<int, Gnss_Synchro> gnss_synchro_map;
+    //    Gnss_Synchro tmp_obs;
+    //    tmp_obs.System = 'G';
+    //    std::string signal = "1C";
+    //    const char* str = signal.c_str();                         // get a C style null terminated string
+    //    std::memcpy(static_cast<void*>(tmp_obs.Signal), str, 3);  // copy string into synchro char array: 2 char + null
+    //
+    //    gnss_synchro_map[0] = tmp_obs;
+    //    gnss_synchro_map[0].PRN = 1;
+    //    gnss_synchro_map[0].RX_time = 518449.000000;
+    //    gnss_synchro_map[0].Pseudorange_m = 22816591.664859;
+    //    gnss_synchro_map[0].Carrier_Doppler_hz = -2579.334343;
+    //    gnss_synchro_map[0].Carrier_phase_rads = 794858.014183;
+
+    //load from xml (boost serialize)
+    std::string file_name = path + "data/rtklib_test/obs_test1.xml";
+
+    std::ifstream ifs;
+    try
+        {
+            ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
+            boost::archive::xml_iarchive xml(ifs);
+            gnss_synchro_map.clear();
+            xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_synchro_map);
+            std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl;
+        }
+    catch (std::exception& e)
+        {
+            std::cout << e.what() << "File: " << file_name;
+        }
+    ifs.close();
+
+    // solve
+    bool pvt_valid = false;
+    if (d_ls_pvt->get_PVT(gnss_synchro_map, false))
+        {
+            // DEBUG MESSAGE: Display position in console output
+            if (d_ls_pvt->is_valid_position())
+                {
+                    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 << "Position at " << d_ls_pvt->get_position_UTC_time()
+                              << " UTC using " << d_ls_pvt->get_num_valid_observations()
+                              << std::fixed << std::setprecision(9)
+                              << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
+                              << std::fixed << std::setprecision(3)
+                              << " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << std::endl;
+                    std::cout << std::setprecision(ss);
+                    std::cout << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << std::endl;
+
+                    // boost::posix_time::ptime p_time;
+                    // gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
+                    // p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
+                    // p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
+                    // std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl;
+
+                    std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
+                              << " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
+                              << " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << std::endl;
+
+                    std::cout << "RTKLIB Position at RX TOW = " << gnss_synchro_map.begin()->second.RX_time
+                              << " in ECEF (X,Y,Z,t[meters]) = " << std::fixed << std::setprecision(16)
+                              << d_ls_pvt->pvt_sol.rr[0] << ","
+                              << d_ls_pvt->pvt_sol.rr[1] << ","
+                              << d_ls_pvt->pvt_sol.rr[2] << std::endl;
+                    /* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
+                             << " UTC using "<< d_ls_pvt->get_num_valid_observations() <<" observations is HDOP = " << d_ls_pvt->get_hdop() << " VDOP = "
+                             << d_ls_pvt->get_vdop()
+                             << " GDOP = " << d_ls_pvt->get_gdop() << std::endl; */
+
+                    //todo: check here the positioning error against the reference position generated with gnss-sim
+                    //reference position on in WGS84: Lat (deg), Long (deg) , H (m): 30.286502,120.032669,100
+
+
+                    pvt_valid = true;
+                }
+        }
+
+    EXPECT_EQ(true, pvt_valid);
+}

src/utils/front-end-cal/CMakeLists.txt

@@ -22,6 +22,8 @@ if(OPENSSL_FOUND)
 endif(OPENSSL_FOUND)
 
 set(FRONT_END_CAL_SOURCES front_end_cal.cc)
+set(FRONT_END_CAL_HEADERS front_end_cal.h)
+
 
 include_directories(
     ${CMAKE_SOURCE_DIR}/src/core/system_parameters
@@ -44,8 +46,6 @@ include_directories(
     ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
 
-file(GLOB FRONT_END_CAL_HEADERS "*.h")
-list(SORT FRONT_END_CAL_HEADERS)
 add_library(front_end_cal_lib ${FRONT_END_CAL_SOURCES} ${FRONT_END_CAL_HEADERS})
 source_group(Headers FILES ${FRONT_END_CAL_HEADERS})
 
@@ -114,5 +114,3 @@ if(NOT GZIP_NOTFOUND)
 
     install(FILES ${CMAKE_BINARY_DIR}/front-end-cal.1.gz DESTINATION share/man/man1)
 endif(NOT GZIP_NOTFOUND)
-
-