1
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mirror of https://github.com/gnss-sdr/gnss-sdr synced 2024-12-12 19:20:32 +00:00

bds_b3i: merging new changes, fixing small bugs

This commit is contained in:
Damian Miralles 2019-03-01 13:28:21 -06:00
commit 8782fcba69
664 changed files with 16264 additions and 9019 deletions

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@ -1,3 +1,130 @@
--- ---
Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-bool-literals,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-inefficient-algorithm,performance-move-const-arg,performance-type-promotion-in-math-fn,performance-unnecessary-copy-initialization,performance-unnecessary-value-param,readability-container-size-empty,readability-named-parameter,readability-non-const-parameter,readability-string-compare' Checks: '-*,
HeaderFilterRegex: '.*' boost-use-to-string,
cert-dcl21-cpp,
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cert-env33-c,
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cert-err60-cpp,
cert-flp30-c,
clang-analyzer-cplusplus*,
cppcoreguidelines-pro-type-static-cast-downcast,
cppcoreguidelines-slicing,
google-build-namespaces,
google-runtime-int,
misc-misplaced-const,
misc-new-delete-overloads,
misc-non-copyable-objects,
misc-static-assert,
misc-throw-by-value-catch-by-reference,
misc-uniqueptr-reset-release,
misc-unused-using-decls,
modernize-loop-convert,
modernize-pass-by-value,
modernize-raw-string-literal,
modernize-use-auto,
modernize-use-bool-literals,
modernize-use-equals-default,
modernize-use-equals-delete,
modernize-use-noexcept,
modernize-use-nullptr,
performance-faster-string-find,
performance-inefficient-algorithm,
performance-move-const-arg,
performance-type-promotion-in-math-fn,
performance-unnecessary-copy-initialization,
performance-unnecessary-value-param,
readability-container-size-empty,
readability-identifier-naming,
readability-inconsistent-declaration-parameter-name,
readability-named-parameter,
readability-non-const-parameter,
readability-string-compare'
WarningsAsErrors: ''
HeaderFilterRegex: ''
AnalyzeTemporaryDtors: false
FormatStyle: 'file'
CheckOptions:
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value: ',h'
- key: google-readability-braces-around-statements.ShortStatementLines
value: '1'
- key: google-readability-function-size.StatementThreshold
value: '800'
- key: google-readability-namespace-comments.ShortNamespaceLines
value: '10'
- key: google-readability-namespace-comments.SpacesBeforeComments
value: '2'
- key: google-runtime-int.SignedTypePrefix
value: int
- key: google-runtime-int.TypeSuffix
value: _t
- key: google-runtime-int.UnsignedTypePrefix
value: uint
- key: misc-throw-by-value-catch-by-reference.CheckThrowTemporaries
value: '1'
- key: modernize-loop-convert.MaxCopySize
value: '16'
- key: modernize-loop-convert.MinConfidence
value: reasonable
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value: CamelCase
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value: ''
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value: '1'
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value: 'NULL'
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value: 'std::basic_string'
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value: '1'
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value: '0'
...

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@ -41,7 +41,7 @@ endif()
######################################################################## ########################################################################
# Determine optional blocks/libraries to be built (default: not built) # Determine optional blocks/libraries to be built (default: not built)
# Enable them at the command line by doing 'cmake -DENABLE_XXX=ON ../' # Enable them at the command line by doing 'cmake -DENABLE_XXX=ON ..'
######################################################################## ########################################################################
# Support of optional RF front-ends # Support of optional RF front-ends
option(ENABLE_UHD "Enable the use of UHD (driver for all USRP devices)" ON) option(ENABLE_UHD "Enable the use of UHD (driver for all USRP devices)" ON)
@ -58,6 +58,9 @@ option(ENABLE_RAW_UDP "Enable the use of high-optimized custom UDP packet sample
option(ENABLE_GPERFTOOLS "Enable linking to Gperftools libraries (tcmalloc and profiler)" OFF) option(ENABLE_GPERFTOOLS "Enable linking to Gperftools libraries (tcmalloc and profiler)" OFF)
option(ENABLE_GPROF "Enable the use of the GNU profiler tool 'gprof'" OFF) option(ENABLE_GPROF "Enable the use of the GNU profiler tool 'gprof'" OFF)
# Code correctness
option(ENABLE_CLANG_TIDY "Enable the use of clang-tidy when compiling" OFF)
# Acceleration # Acceleration
option(ENABLE_PROFILING "Enable execution of volk_gnsssdr_profile at the end of the building" OFF) option(ENABLE_PROFILING "Enable execution of volk_gnsssdr_profile at the end of the building" OFF)
option(ENABLE_OPENCL "Enable building of processing blocks implemented with OpenCL (experimental)" OFF) option(ENABLE_OPENCL "Enable building of processing blocks implemented with OpenCL (experimental)" OFF)
@ -407,6 +410,53 @@ endif()
################################################################################
# Set C and C++ standard
################################################################################
if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_EXTENSIONS OFF)
else()
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,C>:-std=gnu11>")
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
else()
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++14>")
endif()
endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(OS_IS_MACOSX)
if(CLANG_VERSION VERSION_LESS "600")
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
else()
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++14>")
endif()
else()
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
else()
add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++14>")
endif()
endif()
endif()
endif()
# Visibility
# See https://gcc.gnu.org/wiki/Visibility
if(POLICY CMP0053)
cmake_policy(SET CMP0063 NEW)
set(CMAKE_CXX_VISIBILITY_PRESET hidden)
set(CMAKE_C_VISIBILITY_PRESET hidden)
set(CMAKE_VISIBILITY_INLINES_HIDDEN 1)
else()
if((CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
add_definitions(-fvisibility=hidden)
endif()
endif()
################################################################################ ################################################################################
# Check if the compiler defines the architecture as ARM # Check if the compiler defines the architecture as ARM
################################################################################ ################################################################################
@ -423,21 +473,25 @@ endif()
################################################################################
# Check for availability of SSE
################################################################################
if(NOT ENABLE_GENERIC_ARCH)
include(TestForSSE)
endif()
################################################################################ ################################################################################
# Find the POSIX thread (pthread) libraries # Find the POSIX thread (pthread) libraries
################################################################################ ################################################################################
if(CMAKE_VERSION VERSION_LESS 3.1) if(CMAKE_VERSION VERSION_LESS 3.1)
# Workaround for CMake < 3.1
find_package(Threads REQUIRED) find_package(Threads REQUIRED)
set(THREAD_LIBRARIES ${CMAKE_THREAD_LIBS_INIT}) add_library(Threads::Threads SHARED IMPORTED)
set_property(TARGET Threads::Threads PROPERTY INTERFACE_LINK_LIBRARIES "${CMAKE_THREAD_LIBS_INIT}")
set_property(TARGET Threads::Threads PROPERTY IMPORTED_LINK_INTERFACE_LANGUAGES "CXX")
include(GNUInstallDirs)
# Fix bug in Debian 8.11
if(${LINUX_DISTRIBUTION} MATCHES "Debian")
if(${LINUX_VER} VERSION_LESS 8.12)
if(ARCH_64BITS)
set(FIX_PTHREADS_LOCATION "x86_64-linux-gnu/")
endif()
endif()
endif()
set_property(TARGET Threads::Threads PROPERTY IMPORTED_LOCATION /usr/${CMAKE_INSTALL_LIBDIR}/${FIX_PTHREADS_LOCATION}${CMAKE_FIND_LIBRARY_PREFIXES}pthread${CMAKE_SHARED_LIBRARY_SUFFIX})
else() else()
set(CMAKE_THREAD_PREFER_PTHREAD TRUE) set(CMAKE_THREAD_PREFER_PTHREAD TRUE)
if(CMAKE_CROSSCOMPILING) if(CMAKE_CROSSCOMPILING)
@ -446,7 +500,6 @@ else()
set(THREADS_PREFER_PTHREAD_FLAG TRUE) set(THREADS_PREFER_PTHREAD_FLAG TRUE)
endif() endif()
find_package(Threads REQUIRED) find_package(Threads REQUIRED)
set(THREAD_LIBRARIES Threads::Threads)
endif() endif()
@ -461,13 +514,13 @@ if(ENABLE_UNIT_TESTING OR ENABLE_SYSTEM_TESTING)
endif() endif()
if(GTEST_DIR) if(GTEST_DIR)
message(STATUS "Googletest root folder set at ${GTEST_DIR}") message(STATUS "Googletest root folder set at ${GTEST_DIR}")
find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS ${GTEST_DIR}) find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS ${GTEST_DIR} ${GTEST_DIR}/googletest)
if(LIBGTEST_DEV_DIR) if(LIBGTEST_DEV_DIR)
message(STATUS "Googletest has been found.") message(STATUS "Googletest has been found.")
else() else()
message(FATAL_ERROR " Googletest source code has not been found at ${GTEST_DIR}.") message(FATAL_ERROR " Googletest source code has not been found at ${GTEST_DIR}.")
endif() endif()
find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS ${GTEST_DIR}/include) find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS ${GTEST_DIR}/googletest/include)
else() else()
find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS /usr/src/googletest/googletest /usr/src/gtest /usr/include/gtest /opt/local/src/gtest-1.7.0) find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS /usr/src/googletest/googletest /usr/src/gtest /usr/include/gtest /opt/local/src/gtest-1.7.0)
find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS /usr/include /opt/local/src/gtest-1.7.0/include) find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS /usr/include /opt/local/src/gtest-1.7.0/include)
@ -1101,7 +1154,6 @@ endif()
if(NOT ENABLE_LOG) if(NOT ENABLE_LOG)
message(STATUS "Logging is not enabled") message(STATUS "Logging is not enabled")
target_compile_definitions(Glog::glog PUBLIC -DGOOGLE_STRIP_LOG=1)
endif() endif()
@ -1481,8 +1533,8 @@ endif()
find_package(Doxygen) find_package(Doxygen)
if(DOXYGEN_FOUND) if(DOXYGEN_FOUND)
message(STATUS "Doxygen found.") message(STATUS "Doxygen found.")
message(STATUS "You can build the documentation with '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc'.") message(STATUS " You can build the documentation with '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc'.")
message(STATUS "When done, point your browser to ${CMAKE_BINARY_DIR}/html/index.html") message(STATUS " When done, point your browser to ${CMAKE_BINARY_DIR}/html/index.html")
set(HAVE_DOT ${DOXYGEN_DOT_FOUND}) set(HAVE_DOT ${DOXYGEN_DOT_FOUND})
file(TO_NATIVE_PATH ${CMAKE_SOURCE_DIR} top_srcdir) file(TO_NATIVE_PATH ${CMAKE_SOURCE_DIR} top_srcdir)
file(TO_NATIVE_PATH ${CMAKE_BINARY_DIR} top_builddir) file(TO_NATIVE_PATH ${CMAKE_BINARY_DIR} top_builddir)
@ -1504,7 +1556,7 @@ if(DOXYGEN_FOUND)
COMMENT "Generating API documentation with Doxygen." VERBATIM COMMENT "Generating API documentation with Doxygen." VERBATIM
) )
if(LATEX_COMPILER) if(LATEX_COMPILER)
message(STATUS "'${CMAKE_MAKE_PROGRAM_PRETTY_NAME} pdfmanual' will generate a manual at ${CMAKE_BINARY_DIR}/docs/GNSS-SDR_manual.pdf") message(STATUS " '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} pdfmanual' will generate a manual at ${CMAKE_BINARY_DIR}/docs/GNSS-SDR_manual.pdf")
add_custom_target(pdfmanual add_custom_target(pdfmanual
COMMAND ${CMAKE_MAKE_PROGRAM} COMMAND ${CMAKE_MAKE_PROGRAM}
COMMAND ${CMAKE_COMMAND} -E copy refman.pdf ${CMAKE_BINARY_DIR}/docs/GNSS-SDR_manual.pdf COMMAND ${CMAKE_COMMAND} -E copy refman.pdf ${CMAKE_BINARY_DIR}/docs/GNSS-SDR_manual.pdf
@ -1514,7 +1566,7 @@ if(DOXYGEN_FOUND)
COMMENT "Generating PDF manual with Doxygen." VERBATIM COMMENT "Generating PDF manual with Doxygen." VERBATIM
) )
endif() endif()
message(STATUS "'${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc-clean' will clean the documentation.") message(STATUS " '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc-clean' will clean the documentation.")
add_custom_target(doc-clean add_custom_target(doc-clean
COMMAND ${CMAKE_COMMAND} -E remove_directory ${CMAKE_BINARY_DIR}/docs/html COMMAND ${CMAKE_COMMAND} -E remove_directory ${CMAKE_BINARY_DIR}/docs/html
COMMAND ${CMAKE_COMMAND} -E remove_directory ${CMAKE_BINARY_DIR}/docs/latex COMMAND ${CMAKE_COMMAND} -E remove_directory ${CMAKE_BINARY_DIR}/docs/latex
@ -1552,7 +1604,7 @@ if(ENABLE_OPENCL)
else() else()
if(OPENCL_FOUND) if(OPENCL_FOUND)
message(STATUS "OpenCL has been found and will be used by some processing blocks") message(STATUS "OpenCL has been found and will be used by some processing blocks")
message(STATUS "You can disable OpenCL use by doing 'cmake -DENABLE_OPENCL=OFF ../' ") message(STATUS " You can disable OpenCL use by doing 'cmake -DENABLE_OPENCL=OFF ..' ")
endif() endif()
endif() endif()
if(ENABLE_GENERIC_ARCH) if(ENABLE_GENERIC_ARCH)
@ -1579,10 +1631,10 @@ endif()
if(ENABLE_CUDA) if(ENABLE_CUDA)
find_package(CUDA REQUIRED) find_package(CUDA REQUIRED)
message(STATUS "NVIDIA CUDA GPU Acceleration will be enabled.") message(STATUS "NVIDIA CUDA GPU Acceleration will be enabled.")
message(STATUS "You can disable it with 'cmake -DENABLE_CUDA=OFF ../'") message(STATUS " You can disable it with 'cmake -DENABLE_CUDA=OFF ..'")
else() else()
message(STATUS "NVIDIA CUDA GPU Acceleration will be not enabled.") message(STATUS "NVIDIA CUDA GPU Acceleration will be not enabled.")
message(STATUS "Enable it with 'cmake -DENABLE_CUDA=ON ../' to add support for GPU-based acceleration using CUDA.") message(STATUS " Enable it with 'cmake -DENABLE_CUDA=ON ..' to add support for GPU-based acceleration using CUDA.")
endif() endif()
@ -1592,7 +1644,7 @@ endif()
############################################################################### ###############################################################################
if(ENABLE_RAW_UDP) if(ENABLE_RAW_UDP)
message(STATUS "High-optimized custom UDP IP packet source is enabled.") message(STATUS "High-optimized custom UDP IP packet source is enabled.")
message(STATUS "You can disable it with 'cmake -DENABLE_RAW_UDP=OFF ../'") message(STATUS " You can disable it with 'cmake -DENABLE_RAW_UDP=OFF ..'")
find_package(PCAP) find_package(PCAP)
if(NOT PCAP_FOUND) if(NOT PCAP_FOUND)
message(FATAL_ERROR "PCAP required to compile custom UDP packet sample source (with ENABLE_RAW_UDP=ON)") message(FATAL_ERROR "PCAP required to compile custom UDP packet sample source (with ENABLE_RAW_UDP=ON)")
@ -1606,10 +1658,10 @@ endif()
############################################################################### ###############################################################################
if(ENABLE_FPGA) if(ENABLE_FPGA)
message(STATUS "FPGA Acceleration will be enabled.") message(STATUS "FPGA Acceleration will be enabled.")
message(STATUS "You can disable it with 'cmake -DENABLE_FPGA=OFF ../'") message(STATUS " You can disable it with 'cmake -DENABLE_FPGA=OFF ..'")
else() else()
message(STATUS "Fpga Acceleration will be not enabled.") message(STATUS "Fpga Acceleration will be not enabled.")
message(STATUS "Enable it with 'cmake -DENABLE_FPGA=ON ../' to add support for GPU-based acceleration using the FPGA.") message(STATUS " Enable it with 'cmake -DENABLE_FPGA=ON ..' to add support for GPU-based acceleration using the FPGA.")
endif() endif()
@ -1659,7 +1711,7 @@ if(ENABLE_OSMOSDR)
find_package(GROSMOSDR) find_package(GROSMOSDR)
if(GROSMOSDR_FOUND) if(GROSMOSDR_FOUND)
message(STATUS "The driver for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based dongles, etc.) will be compiled.") message(STATUS "The driver for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based dongles, etc.) will be compiled.")
message(STATUS "You can disable it with 'cmake -DENABLE_OSMOSDR=OFF ../'") message(STATUS " You can disable it with 'cmake -DENABLE_OSMOSDR=OFF ..'")
else() else()
if(ENABLE_PACKAGING) if(ENABLE_PACKAGING)
message(WARNING "gr-osmosdr has not been found. Source blocks depending on it will NOT be built.") message(WARNING "gr-osmosdr has not been found. Source blocks depending on it will NOT be built.")
@ -1669,7 +1721,7 @@ if(ENABLE_OSMOSDR)
endif() endif()
else() else()
message(STATUS "The (optional) driver for OsmoSDR and related front-ends is not enabled.") message(STATUS "The (optional) driver for OsmoSDR and related front-ends is not enabled.")
message(STATUS "Enable it with 'cmake -DENABLE_OSMOSDR=ON ../' to add support for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based USB dongles, etc.)") message(STATUS " Enable it with 'cmake -DENABLE_OSMOSDR=ON ..' to add support for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based USB dongles, etc.)")
endif() endif()
@ -1680,6 +1732,7 @@ endif()
############################################## ##############################################
if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2) if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
find_package(GRIIO) find_package(GRIIO)
find_package(LIBIIO)
endif() endif()
@ -1707,10 +1760,10 @@ endif()
if(ENABLE_FLEXIBAND) if(ENABLE_FLEXIBAND)
message(STATUS "The Teleorbit Flexiband front-end source will be compiled.") message(STATUS "The Teleorbit Flexiband front-end source will be compiled.")
message(STATUS "You can disable it with 'cmake -DENABLE_FLEXIBAND=OFF ../'") message(STATUS " You can disable it with 'cmake -DENABLE_FLEXIBAND=OFF ..'")
else() else()
message(STATUS "The (optional) Teleorbit Flexiband front-end driver adapter is not enabled.") message(STATUS "The (optional) Teleorbit Flexiband front-end driver adapter is not enabled.")
message(STATUS "Enable it with 'cmake -DENABLE_FLEXIBAND=ON ../' to add support for the Teleorbit Flexiband front-end.") message(STATUS " Enable it with 'cmake -DENABLE_FLEXIBAND=ON ..' to add support for the Teleorbit Flexiband front-end.")
endif() endif()
if(ENABLE_FLEXIBAND) if(ENABLE_FLEXIBAND)
find_package(TELEORBIT) find_package(TELEORBIT)
@ -1732,11 +1785,11 @@ if(GN3S_DRIVER)
endif() endif()
if(ENABLE_GN3S) if(ENABLE_GN3S)
message(STATUS "The GN3S driver will be compiled.") message(STATUS "The GN3S driver will be compiled.")
message(STATUS "You can disable it with 'cmake -DENABLE_GN3S=OFF ../'") message(STATUS " You can disable it with 'cmake -DENABLE_GN3S=OFF ..'")
find_package(GRGN3S QUIET) find_package(GRGN3S QUIET)
else() else()
message(STATUS "The (optional and experimental) GN3S driver is not enabled.") message(STATUS "The (optional and experimental) GN3S driver is not enabled.")
message(STATUS "Enable it with 'cmake -DENABLE_GN3S=ON ../' to add support for the GN3S dongle.") message(STATUS " Enable it with 'cmake -DENABLE_GN3S=ON ..' to add support for the GN3S dongle.")
endif() endif()
@ -1754,11 +1807,11 @@ endif()
if(ENABLE_ARRAY) if(ENABLE_ARRAY)
message(STATUS "CTTC's Antenna Array front-end driver will be compiled.") message(STATUS "CTTC's Antenna Array front-end driver will be compiled.")
message(STATUS "You can disable it with 'cmake -DENABLE_ARRAY=OFF ../'") message(STATUS " You can disable it with 'cmake -DENABLE_ARRAY=OFF ..'")
find_package(GRDBFCTTC QUIET) find_package(GRDBFCTTC QUIET)
else() else()
message(STATUS "The (optional) CTTC's Antenna Array front-end driver is not enabled.") message(STATUS "The (optional) CTTC's Antenna Array front-end driver is not enabled.")
message(STATUS "Enable it with 'cmake -DENABLE_ARRAY=ON ../' to add support for the CTTC experimental array front-end.") message(STATUS " Enable it with 'cmake -DENABLE_ARRAY=ON ..' to add support for the CTTC experimental array front-end.")
endif() endif()
@ -1770,11 +1823,11 @@ if(ENABLE_GPERFTOOLS)
find_package(GPERFTOOLS) find_package(GPERFTOOLS)
if(NOT GPERFTOOLS_FOUND) if(NOT GPERFTOOLS_FOUND)
message(STATUS "Although ENABLE_GPERFTOOLS has been set to ON, GPerftools has not been found.") message(STATUS "Although ENABLE_GPERFTOOLS has been set to ON, GPerftools has not been found.")
message(STATUS "Binaries will be compiled without 'tcmalloc' and 'profiler' libraries.") message(STATUS " Binaries will be compiled without 'tcmalloc' and 'profiler' libraries.")
message(STATUS "You can install GPerftools from https://github.com/gperftools/gperftools") message(STATUS " You can install GPerftools from https://github.com/gperftools/gperftools")
else() else()
message(STATUS "GPerftools libraries found.") message(STATUS "GPerftools libraries found.")
message(STATUS "Binaries will be compiled with 'tcmalloc' and 'profiler' libraries.") message(STATUS " Binaries will be compiled with 'tcmalloc' and 'profiler' libraries.")
endif() endif()
endif() endif()
if(ENABLE_GPERFTOOLS) if(ENABLE_GPERFTOOLS)
@ -1782,10 +1835,10 @@ if(ENABLE_GPERFTOOLS)
# See https://github.com/gperftools/gperftools/blob/master/README # See https://github.com/gperftools/gperftools/blob/master/README
if(GPERFTOOLS_FOUND) if(GPERFTOOLS_FOUND)
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32) if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free") add_compile_options(-fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free)
endif() endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -fno-builtin") add_compile_options(-fno-builtin)
endif() endif()
endif() endif()
endif() endif()
@ -1796,7 +1849,7 @@ endif()
# GNU gprof (OPTIONAL) - https://sourceware.org/binutils/docs/gprof/ # GNU gprof (OPTIONAL) - https://sourceware.org/binutils/docs/gprof/
######################################################################## ########################################################################
if(ENABLE_GPROF) if(ENABLE_GPROF)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -pg") add_compile_options(-pg)
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pg") set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pg")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -pg") set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -pg")
endif() endif()
@ -1805,92 +1858,48 @@ endif()
######################################################################## ########################################################################
# Set compiler flags # Set compiler flags
######################################################################## ########################################################################
# Support of C++17 is still not possible due to pm_remez.h (solved in GNU Radio 3.8)
# Enable C++14 support in GCC >= 6.1.1
# Fallback to C++11 when using GCC < 6.1.1
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32) if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1") # Add warning flags
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11") # For "-Wall" see https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
set(cxx_warning_flags -Wall -Wextra)
if(NOT (CMAKE_VERSION VERSION_LESS "3.3"))
add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:${cxx_warning_flags}>")
else() else()
# if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0") add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:${cxx_warning_flags}>")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
# else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
# set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
# endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
endif() endif()
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra") #Add warning flags: For "-Wall" see https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "5.0")
endif() add_compile_options(-Wno-missing-field-initializers)
# Support of C++17 is still not possible due to pm_remez.h (solved in GNU Radio 3.8)
# Enable C++14 support in Clang >= 3.5.0 or AppleClang >= 600
# Fallback to C++11 if older version
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(OS_IS_MACOSX)
# See https://trac.macports.org/wiki/XcodeVersionInfo for Apple Clang version equivalences
if(CLANG_VERSION VERSION_LESS "600")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
else()
# if(CLANG_VERSION VERSION_LESS "900")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
# else(CLANG_VERSION VERSION_LESS "900")
# set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
# endif(CLANG_VERSION VERSION_LESS "900")
endif()
else()
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
else()
# if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
# else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
# set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
# endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
endif()
endif() endif()
if(CMAKE_CROSSCOMPILING)
if(OS_IS_MACOSX) add_compile_options(-Wno-psabi)
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -stdlib=libc++")
endif()
endif()
if(NOT ((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT (CMAKE_CXX_COMPILER_ID MATCHES "Clang")) AND NOT WIN32)
if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 11)
endif() endif()
endif() endif()
# Processor-architecture related flags # Processor-architecture related flags
# See https://gcc.gnu.org/onlinedocs/gcc/x86-Options.html # See https://gcc.gnu.org/onlinedocs/gcc/x86-Options.html
if(NOT ARCH_COMPILER_FLAGS) if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32) if(OS_IS_MACOSX)
if(OS_IS_MACOSX) add_compile_options(-march=corei7 -mfpmath=sse)
set(ARCH_COMPILER_FLAGS "-march=corei7 -mfpmath=sse") else()
else() if(NOT ENABLE_GENERIC_ARCH)
if(NOT ${ENABLE_GENERIC_ARCH}) if(IS_ARM)
if(IS_ARM) # ARM-specific options (https://gcc.gnu.org/onlinedocs/gcc/ARM-Options.html) # ARM-specific options
if(NOT CMAKE_CROSSCOMPILING) # See https://gcc.gnu.org/onlinedocs/gcc/ARM-Options.html
if(ARM_VERSION STREQUAL "arm") if(NOT CMAKE_CROSSCOMPILING)
# Unknown arm version - try our best to detect if(ARM_VERSION STREQUAL "arm")
set(ARCH_COMPILER_FLAGS "-mcpu=native") # Unknown arm version - try our best to detect
else() add_compile_options(-mcpu=native)
set(ARCH_COMPILER_FLAGS "-march=${ARM_VERSION}") else()
endif() add_compile_options(-march=${ARM_VERSION})
endif() endif()
else() endif()
set(ARCH_COMPILER_FLAGS "-march=native -mfpmath=sse") else()
endif() add_compile_options(-march=native -mfpmath=sse)
endif() endif()
endif() endif()
endif() endif()
endif() endif()
set(MY_CXX_FLAGS "${MY_CXX_FLAGS} ${ARCH_COMPILER_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MY_CXX_FLAGS}")
if((CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
# https://gcc.gnu.org/wiki/Visibility
add_definitions(-fvisibility=hidden)
endif()
######################################################################## ########################################################################
@ -1907,7 +1916,12 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
message(STATUS "clang-tidy not found.") message(STATUS "clang-tidy not found.")
else() else()
message(STATUS "clang-tidy found: ${CLANG_TIDY_EXE}") message(STATUS "clang-tidy found: ${CLANG_TIDY_EXE}")
set(DO_CLANG_TIDY "${CLANG_TIDY_EXE}" "-checks=*") if(ENABLE_CLANG_TIDY)
message(STATUS " clang-tidy will be used in compilation. You can disable it with 'cmake -DENABLE_CLANG_TIDY=OFF ..'")
else()
message(STATUS " You can enable clang-tidy usage in compilation with 'cmake -DENABLE_CLANG_TIDY=ON ..'")
endif()
set(DO_CLANG_TIDY "${CLANG_TIDY_EXE}" "-fix")
set(CMAKE_EXPORT_COMPILE_COMMANDS ON) set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
endif() endif()
endif() endif()

View File

@ -112,12 +112,12 @@ Once you have installed these packages, you can jump directly to [download the s
#### Arch Linux #### Arch Linux
If you are using Arch Linux (with base-devel group installed): If you are using Arch Linux:
~~~~~~ ~~~~~~
$ pacman -S cmake git boost boost-libs log4cpp libvolk gnuradio gnuradio-osmosdr \ $ pacman -S gcc make cmake git boost boost-libs log4cpp libvolk gnuradio \
blas lapack gflags google-glog openssl pugixml python-mako python-six \ gnuradio-osmosdr blas lapack gflags google-glog openssl pugixml \
libmatio libpcap gtest python-mako python-six libmatio libpcap gtest
~~~~~~ ~~~~~~
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux). Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@ -596,7 +596,7 @@ $ pip install six
$ brew install openssl $ brew install openssl
~~~~~~ ~~~~~~
In the last step, Homebrew installs OpenSSL but it does not link it into `/usr/local`. Thus, you must manually link it instead: In the last step, Homebrew installs OpenSSL but it does not link it to `/usr/local`. Thus, you must manually link it instead:
~~~~~~ ~~~~~~
$ ln -s /usr/local/opt/openssl/include/openssl /usr/local/include $ ln -s /usr/local/opt/openssl/include/openssl /usr/local/include

View File

@ -1,4 +1,4 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) # Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
# #
# This file is part of GNSS-SDR. # This file is part of GNSS-SDR.
# #
@ -33,6 +33,12 @@
# GPERFTOOLS_FOUND System has Gperftools libs/headers # GPERFTOOLS_FOUND System has Gperftools libs/headers
# GPERFTOOLS_LIBRARIES The Gperftools libraries (tcmalloc & profiler) # GPERFTOOLS_LIBRARIES The Gperftools libraries (tcmalloc & profiler)
# GPERFTOOLS_INCLUDE_DIR The location of Gperftools headers # GPERFTOOLS_INCLUDE_DIR The location of Gperftools headers
#
# Provides the following imported targets:
# Gperftools::tcmalloc
# Gperftools::profiler
# Gperftools::gperftools
#
find_library(GPERFTOOLS_TCMALLOC find_library(GPERFTOOLS_TCMALLOC
NAMES tcmalloc NAMES tcmalloc
@ -41,6 +47,8 @@ find_library(GPERFTOOLS_TCMALLOC
$ENV{GPERFTOOLS_ROOT}/lib $ENV{GPERFTOOLS_ROOT}/lib
${GPERFTOOLS_ROOT}/lib64 ${GPERFTOOLS_ROOT}/lib64
$ENV{GPERFTOOLS_ROOT}/lib64 $ENV{GPERFTOOLS_ROOT}/lib64
/usr/lib
/usr/lib64
) )
find_library(GPERFTOOLS_PROFILER find_library(GPERFTOOLS_PROFILER
@ -50,6 +58,8 @@ find_library(GPERFTOOLS_PROFILER
$ENV{GPERFTOOLS_ROOT}/lib $ENV{GPERFTOOLS_ROOT}/lib
${GPERFTOOLS_ROOT}/lib64 ${GPERFTOOLS_ROOT}/lib64
$ENV{GPERFTOOLS_ROOT}/lib64 $ENV{GPERFTOOLS_ROOT}/lib64
/usr/lib
/usr/lib64
) )
find_library(GPERFTOOLS_TCMALLOC_AND_PROFILER find_library(GPERFTOOLS_TCMALLOC_AND_PROFILER
@ -59,6 +69,8 @@ find_library(GPERFTOOLS_TCMALLOC_AND_PROFILER
$ENV{GPERFTOOLS_ROOT}/lib $ENV{GPERFTOOLS_ROOT}/lib
${GPERFTOOLS_ROOT}/lib64 ${GPERFTOOLS_ROOT}/lib64
$ENV{GPERFTOOLS_ROOT}/lib64 $ENV{GPERFTOOLS_ROOT}/lib64
/usr/lib
/usr/lib64
) )
find_path(GPERFTOOLS_INCLUDE_DIR find_path(GPERFTOOLS_INCLUDE_DIR
@ -66,6 +78,7 @@ find_path(GPERFTOOLS_INCLUDE_DIR
HINTS ${Gperftools_ROOT_DIR}/include HINTS ${Gperftools_ROOT_DIR}/include
${GPERFTOOLS_ROOT}/include ${GPERFTOOLS_ROOT}/include
$ENV{GPERFTOOLS_ROOT}/include $ENV{GPERFTOOLS_ROOT}/include
/usr/include
) )
set(GPERFTOOLS_LIBRARIES ${GPERFTOOLS_TCMALLOC_AND_PROFILER}) set(GPERFTOOLS_LIBRARIES ${GPERFTOOLS_TCMALLOC_AND_PROFILER})
@ -76,10 +89,42 @@ find_package_handle_standard_args(
DEFAULT_MSG DEFAULT_MSG
GPERFTOOLS_LIBRARIES GPERFTOOLS_LIBRARIES
GPERFTOOLS_INCLUDE_DIR GPERFTOOLS_INCLUDE_DIR
GPERFTOOLS_TCMALLOC
GPERFTOOLS_PROFILER
) )
if(GPERFTOOLS_FOUND AND NOT TARGET Gperftools::tcmalloc)
add_library(Gperftools::tcmalloc SHARED IMPORTED)
set_target_properties(Gperftools::tcmalloc PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GPERFTOOLS_TCMALLOC}"
INTERFACE_INCLUDE_DIRECTORIES "${GPERFTOOLS_INCLUDE_DIR}"
INTERFACE_LINK_LIBRARIES "${GPERFTOOLS_TCMALLOC}"
)
endif()
if(GPERFTOOLS_FOUND AND NOT TARGET Gperftools::profiler)
add_library(Gperftools::profiler SHARED IMPORTED)
set_target_properties(Gperftools::profiler PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GPERFTOOLS_PROFILER}"
INTERFACE_INCLUDE_DIRECTORIES "${GPERFTOOLS_INCLUDE_DIR}"
INTERFACE_LINK_LIBRARIES "${GPERFTOOLS_PROFILER}"
)
endif()
if(GPERFTOOLS_FOUND AND NOT TARGET Gperftools::gperftools)
add_library(Gperftools::gperftools SHARED IMPORTED)
set_target_properties(Gperftools::gperftools PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${GPERFTOOLS_TCMALLOC_AND_PROFILER}"
INTERFACE_INCLUDE_DIRECTORIES "${GPERFTOOLS_INCLUDE_DIR}"
INTERFACE_LINK_LIBRARIES "${GPERFTOOLS_TCMALLOC_AND_PROFILER}"
)
endif()
mark_as_advanced( mark_as_advanced(
Gperftools_ROOT_DIR
GPERFTOOLS_TCMALLOC GPERFTOOLS_TCMALLOC
GPERFTOOLS_PROFILER GPERFTOOLS_PROFILER
GPERFTOOLS_TCMALLOC_AND_PROFILER GPERFTOOLS_TCMALLOC_AND_PROFILER

View File

@ -32,9 +32,12 @@ find_path(PUGIXML_INCLUDE_DIR
PATHS ${PUGIXML_HOME}/include PATHS ${PUGIXML_HOME}/include
/usr/include /usr/include
/usr/local/include /usr/local/include
/usr/local/include/pugixml-1.9
/opt/local/include /opt/local/include
${PUGIXML_ROOT}/include ${PUGIXML_ROOT}/include
$ENV{PUGIXML_ROOT}/include $ENV{PUGIXML_ROOT}/include
${PUGIXML_ROOT}/include/pugixml-1.9
$ENV{PUGIXML_ROOT}/include/pugixml-1.9
) )
find_library(PUGIXML_LIBRARY find_library(PUGIXML_LIBRARY
@ -51,6 +54,7 @@ find_library(PUGIXML_LIBRARY
/usr/lib/powerpc64le-linux-gnu /usr/lib/powerpc64le-linux-gnu
/usr/lib/s390x-linux-gnu /usr/lib/s390x-linux-gnu
/usr/local/lib /usr/local/lib
/usr/local/lib/pugixml-1.9
/opt/local/lib /opt/local/lib
/usr/lib /usr/lib
/usr/lib64 /usr/lib64
@ -59,6 +63,10 @@ find_library(PUGIXML_LIBRARY
$ENV{PUGIXML_ROOT}/lib $ENV{PUGIXML_ROOT}/lib
${PUGIXML_ROOT}/lib64 ${PUGIXML_ROOT}/lib64
$ENV{PUGIXML_ROOT}/lib64 $ENV{PUGIXML_ROOT}/lib64
${PUGIXML_ROOT}/lib/pugixml-1.9
$ENV{PUGIXML_ROOT}/lib/pugixml-1.9
${PUGIXML_ROOT}/lib64/pugixml-1.9
$ENV{PUGIXML_ROOT}/lib64/pugixml-1.9
) )
# Support the REQUIRED and QUIET arguments, and set PUGIXML_FOUND if found. # Support the REQUIRED and QUIET arguments, and set PUGIXML_FOUND if found.

View File

@ -59,7 +59,7 @@ find_package_handle_standard_args(VOLKGNSSSDR DEFAULT_MSG VOLK_GNSSSDR_LIBRARIES
mark_as_advanced(VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS) mark_as_advanced(VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
if(GFLAGS_FOUND AND NOT TARGET Volkgnsssdr::volkgnsssdr) if(VOLKGNSSSDR_FOUND AND NOT TARGET Volkgnsssdr::volkgnsssdr)
add_library(Volkgnsssdr::volkgnsssdr SHARED IMPORTED) add_library(Volkgnsssdr::volkgnsssdr SHARED IMPORTED)
set_target_properties(Volkgnsssdr::volkgnsssdr PROPERTIES set_target_properties(Volkgnsssdr::volkgnsssdr PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX" IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"

View File

@ -0,0 +1,263 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
GNSS-SDR.internal_fs_sps=10000000
Receiver.sources_count=2
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
;# Signal Source config for GPS, Galileo signals
SignalSource0.implementation=File_Signal_Source
SignalSource0.filename=/archive/BDS3_datasets/long/20180713_211400_3.dat
SignalSource0.item_type=ibyte
SignalSource0.sampling_frequency=10000000
SignalSource0.samples=0
SignalSource0.repeat=false
SignalSource0.dump=false
SignalSource0.enable_throttle_control=false
;# Signal Source config for BDS signals
SignalSource1.implementation=File_Signal_Source
SignalSource1.filename=/archive/BDS3_datasets/long/20180713_211400_1.dat
SignalSource1.item_type=ibyte
SignalSource1.sampling_frequency=10000000
SignalSource1.samples=0
SignalSource1.repeat=false
SignalSource1.dump=false
SignalSource1.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
;# Signal Conditioner config for GPS, Galileo signals
SignalConditioner0.implementation=Signal_Conditioner
DataTypeAdapter0.implementation=Ibyte_To_Complex
InputFilter0.implementation=Freq_Xlating_Fir_Filter
InputFilter0.input_item_type=gr_complex
InputFilter0.output_item_type=gr_complex
InputFilter0.taps_item_type=float
InputFilter0.number_of_taps=5
InputFilter0.number_of_bands=2
InputFilter0.band1_begin=0.0
InputFilter0.band1_end=0.70
InputFilter0.band2_begin=0.80
InputFilter0.band2_end=1.0
InputFilter0.ampl1_begin=1.0
InputFilter0.ampl1_end=1.0
InputFilter0.ampl2_begin=0.0
InputFilter0.ampl2_end=0.0
InputFilter0.band1_error=1.0
InputFilter0.band2_error=1.0
InputFilter0.filter_type=bandpass
InputFilter0.grid_density=16
InputFilter0.sampling_frequency=10000000
InputFilter0.IF=420000
Resampler0.implementation=Pass_Through
Resampler0.sample_freq_in=10000000
Resampler0.sample_freq_out=10000000
Resampler0.item_type=gr_complex
;# Signal Conditioner config for BDS signals
SignalConditioner1.implementation=Signal_Conditioner
DataTypeAdapter1.implementation=Ibyte_To_Complex
InputFilter1.implementation=Freq_Xlating_Fir_Filter
InputFilter1.input_item_type=gr_complex
InputFilter1.output_item_type=gr_complex
InputFilter1.taps_item_type=float
InputFilter1.number_of_taps=5
InputFilter1.number_of_bands=2
InputFilter1.band1_begin=0.0
InputFilter1.band1_end=0.70
InputFilter1.band2_begin=0.80
InputFilter1.band2_end=1.0
InputFilter1.ampl1_begin=1.0
InputFilter1.ampl1_end=1.0
InputFilter1.ampl2_begin=0.0
InputFilter1.ampl2_end=0.0
InputFilter1.band1_error=1.0
InputFilter1.band2_error=1.0
InputFilter1.filter_type=bandpass
InputFilter1.grid_density=16
InputFilter1.sampling_frequency=10000000
InputFilter1.IF=1098000
Resampler1.implementation=Pass_Through
Resampler1.sample_freq_in=10000000
Resampler1.sample_freq_out=10000000
Resampler1.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=7
Channels_1B.count=7
Channels_B1.count=4
Channels.in_acquisition=18
;# Preparing collection for GPS satellites
Channel0.RF_channel_ID=0
Channel1.RF_channel_ID=0
Channel2.RF_channel_ID=0
Channel3.RF_channel_ID=0
Channel4.RF_channel_ID=0
Channel5.RF_channel_ID=0
Channel6.RF_channel_ID=0
Channel0.signal=1C
Channel0.satellite = 2
Channel1.signal=1C
Channel1.satellite = 5
Channel2.signal=1C
Channel2.satellite = 25
Channel3.signal=1C
Channel3.satellite = 31
Channel4.signal=1C
Channel4.satellite = 24
Channel5.signal=1C
Channel5.satellite = 6
Channel6.signal=1C
Channel6.satellite = 29
;# Preparing collection for Galileo satellites
Channel7.RF_channel_ID=0
Channel8.RF_channel_ID=0
Channel9.RF_channel_ID=0
Channel10.RF_channel_ID=0
Channel11.RF_channel_ID=0
Channel12.RF_channel_ID=0
Channel13.RF_channel_ID=0
Channel7.signal=1B
Channel7.satellite = 30
Channel8.signal=1B
Channel8.satellite = 21
Channel9.signal=1B
Channel9.satellite = 5
Channel10.signal=1B
Channel10.satellite = 3
Channel11.signal=1B
Channel11.satellite = 27
Channel12.signal=1B
Channel12.satellite = 9
Channel13.signal=1B
Channel13.satellite = 10
;# Preparing collection for BDS satellites
Channel14.RF_channel_ID=1
Channel15.RF_channel_ID=1
Channel16.RF_channel_ID=1
Channel17.RF_channel_ID=1
Channel18.RF_channel_ID=1
Channel19.RF_channel_ID=1
Channel20.RF_channel_ID=1
Channel21.RF_channel_ID=1
Channel22.RF_channel_ID=1
Channel23.RF_channel_ID=1
Channel14.signal=B1
Channel14.satellite = 29
Channel15.signal=B1
Channel15.satellite = 19
Channel16.signal=B1
Channel16.satellite = 20
Channel17.signal=B1
Channel17.satellite = 30
;######### ACQUISITION GLOBAL CONFIG ############
;# Acquisition config for BDS signals
Acquisition_B1.implementation=BEIDOU_B1I_PCPS_Acquisition
Acquisition_B1.item_type=gr_complex
Acquisition_B1.coherent_integration_time_ms=1
Acquisition_B1.threshold=0.0005
Acquisition_B1.doppler_max=15000
Acquisition_B1.doppler_step=100
Acquisition_B1.dump=false
Acquisition_B1.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/bds_b1i_acq
Acquisition_B1.blocking=false;
Acquisition_B1.use_CFAR_algorithm=true;
Acquisition_B1.bit_transition_flag = false;
;# Acquisition config for GPS signals
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.threshold=0.0005
Acquisition_1C.doppler_max=15000
Acquisition_1C.doppler_step=100
Acquisition_1C.dump=true
Acquisition_1C.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gps_l1ca_acq
Acquisition_1C.blocking=false;
Acquisition_1C.use_CFAR_algorithm=true;
Acquisition_1C.bit_transition_flag = false;
;# Acquisition config for Galileo signals
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.item_type=gr_complex
Acquisition_1B.coherent_integration_time_ms=4
Acquisition_1B.threshold=0.0015
Acquisition_1B.doppler_max=15000
Acquisition_1B.doppler_step=100
Acquisition_1B.dump=true
Acquisition_1B.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gal_e1b_acq
Acquisition_1B.blocking=false;
Acquisition_1B.use_CFAR_algorithm=true;
Acquisition_1B.bit_transition_flag = false;
;######### TRACKING GLOBAL CONFIG ############
Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
Tracking_B1.item_type=gr_complex
Tracking_B1.pll_bw_hz=25.0;
Tracking_B1.dll_bw_hz=2.50;
Tracking_B1.dump=true;
Tracking_B1.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/bds_b1i_trk_ch_
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.pll_bw_hz=25.0;
Tracking_1C.dll_bw_hz=2.50;
Tracking_1C.dump=true;
Tracking_1C.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gps_l1ca_trk_ch_
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
Tracking_1B.item_type=gr_complex
Tracking_1B.pll_bw_hz=25.0;
Tracking_1B.dll_bw_hz=2.50;
Tracking_1B.dump=true;
Tracking_1B.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gal_e1b_trk_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_B1.implementation=BEIDOU_B1I_Telemetry_Decoder
TelemetryDecoder_B1.dump=false
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=true
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=OFF ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump=true
PVT.dump_filename = /home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/pvt_l1
PVT.kml_output_enabled = false;
PVT.xml_output_enabled = false;
PVT.gpx_output_enabled = false;
PVT.rinex_output_enabled = false;
PVT.rtcm_output_enabled = false;
PVT.nmea_output_enabled = false;
PVT.geojson_output_enabled = false;

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; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
GNSS-SDR.internal_fs_sps=10000000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/archive/BDS3_datasets/long/20180713_211400_1.dat
SignalSource.item_type=ibyte
SignalSource.sampling_frequency=10000000
SignalSource.samples=0
SignalSource.repeat=false
SignalSource.dump=false
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
DataTypeAdapter.implementation=Ibyte_To_Complex
InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.input_item_type=gr_complex
InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float
InputFilter.number_of_taps=5
InputFilter.number_of_bands=2
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.70
InputFilter.band2_begin=0.80
InputFilter.band2_end=1.0
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
InputFilter.filter_type=bandpass
InputFilter.grid_density=16
InputFilter.sampling_frequency=10000000
InputFilter.IF=1098000
Resampler.implementation=Pass_Through
Resampler.sample_freq_in=10000000
Resampler.sample_freq_out=10000000
Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels_B1.count=4
Channels.in_acquisition=1
Channel.signal=B1
Channel0.satellite = 29;
Channel1.satellite = 19;
Channel2.satellite = 20;
Channel3.satellite = 30;
;Channel0.satellite = 6;
;Channel1.satellite = 8;
;Channel2.satellite = 9;
;Channel3.satellite = 13;
;Channel4.satellite = 17;
;Channel5.satellite = 1;
;Channel6.satellite = 2;
;Channel7.satellite = 3;
;Channel8.satellite = 4;
;Channel9.satellite = 5;
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_B1.implementation=BEIDOU_B1I_PCPS_Acquisition
Acquisition_B1.item_type=gr_complex
Acquisition_B1.coherent_integration_time_ms=1
Acquisition_B1.threshold=0.0004
;Acquisition_B1.pfa=0.0000001;
Acquisition_B1.doppler_max=10000
Acquisition_B1.doppler_step=50
Acquisition_B1.dump=true
Acquisition_B1.dump_filename=./bds_acq
Acquisition_B1.blocking=false;
Acquisition_B1.use_CFAR_algorithm=true;
Acquisition_B1.bit_transition_flag = false;
;######### TRACKING GLOBAL CONFIG ############
Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
Tracking_B1.item_type=gr_complex
Tracking_B1.pll_bw_hz=25.0;
Tracking_B1.dll_bw_hz=2.50;
Tracking_B1.dump=true;
Tracking_B1.dump_filename=./epl_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_B1.implementation=BEIDOU_B1I_Telemetry_Decoder
TelemetryDecoder_B1.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=true
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=OFF ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false;
PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=true

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; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
GNSS-SDR.internal_fs_sps=10000000
Receiver.sources_count=2
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
;# Signal Source config for GPS, Galileo signals
SignalSource0.implementation=File_Signal_Source
SignalSource0.filename=/archive/BDS3_datasets/long/20180713_211400_3.dat
SignalSource0.item_type=ibyte
SignalSource0.sampling_frequency=10000000
SignalSource0.samples=0
SignalSource0.repeat=false
SignalSource0.dump=false
SignalSource0.enable_throttle_control=false
;# Signal Source config for BDS signals
SignalSource1.implementation=File_Signal_Source
SignalSource1.filename=/archive/BDS3_datasets/long/20180713_211400_1.dat
SignalSource1.item_type=ibyte
SignalSource1.sampling_frequency=10000000
SignalSource1.samples=0
SignalSource1.repeat=false
SignalSource1.dump=false
SignalSource1.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
;# Signal Conditioner config for GPS, Galileo signals
SignalConditioner0.implementation=Signal_Conditioner
DataTypeAdapter0.implementation=Ibyte_To_Complex
InputFilter0.implementation=Freq_Xlating_Fir_Filter
InputFilter0.input_item_type=gr_complex
InputFilter0.output_item_type=gr_complex
InputFilter0.taps_item_type=float
InputFilter0.number_of_taps=5
InputFilter0.number_of_bands=2
InputFilter0.band1_begin=0.0
InputFilter0.band1_end=0.70
InputFilter0.band2_begin=0.80
InputFilter0.band2_end=1.0
InputFilter0.ampl1_begin=1.0
InputFilter0.ampl1_end=1.0
InputFilter0.ampl2_begin=0.0
InputFilter0.ampl2_end=0.0
InputFilter0.band1_error=1.0
InputFilter0.band2_error=1.0
InputFilter0.filter_type=bandpass
InputFilter0.grid_density=16
InputFilter0.sampling_frequency=10000000
InputFilter0.IF=420000
Resampler0.implementation=Pass_Through
Resampler0.sample_freq_in=10000000
Resampler0.sample_freq_out=10000000
Resampler0.item_type=gr_complex
;# Signal Conditioner config for BDS signals
SignalConditioner1.implementation=Signal_Conditioner
DataTypeAdapter1.implementation=Ibyte_To_Complex
InputFilter1.implementation=Freq_Xlating_Fir_Filter
InputFilter1.input_item_type=gr_complex
InputFilter1.output_item_type=gr_complex
InputFilter1.taps_item_type=float
InputFilter1.number_of_taps=5
InputFilter1.number_of_bands=2
InputFilter1.band1_begin=0.0
InputFilter1.band1_end=0.70
InputFilter1.band2_begin=0.80
InputFilter1.band2_end=1.0
InputFilter1.ampl1_begin=1.0
InputFilter1.ampl1_end=1.0
InputFilter1.ampl2_begin=0.0
InputFilter1.ampl2_end=0.0
InputFilter1.band1_error=1.0
InputFilter1.band2_error=1.0
InputFilter1.filter_type=bandpass
InputFilter1.grid_density=16
InputFilter1.sampling_frequency=10000000
InputFilter1.IF=1098000
Resampler1.implementation=Pass_Through
Resampler1.sample_freq_in=10000000
Resampler1.sample_freq_out=10000000
Resampler1.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=7
Channels_1B.count=7
Channels_B1.count=4
Channels.in_acquisition=18
;# Preparing collection for GPS satellites
Channel0.RF_channel_ID=0
Channel1.RF_channel_ID=0
Channel2.RF_channel_ID=0
Channel3.RF_channel_ID=0
Channel4.RF_channel_ID=0
Channel5.RF_channel_ID=0
Channel6.RF_channel_ID=0
Channel0.signal=1C
Channel0.satellite = 2
Channel1.signal=1C
Channel1.satellite = 5
Channel2.signal=1C
Channel2.satellite = 25
Channel3.signal=1C
Channel3.satellite = 31
Channel4.signal=1C
Channel4.satellite = 24
Channel5.signal=1C
Channel5.satellite = 6
Channel6.signal=1C
Channel6.satellite = 29
;# Preparing collection for Galileo satellites
Channel7.RF_channel_ID=0
Channel8.RF_channel_ID=0
Channel9.RF_channel_ID=0
Channel10.RF_channel_ID=0
Channel11.RF_channel_ID=0
Channel12.RF_channel_ID=0
Channel13.RF_channel_ID=0
Channel7.signal=1B
Channel7.satellite = 30
Channel8.signal=1B
Channel8.satellite = 21
Channel9.signal=1B
Channel9.satellite = 5
Channel10.signal=1B
Channel10.satellite = 3
Channel11.signal=1B
Channel11.satellite = 27
Channel12.signal=1B
Channel12.satellite = 9
Channel13.signal=1B
Channel13.satellite = 10
;# Preparing collection for BDS satellites
Channel14.RF_channel_ID=1
Channel15.RF_channel_ID=1
Channel16.RF_channel_ID=1
Channel17.RF_channel_ID=1
Channel18.RF_channel_ID=1
Channel19.RF_channel_ID=1
Channel20.RF_channel_ID=1
Channel21.RF_channel_ID=1
Channel22.RF_channel_ID=1
Channel23.RF_channel_ID=1
Channel14.signal=B1
Channel14.satellite = 29
Channel15.signal=B1
Channel15.satellite = 19
Channel16.signal=B1
Channel16.satellite = 20
Channel17.signal=B1
Channel17.satellite = 30
;######### ACQUISITION GLOBAL CONFIG ############
;# Acquisition config for BDS signals
Acquisition_B1.implementation=BEIDOU_B1I_PCPS_Acquisition
Acquisition_B1.item_type=gr_complex
Acquisition_B1.coherent_integration_time_ms=1
Acquisition_B1.threshold=0.0005
Acquisition_B1.doppler_max=15000
Acquisition_B1.doppler_step=100
Acquisition_B1.dump=false
Acquisition_B1.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/bds_b1i_acq
Acquisition_B1.blocking=false;
Acquisition_B1.use_CFAR_algorithm=true;
Acquisition_B1.bit_transition_flag = false;
;# Acquisition config for GPS signals
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.coherent_integration_time_ms=1
Acquisition_1C.threshold=0.0005
Acquisition_1C.doppler_max=15000
Acquisition_1C.doppler_step=100
Acquisition_1C.dump=true
Acquisition_1C.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gps_l1ca_acq
Acquisition_1C.blocking=false;
Acquisition_1C.use_CFAR_algorithm=true;
Acquisition_1C.bit_transition_flag = false;
;# Acquisition config for Galileo signals
Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
Acquisition_1B.item_type=gr_complex
Acquisition_1B.coherent_integration_time_ms=4
Acquisition_1B.threshold=0.0015
Acquisition_1B.doppler_max=15000
Acquisition_1B.doppler_step=100
Acquisition_1B.dump=true
Acquisition_1B.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gal_e1b_acq
Acquisition_1B.blocking=false;
Acquisition_1B.use_CFAR_algorithm=true;
Acquisition_1B.bit_transition_flag = false;
;######### TRACKING GLOBAL CONFIG ############
Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
Tracking_B1.item_type=gr_complex
Tracking_B1.pll_bw_hz=25.0;
Tracking_B1.dll_bw_hz=2.50;
Tracking_B1.dump=true;
Tracking_B1.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/bds_b1i_trk_ch_
Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.pll_bw_hz=25.0;
Tracking_1C.dll_bw_hz=2.50;
Tracking_1C.dump=true;
Tracking_1C.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gps_l1ca_trk_ch_
Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
Tracking_1B.item_type=gr_complex
Tracking_1B.pll_bw_hz=25.0;
Tracking_1B.dll_bw_hz=2.50;
Tracking_1B.dump=true;
Tracking_1B.dump_filename=/home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/gal_e1b_trk_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_B1.implementation=BEIDOU_B1I_Telemetry_Decoder
TelemetryDecoder_B1.dump=false
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
TelemetryDecoder_1B.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=true
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=OFF ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump=true
PVT.dump_filename = /home/dmiralles/Documents/Research/Publications/INSIDE_GNSS/bds_leg_pvt/Data/pvt_l1
PVT.kml_output_enabled = false;
PVT.xml_output_enabled = false;
PVT.gpx_output_enabled = false;
PVT.rinex_output_enabled = false;
PVT.rtcm_output_enabled = false;
PVT.nmea_output_enabled = false;
PVT.geojson_output_enabled = false;

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@ -0,0 +1,131 @@
; This is a GNSS-SDR configuration file
; The configuration API is described at https://gnss-sdr.org/docs/sp-blocks/
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
GNSS-SDR.internal_fs_sps=30000000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/archive/BDS3_datasets/long/20180713_211400_2.dat
SignalSource.item_type=ibyte
SignalSource.sampling_frequency=30000000
SignalSource.samples=0
SignalSource.repeat=false
SignalSource.dump=false
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
DataTypeAdapter.implementation=Ibyte_To_Complex
InputFilter.implementation=Freq_Xlating_Fir_Filter
InputFilter.input_item_type=gr_complex
InputFilter.output_item_type=gr_complex
InputFilter.taps_item_type=float
InputFilter.number_of_taps=5
InputFilter.number_of_bands=2
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.70
InputFilter.band2_begin=0.80
InputFilter.band2_end=1.0
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
InputFilter.filter_type=bandpass
InputFilter.grid_density=16
InputFilter.sampling_frequency=30000000
InputFilter.IF=1020000
Resampler.implementation=Pass_Through
Resampler.sample_freq_in=30000000
Resampler.sample_freq_out=30000000
Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels_B3.count=4
Channels.in_acquisition=1
Channel.signal=B3
Channel0.satellite = 29;
Channel1.satellite = 19;
Channel2.satellite = 20;
Channel3.satellite = 30;
;Channel0.satellite = 6;
;Channel1.satellite = 7;
;Channel2.satellite = 9;
;Channel3.satellite = 16;
;Channel4.satellite = 18;
;Channel5.satellite = 1;
;Channel6.satellite = 2;
;Channel7.satellite = 3;
;Channel8.satellite = 4;
;Channel9.satellite = 5;
;Channel10.satellite = 23;
;Channel11.satellite = 25;
;Channel12.satellite = 32;
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_B3.implementation=BEIDOU_B3I_PCPS_Acquisition
Acquisition_B3.item_type=gr_complex
Acquisition_B3.coherent_integration_time_ms=1
Acquisition_B3.max_dwells = 1
Acquisition_B3.threshold=0.0004
;Acquisition_B3.pfa=0.0000001;
Acquisition_B3.doppler_max=10000
Acquisition_B3.doppler_step=50
Acquisition_B3.dump=false
Acquisition_B3.dump_filename=./bds_acq
Acquisition_B3.blocking=false;
Acquisition_B3.use_CFAR_algorithm=true;
Acquisition_B3.bit_transition_flag = false;
;######### TRACKING GLOBAL CONFIG ############
Tracking_B3.implementation=BEIDOU_B3I_DLL_PLL_Tracking
Tracking_B3.item_type=gr_complex
Tracking_B3.pll_bw_hz=25.0;
Tracking_B3.dll_bw_hz=2.50;
Tracking_B3.dump=false;
Tracking_B3.dump_filename=./epl_tracking_ch_
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_B3.implementation=BEIDOU_B3I_Telemetry_Decoder
TelemetryDecoder_B3.dump=false
;######### OBSERVABLES CONFIG ############
Observables.implementation=Hybrid_Observables
Observables.dump=false
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=OFF ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false;
PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=true

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@ -6,14 +6,14 @@
;######### GLOBAL OPTIONS ################## ;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second]. ;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
GNSS-SDR.internal_fs_sps=25000000 GNSS-SDR.internal_fs_sps=30000000
;######### SIGNAL_SOURCE CONFIG ############ ;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source SignalSource.implementation=File_Signal_Source
;SignalSource.filename=/home/dmiralles/Documents/gnss-sdr/src/tests/signal_samples/USRP_BDS_B2a_201805171115_fs_25e6_if0e3_ishort_200ms.bin ;SignalSource.filename=/home/dmiralles/Documents/gnss-sdr/src/tests/signal_samples/USRP_BDS_B2a_201805171115_fs_25e6_if0e3_ishort_200ms.bin
SignalSource.filename=/archive/USRP_BDS_B3I_201805171118_fs_25e6_if0e3_ishort.bin SignalSource.filename=/archive/USRP_BDS_B3I_201805171118_fs_25e6_if0e3_ishort.bin
SignalSource.item_type=ishort SignalSource.item_type=ishort
SignalSource.sampling_frequency=25000000 SignalSource.sampling_frequency=30000000
SignalSource.samples=0 SignalSource.samples=0
SignalSource.repeat=false SignalSource.repeat=false
SignalSource.enable_throttle_control=false SignalSource.enable_throttle_control=false
@ -23,8 +23,8 @@ SignalConditioner.implementation=Signal_Conditioner
InputFilter.implementation=Pass_Through InputFilter.implementation=Pass_Through
DataTypeAdapter.implementation=Ishort_To_Complex DataTypeAdapter.implementation=Ishort_To_Complex
Resampler.implementation=Direct_Resampler Resampler.implementation=Direct_Resampler
Resampler.sample_freq_in=25000000 Resampler.sample_freq_in=30000000
Resampler.sample_freq_out=25000000 Resampler.sample_freq_out=30000000
Resampler.item_type=gr_complex Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############ ;######### CHANNELS GLOBAL CONFIG ############

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@ -1,14 +1,29 @@
## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next) ## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
### Improvements in Efficiency
- Applied clang-tidy checks and fixes related to performance.
### Improvements in Interoperability: ### Improvements in Interoperability:
- Added the BeiDou B1I receiver chain. - Added the BeiDou B1I receiver chain.
- Fix bug in GLONASS dual frequency receiver.
### Improvements in Maintainability:
- Usage of clang-tidy integrated into CMake scripts. New option -DENABLE_CLANG_TIDY=ON executes clang-tidy along with compilation. Requires clang compiler.
- Applied clang-tidy checks and fixes related to readability.
### Improvements in Portability: ### Improvements in Portability:
- CMake scripts now follow a modern approach (targets and properties) but still work in 2.8.12 - CMake scripts now follow a modern approach (targets and properties) but still work in 2.8.12
## Improvements in Reliability
- Applied clang-tidy checks and fixes related to High Integrity C++.
## [0.0.10](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.10) ## [0.0.10](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.10)
This release has several improvements in different dimensions, addition of new features and bug fixes: This release has several improvements in different dimensions, addition of new features and bug fixes:

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@ -32,19 +32,30 @@ add_library(pvt_adapters ${PVT_ADAPTER_SOURCES} ${PVT_ADAPTER_HEADERS})
target_link_libraries(pvt_adapters target_link_libraries(pvt_adapters
PUBLIC PUBLIC
pvt_gr_blocks pvt_gr_blocks
Armadillo::armadillo core_system_parameters
Gnuradio::runtime
gnss_system_parameters
gnss_rx
pvt_lib
PRIVATE PRIVATE
Boost::serialization gnss_sdr_flags
pvt_libs
)
target_include_directories(pvt_adapters
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/interfaces
) )
if(Boost_VERSION LESS 105800) if(Boost_VERSION LESS 105800)
target_compile_definitions(pvt_adapters PRIVATE -DOLD_BOOST=1) target_compile_definitions(pvt_adapters PRIVATE -DOLD_BOOST=1)
endif() endif()
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(pvt_adapters
PROPERTIES
CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
set_property(TARGET pvt_adapters set_property(TARGET pvt_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>

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@ -33,9 +33,6 @@
#include "configuration_interface.h" #include "configuration_interface.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "pvt_conf.h" #include "pvt_conf.h"
#include <boost/archive/xml_iarchive.hpp>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/serialization/map.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#if OLD_BOOST #if OLD_BOOST
#include <boost/math/common_factor_rt.hpp> #include <boost/math/common_factor_rt.hpp>
@ -49,7 +46,7 @@ namespace bc = boost::integer;
using google::LogMessage; using google::LogMessage;
RtklibPvt::RtklibPvt(ConfigurationInterface* configuration, Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
const std::string& role, const std::string& role,
unsigned int in_streams, unsigned int in_streams,
unsigned int out_streams) : role_(role), unsigned int out_streams) : role_(role),
@ -197,65 +194,195 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
int bds_B1_count = configuration->property("Channels_B1.count", 0); int bds_B1_count = configuration->property("Channels_B1.count", 0);
int bds_B3_count = configuration->property("Channels_B3.count", 0); int bds_B3_count = configuration->property("Channels_B3.count", 0);
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 1; // L1 if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 2; {
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 3; // L5 pvt_output_parameters.type_of_receiver = 1; // L1
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 4; // E1 }
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 5; // E5a if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 6; {
pvt_output_parameters.type_of_receiver = 2;
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 7; }
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 8; // L1+L5 if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 9; // L1+E1 {
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 10; pvt_output_parameters.type_of_receiver = 3; // L5
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 11; }
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 12; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 13; // L5+E5a {
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 14; pvt_output_parameters.type_of_receiver = 4; // E1
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 15; }
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 5; // E5a
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 6;
}
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 7;
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 8; // L1+L5
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 9; // L1+E1
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 10;
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 11;
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 12;
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 13; // L5+E5a
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 14;
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 15;
}
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 16; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 16;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 17; if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 18; {
pvt_output_parameters.type_of_receiver = 17;
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 18;
}
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 19; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 20; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 20;
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 21; if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 21;
}
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) pvt_output_parameters.type_of_receiver = 22; //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) pvt_output_parameters.type_of_receiver = 22;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 23; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 24; {
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 25; pvt_output_parameters.type_of_receiver = 23;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 26; }
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 27; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 28; {
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 29; pvt_output_parameters.type_of_receiver = 24;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 30; }
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 31; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 25;
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 26;
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 27;
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 28;
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 29;
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 30;
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 31;
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 32; // L1+E1+L5+E5a if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 32; // L1+E1+L5+E5a
}
// BeiDou B1I Receiver // BeiDou B1I Receiver
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 50; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 51; {
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 52; pvt_output_parameters.type_of_receiver = 50;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 53; }
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 54; if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0)) pvt_output_parameters.type_of_receiver = 55; {
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count != 0)) pvt_output_parameters.type_of_receiver = 56; pvt_output_parameters.type_of_receiver = 51;
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 52;
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 53;
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 54;
}
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count == 0))
{
pvt_output_parameters.type_of_receiver = 55;
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0) && (bds_B3_count != 0))
{
pvt_output_parameters.type_of_receiver = 56;
}
// BeiDou B3I Receiver // BeiDou B3I Receiver
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) pvt_output_parameters.type_of_receiver = 60; if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) pvt_output_parameters.type_of_receiver = 61; {
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) pvt_output_parameters.type_of_receiver = 62; pvt_output_parameters.type_of_receiver = 60;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0)) pvt_output_parameters.type_of_receiver = 63; }
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
{
pvt_output_parameters.type_of_receiver = 61;
}
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
{
pvt_output_parameters.type_of_receiver = 62;
}
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0) && (bds_B3_count != 0))
{
pvt_output_parameters.type_of_receiver = 63;
}
// RTKLIB PVT solver options // RTKLIB PVT solver options
// Settings 1 // Settings 1
int positioning_mode = -1; int positioning_mode = -1;
std::string default_pos_mode("Single"); 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 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 == "Single") positioning_mode = PMODE_SINGLE; if (positioning_mode_str == "Single")
if (positioning_mode_str == "Static") positioning_mode = PMODE_STATIC; {
if (positioning_mode_str == "Kinematic") positioning_mode = PMODE_KINEMA; positioning_mode = PMODE_SINGLE;
if (positioning_mode_str == "PPP_Static") positioning_mode = PMODE_PPP_STATIC; }
if (positioning_mode_str == "PPP_Kinematic") positioning_mode = PMODE_PPP_KINEMA; if (positioning_mode_str == "Static")
{
positioning_mode = PMODE_STATIC;
}
if (positioning_mode_str == "Kinematic")
{
positioning_mode = PMODE_KINEMA;
}
if (positioning_mode_str == "PPP_Static")
{
positioning_mode = PMODE_PPP_STATIC;
}
if (positioning_mode_str == "PPP_Kinematic")
{
positioning_mode = PMODE_PPP_KINEMA;
}
if (positioning_mode == -1) if (positioning_mode == -1)
{ {
@ -269,10 +396,22 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
int num_bands = 0; int num_bands = 0;
if (( gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) num_bands = 1; if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0))
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_count > 0))) num_bands = 2; {
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2; num_bands = 1;
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3; }
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_count > 0)))
{
num_bands = 2;
}
if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_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) || (bds_B1_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0) || (bds_B3_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) */ 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)) if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
@ -300,12 +439,30 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_iono_model("OFF"); 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 */ 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; int iono_model = -1;
if (iono_model_str == "OFF") iono_model = IONOOPT_OFF; if (iono_model_str == "OFF")
if (iono_model_str == "Broadcast") iono_model = IONOOPT_BRDC; {
if (iono_model_str == "SBAS") iono_model = IONOOPT_SBAS; iono_model = IONOOPT_OFF;
if (iono_model_str == "Iono-Free-LC") iono_model = IONOOPT_IFLC; }
if (iono_model_str == "Estimate_STEC") iono_model = IONOOPT_EST; if (iono_model_str == "Broadcast")
if (iono_model_str == "IONEX") iono_model = IONOOPT_TEC; {
iono_model = IONOOPT_BRDC;
}
if (iono_model_str == "SBAS")
{
iono_model = IONOOPT_SBAS;
}
if (iono_model_str == "Iono-Free-LC")
{
iono_model = IONOOPT_IFLC;
}
if (iono_model_str == "Estimate_STEC")
{
iono_model = IONOOPT_EST;
}
if (iono_model_str == "IONEX")
{
iono_model = IONOOPT_TEC;
}
if (iono_model == -1) if (iono_model == -1)
{ {
//warn user and set the default //warn user and set the default
@ -319,11 +476,26 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_trop_model("OFF"); std::string default_trop_model("OFF");
int trop_model = -1; 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 */ 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 == "OFF") trop_model = TROPOPT_OFF; if (trop_model_str == "OFF")
if (trop_model_str == "Saastamoinen") trop_model = TROPOPT_SAAS; {
if (trop_model_str == "SBAS") trop_model = TROPOPT_SBAS; trop_model = TROPOPT_OFF;
if (trop_model_str == "Estimate_ZTD") trop_model = TROPOPT_EST; }
if (trop_model_str == "Estimate_ZTD_Grad") trop_model = TROPOPT_ESTG; if (trop_model_str == "Saastamoinen")
{
trop_model = TROPOPT_SAAS;
}
if (trop_model_str == "SBAS")
{
trop_model = TROPOPT_SBAS;
}
if (trop_model_str == "Estimate_ZTD")
{
trop_model = TROPOPT_EST;
}
if (trop_model_str == "Estimate_ZTD_Grad")
{
trop_model = TROPOPT_ESTG;
}
if (trop_model == -1) if (trop_model == -1)
{ {
//warn user and set the default //warn user and set the default
@ -353,10 +525,22 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
int earth_tide = configuration->property(role + ".earth_tide", 0); int earth_tide = configuration->property(role + ".earth_tide", 0);
int nsys = 0; int nsys = 0;
if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0)) nsys += SYS_GPS; if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0))
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; nsys += SYS_GPS;
if ((bds_B1_count > 0) || (bds_B3_count > 0)) nsys += SYS_BDS; }
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;
}
if ((bds_B1_count > 0) || (bds_B3_count > 0))
{
nsys += SYS_BDS;
}
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */ 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 */ 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 */
@ -370,11 +554,26 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_gps_ar("Continuous"); 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) */ 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; int integer_ambiguity_resolution_gps = -1;
if (integer_ambiguity_resolution_gps_str == "OFF") integer_ambiguity_resolution_gps = ARMODE_OFF; if (integer_ambiguity_resolution_gps_str == "OFF")
if (integer_ambiguity_resolution_gps_str == "Continuous") integer_ambiguity_resolution_gps = ARMODE_CONT; {
if (integer_ambiguity_resolution_gps_str == "Instantaneous") integer_ambiguity_resolution_gps = ARMODE_INST; integer_ambiguity_resolution_gps = ARMODE_OFF;
if (integer_ambiguity_resolution_gps_str == "Fix-and-Hold") integer_ambiguity_resolution_gps = ARMODE_FIXHOLD; }
if (integer_ambiguity_resolution_gps_str == "PPP-AR") integer_ambiguity_resolution_gps = ARMODE_PPPAR; if (integer_ambiguity_resolution_gps_str == "Continuous")
{
integer_ambiguity_resolution_gps = ARMODE_CONT;
}
if (integer_ambiguity_resolution_gps_str == "Instantaneous")
{
integer_ambiguity_resolution_gps = ARMODE_INST;
}
if (integer_ambiguity_resolution_gps_str == "Fix-and-Hold")
{
integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
}
if (integer_ambiguity_resolution_gps_str == "PPP-AR")
{
integer_ambiguity_resolution_gps = ARMODE_PPPAR;
}
if (integer_ambiguity_resolution_gps == -1) if (integer_ambiguity_resolution_gps == -1)
{ {
//warn user and set the default //warn user and set the default
@ -549,13 +748,13 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
} }
RtklibPvt::~RtklibPvt() Rtklib_Pvt::~Rtklib_Pvt()
{ {
rtkfree(&rtk); rtkfree(&rtk);
} }
bool RtklibPvt::get_latest_PVT(double* longitude_deg, bool Rtklib_Pvt::get_latest_PVT(double* longitude_deg,
double* latitude_deg, double* latitude_deg,
double* height_m, double* height_m,
double* ground_speed_kmh, double* ground_speed_kmh,
@ -571,37 +770,37 @@ bool RtklibPvt::get_latest_PVT(double* longitude_deg,
} }
void RtklibPvt::clear_ephemeris() void Rtklib_Pvt::clear_ephemeris()
{ {
pvt_->clear_ephemeris(); pvt_->clear_ephemeris();
} }
std::map<int, Gps_Ephemeris> RtklibPvt::get_gps_ephemeris() const std::map<int, Gps_Ephemeris> Rtklib_Pvt::get_gps_ephemeris() const
{ {
return pvt_->get_gps_ephemeris_map(); return pvt_->get_gps_ephemeris_map();
} }
std::map<int, Galileo_Ephemeris> RtklibPvt::get_galileo_ephemeris() const std::map<int, Galileo_Ephemeris> Rtklib_Pvt::get_galileo_ephemeris() const
{ {
return pvt_->get_galileo_ephemeris_map(); return pvt_->get_galileo_ephemeris_map();
} }
std::map<int, Gps_Almanac> RtklibPvt::get_gps_almanac() const std::map<int, Gps_Almanac> Rtklib_Pvt::get_gps_almanac() const
{ {
return pvt_->get_gps_almanac_map(); return pvt_->get_gps_almanac_map();
} }
std::map<int, Galileo_Almanac> RtklibPvt::get_galileo_almanac() const std::map<int, Galileo_Almanac> Rtklib_Pvt::get_galileo_almanac() const
{ {
return pvt_->get_galileo_almanac_map(); return pvt_->get_galileo_almanac_map();
} }
void RtklibPvt::connect(gr::top_block_sptr top_block) void Rtklib_Pvt::connect(gr::top_block_sptr top_block)
{ {
if (top_block) if (top_block)
{ /* top_block is not null */ { /* top_block is not null */
@ -611,7 +810,7 @@ void RtklibPvt::connect(gr::top_block_sptr top_block)
} }
void RtklibPvt::disconnect(gr::top_block_sptr top_block) void Rtklib_Pvt::disconnect(gr::top_block_sptr top_block)
{ {
if (top_block) if (top_block)
{ /* top_block is not null */ { /* top_block is not null */
@ -620,13 +819,13 @@ void RtklibPvt::disconnect(gr::top_block_sptr top_block)
} }
gr::basic_block_sptr RtklibPvt::get_left_block() gr::basic_block_sptr Rtklib_Pvt::get_left_block()
{ {
return pvt_; return pvt_;
} }
gr::basic_block_sptr RtklibPvt::get_right_block() gr::basic_block_sptr Rtklib_Pvt::get_right_block()
{ {
return pvt_; // this is a sink, nothing downstream return nullptr; // this is a sink, nothing downstream
} }

View File

@ -32,8 +32,14 @@
#ifndef GNSS_SDR_RTKLIB_PVT_H_ #ifndef GNSS_SDR_RTKLIB_PVT_H_
#define GNSS_SDR_RTKLIB_PVT_H_ #define GNSS_SDR_RTKLIB_PVT_H_
#include "galileo_almanac.h"
#include "galileo_ephemeris.h"
#include "gps_almanac.h"
#include "gps_ephemeris.h"
#include "pvt_interface.h" #include "pvt_interface.h"
#include "rtklib.h"
#include "rtklib_pvt_cc.h" #include "rtklib_pvt_cc.h"
#include <map>
#include <string> #include <string>
@ -42,15 +48,15 @@ class ConfigurationInterface;
/*! /*!
* \brief This class implements a PvtInterface for the RTKLIB PVT block * \brief This class implements a PvtInterface for the RTKLIB PVT block
*/ */
class RtklibPvt : public PvtInterface class Rtklib_Pvt : public PvtInterface
{ {
public: public:
RtklibPvt(ConfigurationInterface* configuration, Rtklib_Pvt(ConfigurationInterface* configuration,
const std::string& role, const std::string& role,
unsigned int in_streams, unsigned int in_streams,
unsigned int out_streams); unsigned int out_streams);
virtual ~RtklibPvt(); virtual ~Rtklib_Pvt();
inline std::string role() override inline std::string role() override
{ {

View File

@ -30,23 +30,28 @@ add_library(pvt_gr_blocks ${PVT_GR_BLOCKS_SOURCES} ${PVT_GR_BLOCKS_HEADERS})
target_link_libraries(pvt_gr_blocks target_link_libraries(pvt_gr_blocks
PUBLIC PUBLIC
pvt_libs
core_system_parameters
Boost::date_time Boost::date_time
pvt_lib Gnuradio::pmt
Gnuradio::runtime Gnuradio::runtime
gnss_system_parameters
gnss_rx
PRIVATE PRIVATE
algorithms_libs
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
Boost::filesystem Boost::filesystem
Boost::system Boost::system
Boost::serialization
) )
target_include_directories(pvt_gr_blocks if(ENABLE_CLANG_TIDY)
PUBLIC if(CLANG_TIDY_EXE)
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs set_target_properties(pvt_gr_blocks
${CMAKE_SOURCE_DIR}/src/core/system_parameters PROPERTIES
) CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
if(Boost_VERSION LESS 105800) if(Boost_VERSION LESS 105800)
target_compile_definitions(pvt_gr_blocks PRIVATE -DOLD_BOOST=1) target_compile_definitions(pvt_gr_blocks PRIVATE -DOLD_BOOST=1)
@ -55,5 +60,4 @@ endif()
set_property(TARGET pvt_gr_blocks set_property(TARGET pvt_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/core/system_parameters>
) )

File diff suppressed because it is too large Load Diff

View File

@ -31,7 +31,13 @@
#ifndef GNSS_SDR_RTKLIB_PVT_CC_H #ifndef GNSS_SDR_RTKLIB_PVT_CC_H
#define GNSS_SDR_RTKLIB_PVT_CC_H #define GNSS_SDR_RTKLIB_PVT_CC_H
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_ephemeris.h"
#include "geojson_printer.h" #include "geojson_printer.h"
#include "gnss_synchro.h"
#include "gps_almanac.h"
#include "gps_ephemeris.h" #include "gps_ephemeris.h"
#include "gpx_printer.h" #include "gpx_printer.h"
#include "kml_printer.h" #include "kml_printer.h"
@ -44,21 +50,24 @@
#include <boost/date_time/gregorian/gregorian.hpp> #include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/posix_time/posix_time.hpp> #include <boost/date_time/posix_time/posix_time.hpp>
#include <gnuradio/sync_block.h> #include <gnuradio/sync_block.h>
#include <pmt/pmt.h>
#include <chrono> #include <chrono>
#include <cstdint> #include <cstdint>
#include <fstream> #include <map>
#include <memory>
#include <string> #include <string>
#include <sys/ipc.h> #include <sys/ipc.h>
#include <sys/msg.h> #include <sys/msg.h>
#include <sys/types.h> #include <sys/types.h>
#include <utility> #include <utility>
#include <vector>
class rtklib_pvt_cc; class rtklib_pvt_cc;
typedef boost::shared_ptr<rtklib_pvt_cc> rtklib_pvt_cc_sptr; using rtklib_pvt_cc_sptr = boost::shared_ptr<rtklib_pvt_cc>;
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t n_channels, rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
const Pvt_Conf& conf_, const Pvt_Conf& conf_,
const rtk_t& rtk); const rtk_t& rtk);
@ -85,15 +94,15 @@ private:
bool b_rtcm_writing_started; bool b_rtcm_writing_started;
bool b_rtcm_enabled; bool b_rtcm_enabled;
int32_t d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris int32_t d_rtcm_MT1045_rate_ms; // Galileo Broadcast Ephemeris
int32_t d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits) int32_t d_rtcm_MT1019_rate_ms; // GPS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits) int32_t d_rtcm_MT1020_rate_ms; // GLONASS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1077_rate_ms; //!< The type 7 Multiple Signal Message format for the USAs GPS system, popular int32_t d_rtcm_MT1077_rate_ms; // The type 7 Multiple Signal Message format for the USAs GPS system, popular
int32_t d_rtcm_MT1087_rate_ms; //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system int32_t d_rtcm_MT1087_rate_ms; // GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
int32_t d_rtcm_MT1097_rate_ms; //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europes Galileo system int32_t d_rtcm_MT1097_rate_ms; // Galileo MSM7. The type 7 Multiple Signal Message format for Europes Galileo system
int32_t d_rtcm_MSM_rate_ms; int32_t d_rtcm_MSM_rate_ms;
int32_t d_last_status_print_seg; //for status printer int32_t d_last_status_print_seg; // for status printer
uint32_t d_nchannels; uint32_t d_nchannels;
std::string d_dump_filename; std::string d_dump_filename;
@ -114,7 +123,7 @@ private:
bool d_kml_output_enabled; bool d_kml_output_enabled;
bool d_nmea_output_file_enabled; bool d_nmea_output_file_enabled;
std::shared_ptr<rtklib_solver> d_pvt_solver; std::shared_ptr<Rtklib_Solver> d_pvt_solver;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b); bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
@ -132,29 +141,31 @@ private:
bool send_sys_v_ttff_msg(ttff_msgbuf ttff); bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
std::chrono::time_point<std::chrono::system_clock> start, end; std::chrono::time_point<std::chrono::system_clock> start, end;
bool save_gnss_synchro_map_xml(const std::string& file_name); //debug helper function bool save_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
bool load_gnss_synchro_map_xml(const std::string& file_name); //debug helper function bool load_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
bool d_xml_storage; bool d_xml_storage;
std::string xml_base_path; std::string xml_base_path;
inline std::time_t to_time_t(boost::posix_time::ptime pt) inline std::time_t convert_to_time_t(const boost::posix_time::ptime pt) const
{ {
return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds(); return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds();
} }
bool flag_monitor_pvt_enabled; bool flag_monitor_pvt_enabled;
std::unique_ptr<Monitor_Pvt_Udp_Sink> udp_sink_ptr; std::unique_ptr<Monitor_Pvt_Udp_Sink> udp_sink_ptr;
std::vector<std::string> split_string(const std::string& s, char delim); std::vector<std::string> split_string(const std::string& s, char delim) const;
public: public:
rtklib_pvt_cc(uint32_t nchannels, rtklib_pvt_cc(uint32_t nchannels,
const Pvt_Conf& conf_, const Pvt_Conf& conf_,
const rtk_t& rtk); const rtk_t& rtk);
~rtklib_pvt_cc(); //!< Default destructor
/*! /*!
* \brief Get latest set of ephemeris from PVT block * \brief Get latest set of GPS ephemeris from PVT block
* *
*/ */
std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const; std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
@ -183,9 +194,7 @@ public:
double* height_m, double* height_m,
double* ground_speed_kmh, double* ground_speed_kmh,
double* course_over_ground_deg, double* course_over_ground_deg,
time_t* UTC_time); time_t* UTC_time) const;
~rtklib_pvt_cc(); //!< Default destructor
int work(int noutput_items, gr_vector_const_void_star& input_items, int work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items); //!< PVT Signal Processing gr_vector_void_star& output_items); //!< PVT Signal Processing

View File

@ -53,16 +53,15 @@ list(SORT PVT_LIB_SOURCES)
source_group(Headers FILES ${PVT_LIB_HEADERS}) source_group(Headers FILES ${PVT_LIB_HEADERS})
add_library(pvt_lib ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS}) add_library(pvt_libs ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
target_link_libraries(pvt_lib target_link_libraries(pvt_libs
PUBLIC PUBLIC
Armadillo::armadillo Armadillo::armadillo
Boost::date_time Boost::date_time
gnss_system_parameters algorithms_libs
gnss_sp_libs algorithms_libs_rtklib
rtklib_lib core_system_parameters
gnss_rx
PRIVATE PRIVATE
Boost::filesystem Boost::filesystem
Boost::system Boost::system
@ -71,15 +70,25 @@ target_link_libraries(pvt_lib
Matio::matio Matio::matio
) )
target_include_directories(pvt_lib target_include_directories(pvt_libs
PUBLIC PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs ${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${CMAKE_SOURCE_DIR}/src/core/receiver
) )
target_compile_definitions(pvt_lib PRIVATE -DGNSS_SDR_VERSION="${VERSION}") target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
set_property(TARGET pvt_lib APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(pvt_libs
PROPERTIES
CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
set_property(TARGET pvt_libs APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/algorithms/libs> $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/algorithms/libs>
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib> $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib>

View File

@ -36,6 +36,7 @@
#include <boost/filesystem/path.hpp> // for path, operator<< #include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem #include <boost/filesystem/path_traits.hpp> // for filesystem
#include <glog/logging.h> #include <glog/logging.h>
#include <exception>
#include <iomanip> #include <iomanip>
#include <sstream> #include <sstream>
@ -79,7 +80,14 @@ GeoJSON_Printer::GeoJSON_Printer(const std::string& base_path)
GeoJSON_Printer::~GeoJSON_Printer() GeoJSON_Printer::~GeoJSON_Printer()
{ {
GeoJSON_Printer::close_file(); try
{
GeoJSON_Printer::close_file();
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
}
} }
@ -213,7 +221,10 @@ bool GeoJSON_Printer::close_file()
// if nothing is written, erase the file // if nothing is written, erase the file
if (first_pos == true) if (first_pos == true)
{ {
if (remove(filename_.c_str()) != 0) LOG(INFO) << "Error deleting temporary file"; if (remove(filename_.c_str()) != 0)
{
LOG(INFO) << "Error deleting temporary file";
}
} }
return true; return true;
} }

View File

@ -36,6 +36,7 @@
#include <boost/filesystem/path.hpp> // for path, operator<< #include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem #include <boost/filesystem/path_traits.hpp> // for filesystem
#include <glog/logging.h> #include <glog/logging.h>
#include <exception>
#include <sstream> #include <sstream>
using google::LogMessage; using google::LogMessage;
@ -154,14 +155,14 @@ bool Gpx_Printer::set_headers(const std::string& filename, bool time_tag_name)
} }
bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values) bool Gpx_Printer::print_position(const std::shared_ptr<Rtklib_Solver>& position, bool print_average_values)
{ {
double latitude; double latitude;
double longitude; double longitude;
double height; double height;
positions_printed = true; positions_printed = true;
const std::shared_ptr<rtklib_solver>& position_ = position; const std::shared_ptr<Rtklib_Solver>& position_ = position;
double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s
double course_over_ground = position_->get_course_over_ground(); // expressed in deg double course_over_ground = position_->get_course_over_ground(); // expressed in deg
@ -170,7 +171,10 @@ bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
double vdop = position_->get_vdop(); double vdop = position_->get_vdop();
double pdop = position_->get_pdop(); double pdop = position_->get_pdop();
std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time()); std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time());
if (utc_time.length() < 23) utc_time += "."; if (utc_time.length() < 23)
{
utc_time += ".";
}
utc_time.resize(23, '0'); // time up to ms utc_time.resize(23, '0'); // time up to ms
utc_time.append("Z"); // UTC time zone utc_time.append("Z"); // UTC time zone
@ -218,9 +222,19 @@ bool Gpx_Printer::close_file()
Gpx_Printer::~Gpx_Printer() Gpx_Printer::~Gpx_Printer()
{ {
close_file(); try
{
close_file();
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
}
if (!positions_printed) if (!positions_printed)
{ {
if (remove(gpx_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary GPX file"; if (remove(gpx_filename.c_str()) != 0)
{
LOG(INFO) << "Error deleting temporary GPX file";
}
} }
} }

View File

@ -58,7 +58,7 @@ public:
Gpx_Printer(const std::string& base_path = "."); Gpx_Printer(const std::string& base_path = ".");
~Gpx_Printer(); ~Gpx_Printer();
bool set_headers(const std::string& filename, bool time_tag_name = true); bool set_headers(const std::string& filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values); bool print_position(const std::shared_ptr<Rtklib_Solver>& position, bool print_average_values);
bool close_file(); bool close_file();
}; };

View File

@ -40,7 +40,7 @@
using google::LogMessage; using google::LogMessage;
hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file) : Ls_Pvt() Hybrid_Ls_Pvt::Hybrid_Ls_Pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file) : Ls_Pvt()
{ {
// init empty ephemeris for all the available GNSS channels // init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels; d_nchannels = nchannels;
@ -69,7 +69,7 @@ hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag
} }
hybrid_ls_pvt::~hybrid_ls_pvt() Hybrid_Ls_Pvt::~Hybrid_Ls_Pvt()
{ {
if (d_dump_file.is_open() == true) if (d_dump_file.is_open() == true)
{ {
@ -85,7 +85,7 @@ hybrid_ls_pvt::~hybrid_ls_pvt()
} }
bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging) bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging)
{ {
std::map<int, Gnss_Synchro>::iterator gnss_observables_iter; std::map<int, Gnss_Synchro>::iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter; std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
@ -133,7 +133,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
// COMMON RX TIME PVT ALGORITHM // COMMON RX TIME PVT ALGORITHM
double Rx_time = hybrid_current_time; double Rx_time = hybrid_current_time;
double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GALILEO_C_m_s; double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GALILEO_C_M_S;
// 2- compute the clock drift using the clock model (broadcast) for this SV // 2- compute the clock drift using the clock model (broadcast) for this SV
SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time); SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
@ -150,7 +150,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
// 4- fill the observations vector with the corrected observables // 4- fill the observations vector with the corrected observables
obs.resize(valid_obs + 1, 1); obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s - this->get_time_offset_s() * GALILEO_C_m_s; obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_M_S - this->get_time_offset_s() * GALILEO_C_M_S;
Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time); GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
@ -188,7 +188,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files) // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
// first estimate of transmit time // first estimate of transmit time
double Rx_time = hybrid_current_time; double Rx_time = hybrid_current_time;
double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s; double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_M_S;
// 2- compute the clock drift using the clock model (broadcast) for this SV, not including relativistic effect // 2- compute the clock drift using the clock model (broadcast) for this SV, not including relativistic effect
SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); //- gps_ephemeris_iter->second.d_TGD; SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time); //- gps_ephemeris_iter->second.d_TGD;
@ -208,10 +208,10 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
// See IS-GPS-200E section 20.3.3.3.3.2 // See IS-GPS-200E section 20.3.3.3.3.2
double sqrt_Gamma = GPS_L1_FREQ_HZ / GPS_L2_FREQ_HZ; double sqrt_Gamma = GPS_L1_FREQ_HZ / GPS_L2_FREQ_HZ;
double Gamma = sqrt_Gamma * sqrt_Gamma; double Gamma = sqrt_Gamma * sqrt_Gamma;
double P1_P2 = (1.0 - Gamma) * (gps_ephemeris_iter->second.d_TGD * GPS_C_m_s); double P1_P2 = (1.0 - Gamma) * (gps_ephemeris_iter->second.d_TGD * GPS_C_M_S);
double Code_bias_m = P1_P2 / (1.0 - Gamma); double Code_bias_m = P1_P2 / (1.0 - Gamma);
obs.resize(valid_obs + 1, 1); obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s - Code_bias_m - this->get_time_offset_s() * GPS_C_m_s; obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_M_S - Code_bias_m - this->get_time_offset_s() * GPS_C_M_S;
// SV ECEF DEBUG OUTPUT // SV ECEF DEBUG OUTPUT
LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
@ -243,7 +243,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
// COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files) // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
// first estimate of transmit time // first estimate of transmit time
double Rx_time = hybrid_current_time; double Rx_time = hybrid_current_time;
double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s; double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_M_S;
// 2- compute the clock drift using the clock model (broadcast) for this SV // 2- compute the clock drift using the clock model (broadcast) for this SV
SV_clock_bias_s = gps_cnav_ephemeris_iter->second.sv_clock_drift(Tx_time); SV_clock_bias_s = gps_cnav_ephemeris_iter->second.sv_clock_drift(Tx_time);
@ -261,7 +261,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
// 4- fill the observations vector with the corrected observables // 4- fill the observations vector with the corrected observables
obs.resize(valid_obs + 1, 1); obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s + SV_clock_bias_s * GPS_C_m_s; obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_M_S + SV_clock_bias_s * GPS_C_M_S;
GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week; GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week;
GPS_week = GPS_week % 1024; //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV) GPS_week = GPS_week % 1024; //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV)
@ -311,17 +311,17 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
DLOG(INFO) << " Executing Bancroft algorithm..."; DLOG(INFO) << " Executing Bancroft algorithm...";
rx_position_and_time = bancroftPos(satpos.t(), obs); rx_position_and_time = bancroftPos(satpos.t(), obs);
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
this->set_time_offset_s(rx_position_and_time(3) / GPS_C_m_s); // save time for the next iteration [meters]->[seconds] this->set_time_offset_s(rx_position_and_time(3) / GPS_C_M_S); // save time for the next iteration [meters]->[seconds]
} }
// Execute WLS using previous position as the initialization point // Execute WLS using previous position as the initialization point
rx_position_and_time = leastSquarePos(satpos, obs, W); rx_position_and_time = leastSquarePos(satpos, obs, W);
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
this->set_time_offset_s(this->get_time_offset_s() + rx_position_and_time(3) / GPS_C_m_s); // accumulate the rx time error for the next iteration [meters]->[seconds] this->set_time_offset_s(this->get_time_offset_s() + rx_position_and_time(3) / GPS_C_M_S); // accumulate the rx time error for the next iteration [meters]->[seconds]
DLOG(INFO) << "Hybrid Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time; DLOG(INFO) << "Hybrid Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
DLOG(INFO) << "Accumulated rx clock error=" << this->get_time_offset_s() << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]"; DLOG(INFO) << "Accumulated rx clock error=" << this->get_time_offset_s() << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_M_S << " [s]";
// Compute GST and Gregorian time // Compute GST and Gregorian time
if (GST != 0.0) if (GST != 0.0)

View File

@ -46,7 +46,7 @@
/*! /*!
* \brief This class implements a simple PVT Least Squares solution * \brief This class implements a simple PVT Least Squares solution
*/ */
class hybrid_ls_pvt : public Ls_Pvt class Hybrid_Ls_Pvt : public Ls_Pvt
{ {
private: private:
int count_valid_position; int count_valid_position;
@ -57,10 +57,10 @@ private:
double d_galileo_current_time; double d_galileo_current_time;
public: public:
hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file); Hybrid_Ls_Pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file);
~hybrid_ls_pvt(); ~Hybrid_Ls_Pvt();
bool get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging); bool get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging);
std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris

View File

@ -36,6 +36,7 @@
#include <boost/filesystem/path.hpp> // for path, operator<< #include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem #include <boost/filesystem/path_traits.hpp> // for filesystem
#include <glog/logging.h> #include <glog/logging.h>
#include <exception>
#include <sstream> #include <sstream>
using google::LogMessage; using google::LogMessage;
@ -211,7 +212,7 @@ bool Kml_Printer::set_headers(const std::string& filename, bool time_tag_name)
} }
bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values) bool Kml_Printer::print_position(const std::shared_ptr<Rtklib_Solver>& position, bool print_average_values)
{ {
double latitude; double latitude;
double longitude; double longitude;
@ -219,7 +220,7 @@ bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
positions_printed = true; positions_printed = true;
const std::shared_ptr<rtklib_solver>& position_ = position; const std::shared_ptr<Rtklib_Solver>& position_ = position;
double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s
double course_over_ground = position_->get_course_over_ground(); // expressed in deg double course_over_ground = position_->get_course_over_ground(); // expressed in deg
@ -228,7 +229,10 @@ bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
double vdop = position_->get_vdop(); double vdop = position_->get_vdop();
double pdop = position_->get_pdop(); double pdop = position_->get_pdop();
std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time()); std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time());
if (utc_time.length() < 23) utc_time += "."; if (utc_time.length() < 23)
{
utc_time += ".";
}
utc_time.resize(23, '0'); // time up to ms utc_time.resize(23, '0'); // time up to ms
utc_time.append("Z"); // UTC time zone utc_time.append("Z"); // UTC time zone
@ -319,9 +323,19 @@ bool Kml_Printer::close_file()
Kml_Printer::~Kml_Printer() Kml_Printer::~Kml_Printer()
{ {
close_file(); try
{
close_file();
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
}
if (!positions_printed) if (!positions_printed)
{ {
if (remove(kml_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary KML file"; if (remove(kml_filename.c_str()) != 0)
{
LOG(INFO) << "Error deleting temporary KML file";
}
} }
} }

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@ -61,7 +61,7 @@ public:
Kml_Printer(const std::string& base_path = std::string(".")); Kml_Printer(const std::string& base_path = std::string("."));
~Kml_Printer(); ~Kml_Printer();
bool set_headers(const std::string& filename, bool time_tag_name = true); bool set_headers(const std::string& filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values); bool print_position(const std::shared_ptr<Rtklib_Solver>& position, bool print_average_values);
bool close_file(); bool close_file();
}; };

View File

@ -95,7 +95,7 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
{ {
int z = B(i, 2); int z = B(i, 2);
double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2)); double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2));
traveltime = sqrt(rho) / GPS_C_m_s; traveltime = sqrt(rho) / GPS_C_M_S;
} }
double angle = traveltime * 7.292115147e-5; double angle = traveltime * 7.292115147e-5;
double cosa = cos(angle); double cosa = cos(angle);
@ -228,7 +228,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
(X(1, i) - pos(1)) + (X(1, i) - pos(1)) +
(X(2, i) - pos(2)) * (X(2, i) - pos(2)) *
(X(2, i) - pos(2)); (X(2, i) - pos(2));
traveltime = sqrt(rho2) / GPS_C_m_s; traveltime = sqrt(rho2) / GPS_C_M_S;
//--- Correct satellite position (do to earth rotation) -------- //--- Correct satellite position (do to earth rotation) --------
Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo
@ -253,7 +253,10 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
{ {
//--- Find delay due to troposphere (in meters) //--- Find delay due to troposphere (in meters)
Ls_Pvt::tropo(&trop, sin(*elev * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0); Ls_Pvt::tropo(&trop, sin(*elev * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
if (trop > 5.0) trop = 0.0; //check for erratic values if (trop > 5.0)
{
trop = 0.0; //check for erratic values
}
} }
} }
} }
@ -280,9 +283,9 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
} }
// check the consistency of the PVT solution // check the consistency of the PVT solution
if (((fabs(pos(3)) * 1000.0) / GPS_C_m_s) > GPS_STARTOFFSET_ms * 2) if (((fabs(pos(3)) * 1000.0) / GPS_C_M_S) > GPS_STARTOFFSET_MS * 2)
{ {
LOG(WARNING) << "Receiver time offset out of range! Estimated RX Time error [s]:" << pos(3) / GPS_C_m_s; LOG(WARNING) << "Receiver time offset out of range! Estimated RX Time error [s]:" << pos(3) / GPS_C_M_S;
throw std::runtime_error("Receiver time offset out of range!"); throw std::runtime_error("Receiver time offset out of range!");
} }
return pos; return pos;

View File

@ -28,8 +28,8 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef MONITOR_PVT_H_ #ifndef GNSS_SDR_MONITOR_PVT_H_
#define MONITOR_PVT_H_ #define GNSS_SDR_MONITOR_PVT_H_
#include <boost/serialization/nvp.hpp> #include <boost/serialization/nvp.hpp>
#include <cstdint> #include <cstdint>
@ -137,4 +137,4 @@ public:
} }
}; };
#endif /* MONITOR_PVT_H_ */ #endif /* GNSS_SDR_MONITOR_PVT_H_ */

View File

@ -31,27 +31,56 @@
#include "monitor_pvt_udp_sink.h" #include "monitor_pvt_udp_sink.h"
#include <boost/archive/binary_oarchive.hpp> #include <boost/archive/binary_oarchive.hpp>
//#include <boost/serialization/vector.hpp>
#include <iostream> #include <iostream>
#include <sstream> #include <sstream>
Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port) : socket{io_service} Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port) : socket{io_service}
{ {
for (auto address : addresses) for (const auto& address : addresses)
{ {
boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port); boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port);
endpoints.push_back(endpoint); endpoints.push_back(endpoint);
} }
monitor_pvt.TOW_at_current_symbol_ms = 0U;
monitor_pvt.week = 0U;
monitor_pvt.RX_time = 0.0;
monitor_pvt.user_clk_offset = 0.0;
monitor_pvt.pos_x = 0.0;
monitor_pvt.pos_y = 0.0;
monitor_pvt.pos_z = 0.0;
monitor_pvt.vel_x = 0.0;
monitor_pvt.vel_y = 0.0;
monitor_pvt.vel_z = 0.0;
monitor_pvt.cov_xx = 0.0;
monitor_pvt.cov_yy = 0.0;
monitor_pvt.cov_zz = 0.0;
monitor_pvt.cov_xy = 0.0;
monitor_pvt.cov_yz = 0.0;
monitor_pvt.cov_zx = 0.0;
monitor_pvt.latitude = 0.0;
monitor_pvt.longitude = 0.0;
monitor_pvt.height = 0.0;
monitor_pvt.valid_sats = 0;
monitor_pvt.solution_status = 0;
monitor_pvt.solution_type = 0;
monitor_pvt.AR_ratio_factor = 0.0;
monitor_pvt.AR_ratio_threshold = 0.0;
monitor_pvt.gdop = 0.0;
monitor_pvt.pdop = 0.0;
monitor_pvt.hdop = 0.0;
monitor_pvt.vdop = 0.0;
} }
bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(Monitor_Pvt monitor_pvt)
bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(const Monitor_Pvt& monitor_pvt)
{ {
std::ostringstream archive_stream; std::ostringstream archive_stream;
boost::archive::binary_oarchive oa{archive_stream}; boost::archive::binary_oarchive oa{archive_stream};
oa << monitor_pvt; oa << monitor_pvt;
std::string outbound_data = archive_stream.str(); std::string outbound_data = archive_stream.str();
for (auto endpoint : endpoints) for (const auto& endpoint : endpoints)
{ {
socket.open(endpoint.protocol(), error); socket.open(endpoint.protocol(), error);
socket.connect(endpoint, error); socket.connect(endpoint, error);

View File

@ -29,8 +29,8 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef MONITOR_PVT_UDP_SINK_H_ #ifndef GNSS_SDR_MONITOR_PVT_UDP_SINK_H_
#define MONITOR_PVT_UDP_SINK_H_ #define GNSS_SDR_MONITOR_PVT_UDP_SINK_H_
#include "monitor_pvt.h" #include "monitor_pvt.h"
#include <boost/asio.hpp> #include <boost/asio.hpp>
@ -39,7 +39,7 @@ class Monitor_Pvt_Udp_Sink
{ {
public: public:
Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t &port); Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t &port);
bool write_monitor_pvt(Monitor_Pvt monitor_pvt); bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt);
private: private:
boost::asio::io_service io_service; boost::asio::io_service io_service;
@ -50,4 +50,4 @@ private:
}; };
#endif /* MONITOR_PVT_UDP_SINK_H_ */ #endif /* GNSS_SDR_MONITOR_PVT_UDP_SINK_H_ */

View File

@ -41,6 +41,7 @@
#include <boost/filesystem/path_traits.hpp> // for filesystem #include <boost/filesystem/path_traits.hpp> // for filesystem
#include <glog/logging.h> #include <glog/logging.h>
#include <cstdint> #include <cstdint>
#include <exception>
#include <fcntl.h> #include <fcntl.h>
#include <termios.h> #include <termios.h>
@ -118,11 +119,29 @@ Nmea_Printer::Nmea_Printer(const std::string& filename, bool flag_nmea_output_fi
Nmea_Printer::~Nmea_Printer() Nmea_Printer::~Nmea_Printer()
{ {
if (nmea_file_descriptor.is_open()) try
{ {
nmea_file_descriptor.close(); if (nmea_file_descriptor.is_open())
{
nmea_file_descriptor.close();
}
}
catch (const std::ofstream::failure& e)
{
std::cerr << "Problem closing NMEA dump file: " << nmea_filename << '\n';
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
}
try
{
close_serial();
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
} }
close_serial();
} }
@ -142,10 +161,16 @@ int Nmea_Printer::init_serial(const std::string& serial_device)
int64_t PARITY; int64_t PARITY;
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY | O_CLOEXEC); fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY | O_CLOEXEC);
if (fd == -1) return fd; // failed to open TTY port if (fd == -1)
{
return fd; // failed to open TTY port
}
if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O if (fcntl(fd, F_SETFL, 0) == -1)
tcgetattr(fd, &options); // read serial port options {
LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O
}
tcgetattr(fd, &options); // read serial port options
BAUD = B9600; BAUD = B9600;
// BAUD = B38400; // BAUD = B38400;
@ -174,7 +199,7 @@ void Nmea_Printer::close_serial()
} }
bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<rtklib_solver>& pvt_data, bool print_average_values) bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<Rtklib_Solver>& pvt_data, bool print_average_values)
{ {
std::string GPRMC; std::string GPRMC;
std::string GPGGA; std::string GPGGA;
@ -348,13 +373,22 @@ std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_
utc_seconds = td.seconds(); utc_seconds = td.seconds();
utc_milliseconds = td.total_milliseconds() - td.total_seconds() * 1000; utc_milliseconds = td.total_milliseconds() - td.total_seconds() * 1000;
if (utc_hours < 10) sentence_str << "0"; // two digits for hours if (utc_hours < 10)
{
sentence_str << "0"; // two digits for hours
}
sentence_str << utc_hours; sentence_str << utc_hours;
if (utc_mins < 10) sentence_str << "0"; // two digits for minutes if (utc_mins < 10)
{
sentence_str << "0"; // two digits for minutes
}
sentence_str << utc_mins; sentence_str << utc_mins;
if (utc_seconds < 10) sentence_str << "0"; // two digits for seconds if (utc_seconds < 10)
{
sentence_str << "0"; // two digits for seconds
}
sentence_str << utc_seconds; sentence_str << utc_seconds;
if (utc_milliseconds < 10) if (utc_milliseconds < 10)

View File

@ -59,7 +59,7 @@ public:
/*! /*!
* \brief Print NMEA PVT and satellite info to the initialized device * \brief Print NMEA PVT and satellite info to the initialized device
*/ */
bool Print_Nmea_Line(const std::shared_ptr<rtklib_solver>& pvt_data, bool print_average_values); bool Print_Nmea_Line(const std::shared_ptr<Rtklib_Solver>& pvt_data, bool print_average_values);
/*! /*!
* \brief Default destructor. * \brief Default destructor.
@ -72,7 +72,7 @@ private:
std::ofstream nmea_file_descriptor; // Output file stream for NMEA log file std::ofstream nmea_file_descriptor; // Output file stream for NMEA log file
std::string nmea_devname; std::string nmea_devname;
int nmea_dev_descriptor; // NMEA serial device descriptor (i.e. COM port) int nmea_dev_descriptor; // NMEA serial device descriptor (i.e. COM port)
std::shared_ptr<rtklib_solver> d_PVT_data; std::shared_ptr<Rtklib_Solver> d_PVT_data;
int init_serial(const std::string& serial_device); //serial port control int init_serial(const std::string& serial_device); //serial port control
void close_serial(); void close_serial();
std::string get_GPGGA(); // fix data std::string get_GPGGA(); // fix data

View File

@ -67,4 +67,7 @@ Pvt_Conf::Pvt_Conf()
kml_output_path = std::string("."); kml_output_path = std::string(".");
xml_output_path = std::string("."); xml_output_path = std::string(".");
rtcm_output_file_path = std::string("."); rtcm_output_file_path = std::string(".");
monitor_enabled = false;
udp_port = 0;
} }

View File

@ -37,8 +37,6 @@
#include <boost/date_time/posix_time/posix_time.hpp> #include <boost/date_time/posix_time/posix_time.hpp>
#include <deque> #include <deque>
const unsigned int PVT_MAX_CHANNELS = 90;
const unsigned int PVT_MAX_PRN = 127; // 126 is SBAS
/*! /*!
* \brief Base class for a PVT solution * \brief Base class for a PVT solution

File diff suppressed because it is too large Load Diff

View File

@ -186,17 +186,17 @@ public:
/*! /*!
* \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glo_bands = "1C"); void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glonass_bands = "1C");
/*! /*!
* \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& galileo_bands = "1B", const std::string& glo_bands = "1C"); void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& galileo_bands = "1B", const std::string& glonass_bands = "1C");
/*! /*!
* \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G". * \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G".
*/ */
void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glo_bands = "1G"); void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glonass_bands = "1G");
/*! /*!
* \brief Generates the a Beidou B1I Observation data header. Example: beidou_bands("B1") * \brief Generates the a Beidou B1I Observation data header. Example: beidou_bands("B1")
@ -351,12 +351,12 @@ public:
/*! /*!
* \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file * \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables); void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Mixed Galileo/GLONASS observables into the RINEX file * \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables); void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double galileo_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes BDS B1I observables into the RINEX file * \brief Writes BDS B1I observables into the RINEX file
@ -374,7 +374,7 @@ public:
*/ */
//void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message); //void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
void update_nav_header(std::fstream& out, const Gps_Utc_Model& gps_utc, const Gps_Iono& gps_iono); void update_nav_header(std::fstream& out, const Gps_Utc_Model& utc_model, const Gps_Iono& gps_iono);
void update_nav_header(std::fstream& out, const Gps_CNAV_Utc_Model& utc_model, const Gps_CNAV_Iono& iono); void update_nav_header(std::fstream& out, const Gps_CNAV_Utc_Model& utc_model, const Gps_CNAV_Iono& iono);
@ -388,11 +388,11 @@ public:
void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_cnav_iono, const Gps_CNAV_Utc_Model& gps_cnav_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_iono, const Gps_CNAV_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac); void update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
void update_nav_header(std::fstream& out, const Beidou_Dnav_Utc_Model& beidou_dnav_utc, const Beidou_Dnav_Iono& beidou_dnav_iono); void update_nav_header(std::fstream& out, const Beidou_Dnav_Utc_Model& utc_model, const Beidou_Dnav_Iono& beidou_dnav_iono);
void update_obs_header(std::fstream& out, const Gps_Utc_Model& utc_model); void update_obs_header(std::fstream& out, const Gps_Utc_Model& utc_model);
@ -676,8 +676,15 @@ inline std::string Rinex_Printer::doub2for(const double& d,
short exponentLength = expLen; short exponentLength = expLen;
/* Validate the assumptions regarding the input arguments */ /* Validate the assumptions regarding the input arguments */
if (exponentLength < 0) exponentLength = 1; if (exponentLength < 0)
if (exponentLength > 3 && checkSwitch) exponentLength = 3; {
exponentLength = 1;
}
if (exponentLength > 3 && checkSwitch)
{
exponentLength = 3;
}
std::string toReturn = doub2sci(d, length, exponentLength, true, checkSwitch); std::string toReturn = doub2sci(d, length, exponentLength, true, checkSwitch);
sci2for(toReturn, 0, length, exponentLength, checkSwitch); sci2for(toReturn, 0, length, exponentLength, checkSwitch);
@ -696,8 +703,15 @@ inline std::string Rinex_Printer::doub2sci(const double& d,
short exponentLength = expLen; short exponentLength = expLen;
/* Validate the assumptions regarding the input arguments */ /* Validate the assumptions regarding the input arguments */
if (exponentLength < 0) exponentLength = 1; if (exponentLength < 0)
if (exponentLength > 3 && checkSwitch) exponentLength = 3; {
exponentLength = 1;
}
if (exponentLength > 3 && checkSwitch)
{
exponentLength = 3;
}
std::stringstream c; std::stringstream c;
c.setf(std::ios::scientific, std::ios::floatfield); c.setf(std::ios::scientific, std::ios::floatfield);
@ -709,7 +723,10 @@ inline std::string Rinex_Printer::doub2sci(const double& d,
// an extra -1 for '-' or ' ' if it's positive or negative // an extra -1 for '-' or ' ' if it's positive or negative
int expSize = 0; int expSize = 0;
if (showSign) if (showSign)
expSize = 1; {
expSize = 1;
}
c.precision(length - 3 - exponentLength - 1 - expSize); c.precision(length - 3 - exponentLength - 1 - expSize);
c << d; c << d;
c >> toReturn; c >> toReturn;
@ -751,7 +768,9 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
aStr[idx - 1] = '.'; aStr[idx - 1] = '.';
// Only add one to the exponent if the number is non-zero // Only add one to the exponent if the number is non-zero
if (asDouble(aStr.substr(startPos, length)) != 0.0) if (asDouble(aStr.substr(startPos, length)) != 0.0)
expAdd = 1; {
expAdd = 1;
}
} }
idx = aStr.find('e', startPos); idx = aStr.find('e', startPos);
@ -766,9 +785,13 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
// Change the exponent character to D normally, or E of checkSwitch is false. // Change the exponent character to D normally, or E of checkSwitch is false.
if (checkSwitch) if (checkSwitch)
aStr[idx] = 'D'; {
aStr[idx] = 'D';
}
else else
aStr[idx] = 'E'; {
aStr[idx] = 'E';
}
// Change the exponent itself // Change the exponent itself
if (redoexp) if (redoexp)
@ -784,7 +807,10 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
iexp -= iexp * 2; iexp -= iexp * 2;
} }
else else
aStr += "+"; {
aStr += "+";
}
aStr += Rinex_Printer::rightJustify(asString(iexp), expLen, '0'); aStr += Rinex_Printer::rightJustify(asString(iexp), expLen, '0');
} }

View File

@ -38,6 +38,7 @@
#include <boost/filesystem/path_traits.hpp> // for filesystem #include <boost/filesystem/path_traits.hpp> // for filesystem
#include <glog/logging.h> #include <glog/logging.h>
#include <cstdint> #include <cstdint>
#include <exception>
#include <fcntl.h> // for O_RDWR #include <fcntl.h> // for O_RDWR
#include <iomanip> #include <iomanip>
#include <termios.h> // for tcgetattr #include <termios.h> // for tcgetattr
@ -190,13 +191,30 @@ Rtcm_Printer::~Rtcm_Printer()
{ {
int64_t pos; int64_t pos;
pos = rtcm_file_descriptor.tellp(); pos = rtcm_file_descriptor.tellp();
rtcm_file_descriptor.close(); try
{
rtcm_file_descriptor.close();
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
}
if (pos == 0) if (pos == 0)
{ {
if (remove(rtcm_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary RTCM file"; if (remove(rtcm_filename.c_str()) != 0)
{
LOG(INFO) << "Error deleting temporary RTCM file";
}
} }
} }
close_serial(); try
{
close_serial();
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
}
} }
@ -353,10 +371,16 @@ int Rtcm_Printer::init_serial(const std::string& serial_device)
int64_t PARITY; int64_t PARITY;
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY | O_CLOEXEC); fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY | O_CLOEXEC);
if (fd == -1) return fd; // failed to open TTY port if (fd == -1)
{
return fd; // failed to open TTY port
}
if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O if (fcntl(fd, F_SETFL, 0) == -1)
tcgetattr(fd, &options); // read serial port options {
LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O
}
tcgetattr(fd, &options); // read serial port options
BAUD = B9600; BAUD = B9600;
//BAUD = B38400; //BAUD = B38400;

View File

@ -48,7 +48,7 @@ public:
/*! /*!
* \brief Default constructor. * \brief Default constructor.
*/ */
Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, const std::string& rtcm_dump_filename, bool time_tag_name = true, const std::string& base_path = "."); Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, const std::string& rtcm_dump_devname, bool time_tag_name = true, const std::string& base_path = ".");
/*! /*!
* \brief Default destructor. * \brief Default destructor.
@ -112,7 +112,7 @@ public:
* \param utc_model GLONASS GNAV Clock Information broadcast in string 5 * \param utc_model GLONASS GNAV Clock Information broadcast in string 5
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glo_gnav_eph, const Glonass_Gnav_Utc_Model& utc_model); bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glonass_Gnav_Utc_Model& utc_model);
bool Print_Rtcm_MSM(uint32_t msm_number, bool Print_Rtcm_MSM(uint32_t msm_number,
const Gps_Ephemeris& gps_eph, const Gps_Ephemeris& gps_eph,

View File

@ -60,12 +60,13 @@
#include "rtklib_solution.h" #include "rtklib_solution.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <matio.h> #include <matio.h>
#include <exception>
#include <utility> #include <utility>
using google::LogMessage; using google::LogMessage;
rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk) Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk)
{ {
// init empty ephemeris for all the available GNSS channels // init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels; d_nchannels = nchannels;
@ -75,7 +76,10 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
count_valid_position = 0; count_valid_position = 0;
this->set_averaging_flag(false); this->set_averaging_flag(false);
rtk_ = rtk; rtk_ = rtk;
for (double &i : dop_) i = 0.0; for (double &i : dop_)
{
i = 0.0;
}
pvt_sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0}; pvt_sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
ssat_t ssat0 = {0, 0, {0.0}, {0.0}, {0.0}, {'0'}, {'0'}, {'0'}, {'0'}, {'0'}, {}, {}, {}, {}, 0.0, 0.0, 0.0, 0.0, {{{0, 0}}, {{0, 0}}}, {{}, {}}}; ssat_t ssat0 = {0, 0, {0.0}, {0.0}, {0.0}, {'0'}, {'0'}, {'0'}, {'0'}, {'0'}, {}, {}, {}, {}, 0.0, 0.0, 0.0, 0.0, {{{0, 0}}, {{0, 0}}}, {{}, {}}};
for (auto &i : pvt_ssat) for (auto &i : pvt_ssat)
@ -89,19 +93,48 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
{ {
try try
{ {
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); d_dump_file.exceptions(std::ofstream::failbit | std::ofstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str(); LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
} }
catch (const std::ifstream::failure &e) catch (const std::ofstream::failure &e)
{ {
LOG(WARNING) << "Exception opening RTKLIB dump file " << e.what(); LOG(WARNING) << "Exception opening RTKLIB dump file " << e.what();
} }
} }
} }
// PVT MONITOR
monitor_pvt.TOW_at_current_symbol_ms = 0U;
monitor_pvt.week = 0U;
monitor_pvt.RX_time = 0.0;
monitor_pvt.user_clk_offset = 0.0;
monitor_pvt.pos_x = 0.0;
monitor_pvt.pos_y = 0.0;
monitor_pvt.pos_z = 0.0;
monitor_pvt.vel_x = 0.0;
monitor_pvt.vel_y = 0.0;
monitor_pvt.vel_z = 0.0;
monitor_pvt.cov_xx = 0.0;
monitor_pvt.cov_yy = 0.0;
monitor_pvt.cov_zz = 0.0;
monitor_pvt.cov_xy = 0.0;
monitor_pvt.cov_yz = 0.0;
monitor_pvt.cov_zx = 0.0;
monitor_pvt.latitude = 0.0;
monitor_pvt.longitude = 0.0;
monitor_pvt.height = 0.0;
monitor_pvt.valid_sats = 0;
monitor_pvt.solution_status = 0;
monitor_pvt.solution_type = 0;
monitor_pvt.AR_ratio_factor = 0.0;
monitor_pvt.AR_ratio_threshold = 0.0;
monitor_pvt.gdop = 0.0;
monitor_pvt.pdop = 0.0;
monitor_pvt.hdop = 0.0;
monitor_pvt.vdop = 0.0;
} }
bool rtklib_solver::save_matfile() bool Rtklib_Solver::save_matfile()
{ {
// READ DUMP FILE // READ DUMP FILE
std::string dump_filename = d_dump_filename; std::string dump_filename = d_dump_filename;
@ -397,7 +430,8 @@ bool rtklib_solver::save_matfile()
return true; return true;
} }
rtklib_solver::~rtklib_solver()
Rtklib_Solver::~Rtklib_Solver()
{ {
if (d_dump_file.is_open() == true) if (d_dump_file.is_open() == true)
{ {
@ -412,40 +446,47 @@ rtklib_solver::~rtklib_solver()
} }
if (d_flag_dump_mat_enabled) if (d_flag_dump_mat_enabled)
{ {
save_matfile(); try
{
save_matfile();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor saving the PVT .mat dump file " << ex.what();
}
} }
} }
double rtklib_solver::get_gdop() const double Rtklib_Solver::get_gdop() const
{ {
return dop_[0]; return dop_[0];
} }
double rtklib_solver::get_pdop() const double Rtklib_Solver::get_pdop() const
{ {
return dop_[1]; return dop_[1];
} }
double rtklib_solver::get_hdop() const double Rtklib_Solver::get_hdop() const
{ {
return dop_[2]; return dop_[2];
} }
double rtklib_solver::get_vdop() const double Rtklib_Solver::get_vdop() const
{ {
return dop_[3]; return dop_[3];
} }
Monitor_Pvt rtklib_solver::get_monitor_pvt() const Monitor_Pvt Rtklib_Solver::get_monitor_pvt() const
{ {
return monitor_pvt; return monitor_pvt;
} }
bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_map, bool flag_averaging) bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_map, bool flag_averaging)
{ {
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter; std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter; std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
@ -496,7 +537,10 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
} }
} }
} }
if (band1 == true and band2 == true) gps_dual_band = true; if (band1 == true and band2 == true)
{
gps_dual_band = true;
}
for (gnss_observables_iter = gnss_observables_map.cbegin(); for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter != gnss_observables_map.cend();
@ -855,7 +899,10 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
} }
} }
if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_.data()); if (index_aux > 0)
{
dops(index_aux, azel.data(), 0.0, dop_.data());
}
this->set_valid_position(true); this->set_valid_position(true);
arma::vec rx_position_and_time(4); arma::vec rx_position_and_time(4);
rx_position_and_time(0) = pvt_sol.rr[0]; // [m] rx_position_and_time(0) = pvt_sol.rr[0]; // [m]
@ -869,7 +916,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
} }
else else
{ {
rx_position_and_time(3) = pvt_sol.dtr[0] / GPS_C_m_s; // the receiver clock offset is expressed in [meters], so we convert it into [s] rx_position_and_time(3) = pvt_sol.dtr[0] / GPS_C_M_S; // the receiver clock offset is expressed in [meters], so we convert it into [s]
} }
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
@ -884,7 +931,10 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
if (ground_speed_ms >= 1.0) if (ground_speed_ms >= 1.0)
{ {
new_cog = atan2(enuv[0], enuv[1]) * R2D; new_cog = atan2(enuv[0], enuv[1]) * R2D;
if (new_cog < 0.0) new_cog += 360.0; if (new_cog < 0.0)
{
new_cog += 360.0;
}
this->set_course_over_ground(new_cog); this->set_course_over_ground(new_cog);
} }

View File

@ -74,7 +74,7 @@
/*! /*!
* \brief This class implements a simple PVT Least Squares solution * \brief This class implements a simple PVT Least Squares solution
*/ */
class rtklib_solver : public Pvt_Solution class Rtklib_Solver : public Pvt_Solution
{ {
private: private:
rtk_t rtk_; rtk_t rtk_;
@ -91,8 +91,8 @@ private:
public: public:
sol_t pvt_sol; sol_t pvt_sol;
ssat_t pvt_ssat[MAXSAT]; ssat_t pvt_ssat[MAXSAT];
rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t& rtk); Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t& rtk);
~rtklib_solver(); ~Rtklib_Solver();
bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging); bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
double get_hdop() const; double get_hdop() const;

View File

@ -91,25 +91,38 @@ list(SORT ACQ_ADAPTER_SOURCES)
source_group(Headers FILES ${ACQ_ADAPTER_HEADERS}) source_group(Headers FILES ${ACQ_ADAPTER_HEADERS})
add_library(acq_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS}) add_library(acquisition_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS})
target_link_libraries(acq_adapters target_link_libraries(acquisition_adapters
PUBLIC PUBLIC
gnss_sp_libs
gnss_sdr_flags
acq_gr_blocks
rx_core_lib
Gnuradio::blocks Gnuradio::blocks
gnss_system_parameters algorithms_libs
gnss_sdr_flags
acquisition_gr_blocks
core_system_parameters
PRIVATE PRIVATE
Boost::boost Boost::boost
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
Volkgnsssdr::volkgnsssdr Volkgnsssdr::volkgnsssdr
acquisition_lib acquisition_libs
) )
set_property(TARGET acq_adapters target_include_directories(acquisition_adapters
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/interfaces
)
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(acquisition_adapters
PROPERTIES
CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
set_property(TARGET acquisition_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
) )

View File

@ -68,7 +68,10 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_; acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters.doppler_max = doppler_max_; acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_; acq_parameters.sampled_ms = sampled_ms_;
@ -81,7 +84,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_; acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS))); code_length_ = static_cast<uint32_t>(std::round(static_cast<double>(fs_in_) / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
@ -144,7 +147,7 @@ void BeidouB1iPcpsAcquisition::stop_acquisition()
{ {
} }
void BeidouB1iPcpsAcquisition::set_channel(unsigned int channel) void BeidouB1iPcpsAcquisition::set_channel(uint32_t channel)
{ {
channel_ = channel; channel_ = channel;
acquisition_->set_channel(channel_); acquisition_->set_channel(channel_);
@ -170,7 +173,7 @@ void BeidouB1iPcpsAcquisition::set_threshold(float threshold)
} }
void BeidouB1iPcpsAcquisition::set_doppler_max(unsigned int doppler_max) void BeidouB1iPcpsAcquisition::set_doppler_max(uint32_t doppler_max)
{ {
doppler_max_ = doppler_max; doppler_max_ = doppler_max;
@ -178,7 +181,7 @@ void BeidouB1iPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
} }
void BeidouB1iPcpsAcquisition::set_doppler_step(unsigned int doppler_step) void BeidouB1iPcpsAcquisition::set_doppler_step(uint32_t doppler_step)
{ {
doppler_step_ = doppler_step; doppler_step_ = doppler_step;
@ -213,7 +216,7 @@ void BeidouB1iPcpsAcquisition::set_local_code()
beidou_b1i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0); beidou_b1i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
for (unsigned int i = 0; i < sampled_ms_; i++) for (uint32_t i = 0; i < sampled_ms_; i++)
{ {
memcpy(&(code_[i * code_length_]), code, memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_); sizeof(gr_complex) * code_length_);
@ -239,7 +242,7 @@ void BeidouB1iPcpsAcquisition::set_state(int state)
float BeidouB1iPcpsAcquisition::calculate_threshold(float pfa) float BeidouB1iPcpsAcquisition::calculate_threshold(float pfa)
{ {
//Calculate the threshold //Calculate the threshold
unsigned int frequency_bins = 0; uint32_t frequency_bins = 0;
/* /*
for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_) for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
{ {
@ -250,7 +253,7 @@ float BeidouB1iPcpsAcquisition::calculate_threshold(float pfa)
frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_; frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa; DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins; uint32_t ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells); double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent); double val = pow(1.0 - pfa, exponent);
auto lambda = static_cast<double>(vector_length_); auto lambda = static_cast<double>(vector_length_);
@ -315,7 +318,7 @@ gr::basic_block_sptr BeidouB1iPcpsAcquisition::get_left_block()
{ {
return acquisition_; return acquisition_;
} }
else if (item_type_ == "cshort") if (item_type_ == "cshort")
{ {
return acquisition_; return acquisition_;
} }

View File

@ -41,6 +41,7 @@
#include <gnuradio/blocks/float_to_complex.h> #include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h> #include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstdint>
#include <string> #include <string>
@ -92,7 +93,7 @@ public:
/*! /*!
* \brief Set acquisition channel unique ID * \brief Set acquisition channel unique ID
*/ */
void set_channel(unsigned int channel) override; void set_channel(uint32_t channel) override;
/*! /*!
* \brief Set statistics threshold of PCPS algorithm * \brief Set statistics threshold of PCPS algorithm
@ -102,12 +103,12 @@ public:
/*! /*!
* \brief Set maximum Doppler off grid search * \brief Set maximum Doppler off grid search
*/ */
void set_doppler_max(unsigned int doppler_max) override; void set_doppler_max(uint32_t doppler_max) override;
/*! /*!
* \brief Set Doppler steps for the grid search * \brief Set Doppler steps for the grid search
*/ */
void set_doppler_step(unsigned int doppler_step) override; void set_doppler_step(uint32_t doppler_step) override;
/*! /*!
* \brief Initializes acquisition algorithm. * \brief Initializes acquisition algorithm.
@ -153,25 +154,25 @@ private:
complex_byte_to_float_x2_sptr cbyte_to_float_x2_; complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_; size_t item_size_;
std::string item_type_; std::string item_type_;
unsigned int vector_length_; uint32_t vector_length_;
unsigned int code_length_; uint32_t code_length_;
bool bit_transition_flag_; bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_; bool use_CFAR_algorithm_flag_;
unsigned int channel_; uint32_t channel_;
float threshold_; float threshold_;
unsigned int doppler_max_; uint32_t doppler_max_;
unsigned int doppler_step_; uint32_t doppler_step_;
unsigned int sampled_ms_; uint32_t sampled_ms_;
unsigned int max_dwells_; uint32_t max_dwells_;
long fs_in_; int64_t fs_in_;
bool dump_; bool dump_;
bool blocking_; bool blocking_;
std::string dump_filename_; std::string dump_filename_;
std::complex<float>* code_; std::complex<float>* code_;
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string role_; std::string role_;
unsigned int in_streams_; uint32_t in_streams_;
unsigned int out_streams_; uint32_t out_streams_;
float calculate_threshold(float pfa); float calculate_threshold(float pfa);
}; };

View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -24,7 +24,7 @@
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */

View File

@ -6,7 +6,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
* *
* GNSS-SDR is a software defined Global Navigation * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -24,7 +24,7 @@
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */

View File

@ -61,7 +61,10 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -79,7 +82,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)); fs_in_ / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
@ -145,7 +148,10 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0)
{
pfa = configuration_->property(role_ + ".pfa", 0.0);
}
if (pfa == 0.0) if (pfa == 0.0)
{ {

View File

@ -62,7 +62,10 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters_.fs_in = fs_in_; acq_parameters_.fs_in = fs_in_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_; acq_parameters_.doppler_max = doppler_max_;
acq_parameters_.ms_per_code = 4; acq_parameters_.ms_per_code = 4;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters_.ms_per_code); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters_.ms_per_code);
@ -95,10 +98,10 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
} }
if (acq_parameters_.use_automatic_resampler) if (acq_parameters_.use_automatic_resampler)
{ {
if (acq_parameters_.fs_in > Galileo_E1_OPT_ACQ_FS_HZ) if (acq_parameters_.fs_in > GALILEO_E1_OPT_ACQ_FS_HZ)
{ {
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / Galileo_E1_OPT_ACQ_FS_HZ); acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GALILEO_E1_OPT_ACQ_FS_HZ);
uint32_t decimation = acq_parameters_.fs_in / Galileo_E1_OPT_ACQ_FS_HZ; uint32_t decimation = acq_parameters_.fs_in / GALILEO_E1_OPT_ACQ_FS_HZ;
while (acq_parameters_.fs_in % decimation > 0) while (acq_parameters_.fs_in % decimation > 0)
{ {
decimation--; decimation--;
@ -107,19 +110,19 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio); acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
} }
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS))); code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001; acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs))); acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
} }
else else
{ {
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS))); code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001; acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in))); acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
} }
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(Galileo_E1_CODE_PERIOD_MS); acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GALILEO_E1_CODE_PERIOD_MS);
vector_length_ = sampled_ms_ * acq_parameters_.samples_per_ms; vector_length_ = sampled_ms_ * acq_parameters_.samples_per_ms;
if (bit_transition_flag_) if (bit_transition_flag_)
{ {
@ -187,7 +190,10 @@ void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0)
{
pfa = configuration_->property(role_ + ".pfa", 0.0);
}
if (pfa == 0.0) if (pfa == 0.0)
{ {

View File

@ -89,7 +89,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); // dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
// acq_parameters.dump_filename = dump_filename_; // acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS))); auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
//acq_parameters.samples_per_code = code_length_; //acq_parameters.samples_per_code = code_length_;
//int samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001)); //int samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
//acq_parameters.samples_per_ms = samples_per_ms; //acq_parameters.samples_per_ms = samples_per_ms;
@ -101,8 +101,8 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// } // }
//printf("fs_in = %d\n", fs_in); //printf("fs_in = %d\n", fs_in);
//printf("Galileo_E1_B_CODE_LENGTH_CHIPS = %f\n", Galileo_E1_B_CODE_LENGTH_CHIPS); //printf("GALILEO_E1_B_CODE_LENGTH_CHIPS = %f\n", GALILEO_E1_B_CODE_LENGTH_CHIPS);
//printf("Galileo_E1_CODE_CHIP_RATE_HZ = %f\n", Galileo_E1_CODE_CHIP_RATE_HZ); //printf("GALILEO_E1_CODE_CHIP_RATE_HZ = %f\n", GALILEO_E1_CODE_CHIP_RATE_HZ);
//printf("acq adapter code_length = %d\n", code_length); //printf("acq adapter code_length = %d\n", code_length);
acq_parameters.code_length = code_length; acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two. // The FPGA can only use FFT lengths that are a power of two.
@ -123,12 +123,12 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment())); auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E1_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32 d_all_fft_codes_ = new lv_16sc_t[nsamples_total * GALILEO_E1_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search float max; // temporary maxima search
//int tmp_re, tmp_im; //int tmp_re, tmp_im;
for (unsigned int PRN = 1; PRN <= Galileo_E1_NUMBER_OF_CODES; PRN++) for (unsigned int PRN = 1; PRN <= GALILEO_E1_NUMBER_OF_CODES; PRN++)
{ {
//code_ = new gr_complex[vector_length_]; //code_ = new gr_complex[vector_length_];
@ -258,7 +258,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
} }
// for (unsigned int PRN = 1; PRN <= Galileo_E1_NUMBER_OF_CODES; PRN++) // for (unsigned int PRN = 1; PRN <= GALILEO_E1_NUMBER_OF_CODES; PRN++)
// { // {
// // debug // // debug
// char filename2[25]; // char filename2[25];

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@ -60,7 +60,10 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -79,7 +82,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)); fs_in_ / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);

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@ -61,12 +61,15 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 8); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 8);
/*--- Find number of samples per spreading code (4 ms) -----------------*/ /*--- Find number of samples per spreading code (4 ms) -----------------*/
code_length_ = round( code_length_ = round(
fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)); fs_in_ / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS));
int samples_per_ms = round(code_length_ / 4.0); int samples_per_ms = round(code_length_ / 4.0);
@ -179,7 +182,10 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0)
{
pfa = configuration_->property(role_ + ".pfa", 0.0);
}
if (pfa == 0.0) if (pfa == 0.0)
{ {

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@ -61,7 +61,10 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
if (sampled_ms_ % 4 != 0) if (sampled_ms_ % 4 != 0)
@ -82,7 +85,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
//--- Find number of samples per spreading code (4 ms) ----------------- //--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = round( code_length_ = round(
fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)); fs_in_ / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4); vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
@ -149,7 +152,10 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0)
{
pfa = configuration_->property(role_ + ".pfa", 0.0);
}
if (pfa == 0.0) if (pfa == 0.0)
{ {

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@ -66,7 +66,10 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
CAF_window_hz_ = configuration_->property(role + ".CAF_window_hz", 0); CAF_window_hz_ = configuration_->property(role + ".CAF_window_hz", 0);
Zero_padding = configuration_->property(role + ".Zero_padding", 0); Zero_padding = configuration_->property(role + ".Zero_padding", 0);
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
@ -88,7 +91,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
//--- Find number of samples per spreading code (1ms)------------------------- //--- Find number of samples per spreading code (1ms)-------------------------
code_length_ = round(static_cast<double>(fs_in_) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)); code_length_ = round(static_cast<double>(fs_in_) / GALILEO_E5A_CODE_CHIP_RATE_HZ * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS));
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
@ -155,7 +158,10 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_threshold(float threshold)
{ {
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0); float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0); if (pfa == 0.0)
{
pfa = configuration_->property(role_ + ".pfa", 0.0);
}
if (pfa == 0.0) if (pfa == 0.0)
{ {

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@ -70,7 +70,10 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
acq_parameters_.dump = dump_; acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0); acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_; acq_parameters_.doppler_max = doppler_max_;
sampled_ms_ = 1; sampled_ms_ = 1;
max_dwells_ = configuration_->property(role + ".max_dwells", 1); max_dwells_ = configuration_->property(role + ".max_dwells", 1);
@ -93,10 +96,10 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
} }
if (acq_parameters_.use_automatic_resampler) if (acq_parameters_.use_automatic_resampler)
{ {
if (acq_parameters_.fs_in > Galileo_E5a_OPT_ACQ_FS_HZ) if (acq_parameters_.fs_in > GALILEO_E5A_OPT_ACQ_FS_HZ)
{ {
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / Galileo_E5a_OPT_ACQ_FS_HZ); acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GALILEO_E5A_OPT_ACQ_FS_HZ);
uint32_t decimation = acq_parameters_.fs_in / Galileo_E5a_OPT_ACQ_FS_HZ; uint32_t decimation = acq_parameters_.fs_in / GALILEO_E5A_OPT_ACQ_FS_HZ;
while (acq_parameters_.fs_in % decimation > 0) while (acq_parameters_.fs_in % decimation > 0)
{ {
decimation--; decimation--;
@ -106,21 +109,21 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
} }
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS))); code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E5A_CODE_CHIP_RATE_HZ / GALILEO_E5A_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001; acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs))); acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E5A_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
} }
else else
{ {
acq_parameters_.resampled_fs = fs_in_; acq_parameters_.resampled_fs = fs_in_;
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS))); code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GALILEO_E5A_CODE_CHIP_RATE_HZ / GALILEO_E5A_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001; acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in))); acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E5A_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
} }
//--- Find number of samples per spreading code (1ms)------------------------- //--- Find number of samples per spreading code (1ms)-------------------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS))); code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / GALILEO_E5A_CODE_CHIP_RATE_HZ * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_; vector_length_ = code_length_ * sampled_ms_;
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
@ -141,7 +144,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
acq_parameters_.it_size = item_size_; acq_parameters_.it_size = item_size_;
acq_parameters_.sampled_ms = sampled_ms_; acq_parameters_.sampled_ms = sampled_ms_;
acq_parameters_.ms_per_code = 1; acq_parameters_.ms_per_code = 1;
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GALILEO_E5a_CODE_PERIOD_MS); acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GALILEO_E5A_CODE_PERIOD_MS);
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4); acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0); acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false); acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);

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@ -89,7 +89,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
acq_pilot_ = false; acq_pilot_ = false;
} }
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS))); auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / GALILEO_E5A_CODE_CHIP_RATE_HZ * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS)));
acq_parameters.code_length = code_length; acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two. // The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length)); float nbits = ceilf(log2f((float)code_length));
@ -111,13 +111,13 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment())); auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E5a_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32 d_all_fft_codes_ = new lv_16sc_t[nsamples_total * GALILEO_E5A_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search float max; // temporary maxima search
//printf("creating the E5A acquisition CONT"); //printf("creating the E5A acquisition CONT");
//printf("nsamples_total = %d\n", nsamples_total); //printf("nsamples_total = %d\n", nsamples_total);
for (unsigned int PRN = 1; PRN <= Galileo_E5a_NUMBER_OF_CODES; PRN++) for (unsigned int PRN = 1; PRN <= GALILEO_E5A_NUMBER_OF_CODES; PRN++)
{ {
// gr_complex* code = new gr_complex[code_length_]; // gr_complex* code = new gr_complex[code_length_];
char signal_[3]; char signal_[3];

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@ -71,7 +71,10 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_; acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters.doppler_max = doppler_max_; acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_; acq_parameters.sampled_ms = sampled_ms_;

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@ -70,7 +70,10 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_; acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters.doppler_max = doppler_max_; acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);

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@ -70,7 +70,10 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters_.blocking = blocking_; acq_parameters_.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_; acq_parameters_.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters_.sampled_ms = sampled_ms_; acq_parameters_.sampled_ms = sampled_ms_;

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@ -67,7 +67,10 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename); dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_; acq_parameters.dump_filename = dump_filename_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters.doppler_max = doppler_max_; acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_; acq_parameters.sampled_ms = sampled_ms_;

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@ -61,7 +61,10 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration->property(role + ".dump", false); dump_ = configuration->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
doppler_min_ = configuration->property(role + ".doppler_min", -doppler_max_); doppler_min_ = configuration->property(role + ".doppler_min", -doppler_max_);
sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
max_dwells_ = configuration->property(role + ".max_dwells", 1); max_dwells_ = configuration->property(role + ".max_dwells", 1);

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@ -61,7 +61,10 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------

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@ -61,7 +61,10 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false); dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1); sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
tong_init_val_ = configuration->property(role + ".tong_init_val", 1); tong_init_val_ = configuration->property(role + ".tong_init_val", 1);

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@ -68,7 +68,10 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters_.blocking = blocking_; acq_parameters_.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_; acq_parameters_.doppler_max = doppler_max_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters_.bit_transition_flag = bit_transition_flag_; acq_parameters_.bit_transition_flag = bit_transition_flag_;

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@ -69,7 +69,10 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
blocking_ = configuration_->property(role + ".blocking", true); blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters_.blocking = blocking_; acq_parameters_.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000); doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; if (FLAGS_doppler_max != 0)
{
doppler_max_ = FLAGS_doppler_max;
}
acq_parameters_.doppler_max = doppler_max_; acq_parameters_.doppler_max = doppler_max_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false); bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters_.bit_transition_flag = bit_transition_flag_; acq_parameters_.bit_transition_flag = bit_transition_flag_;
@ -118,20 +121,20 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
} }
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L5i_CODE_RATE_HZ / GPS_L5i_CODE_LENGTH_CHIPS))); code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L5I_CODE_RATE_HZ / GPS_L5I_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001; acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5i_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs))); acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5I_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
} }
else else
{ {
acq_parameters_.resampled_fs = fs_in_; acq_parameters_.resampled_fs = fs_in_;
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L5i_CODE_RATE_HZ / GPS_L5i_CODE_LENGTH_CHIPS))); code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L5I_CODE_RATE_HZ / GPS_L5I_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001; acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5i_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in))); acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5I_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
} }
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L5i_PERIOD * 1000.0); acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L5I_PERIOD * 1000.0);
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1); vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_]; code_ = new gr_complex[vector_length_];
acquisition_ = pcps_make_acquisition(acq_parameters_); acquisition_ = pcps_make_acquisition(acq_parameters_);

View File

@ -89,7 +89,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
//dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename); //dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//acq_parameters.dump_filename = dump_filename_; //acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code ------------------------- //--- Find number of samples per spreading code -------------------------
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS)))); auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L5I_CODE_RATE_HZ / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS))));
acq_parameters.code_length = code_length; acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two. // The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length)); float nbits = ceilf(log2f((float)code_length));

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@ -64,15 +64,15 @@ list(SORT ACQ_GR_BLOCKS_SOURCES)
source_group(Headers FILES ${ACQ_GR_BLOCKS_HEADERS}) source_group(Headers FILES ${ACQ_GR_BLOCKS_HEADERS})
add_library(acq_gr_blocks ${ACQ_GR_BLOCKS_SOURCES} ${ACQ_GR_BLOCKS_HEADERS}) add_library(acquisition_gr_blocks ${ACQ_GR_BLOCKS_SOURCES} ${ACQ_GR_BLOCKS_HEADERS})
target_link_libraries(acq_gr_blocks target_link_libraries(acquisition_gr_blocks
PUBLIC PUBLIC
Gnuradio::runtime Gnuradio::runtime
Gnuradio::fft Gnuradio::fft
Volk::volk Volk::volk
gnss_system_parameters acquisition_libs
acquisition_lib core_system_parameters
${OPT_LIBRARIES} ${OPT_LIBRARIES}
PRIVATE PRIVATE
Boost::filesystem Boost::filesystem
@ -80,17 +80,30 @@ target_link_libraries(acq_gr_blocks
Glog::glog Glog::glog
Matio::matio Matio::matio
Volkgnsssdr::volkgnsssdr Volkgnsssdr::volkgnsssdr
gnss_sp_libs algorithms_libs
gnss_rx )
target_include_directories(acquisition_gr_blocks
PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs
PRIVATE
${CMAKE_SOURCE_DIR}/src/core/receiver
) )
if(OPENCL_FOUND) if(OPENCL_FOUND)
target_include_directories(acq_gr_blocks PUBLIC ${OPENCL_INCLUDE_DIRS}) target_include_directories(acquisition_gr_blocks PUBLIC ${OPENCL_INCLUDE_DIRS})
endif() endif()
target_include_directories(acq_gr_blocks PUBLIC ${CMAKE_SOURCE_DIR}/src/algorithms/libs) if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(acquisition_gr_blocks
PROPERTIES
CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
set_property(TARGET acq_gr_blocks set_property(TARGET acquisition_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
) )

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@ -36,11 +36,11 @@
*/ */
#include "galileo_e5a_noncoherent_iq_acquisition_caf_cc.h" #include "galileo_e5a_noncoherent_iq_acquisition_caf_cc.h"
#include "control_message_factory.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <volk/volk.h> #include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <exception>
#include <sstream> #include <sstream>
#include <utility> #include <utility>
@ -214,9 +214,20 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::~galileo_e5a_noncoherentIQ_acquisi
delete d_fft_if; delete d_fft_if;
delete d_ifft; delete d_ifft;
if (d_dump) try
{ {
d_dump_file.close(); if (d_dump)
{
d_dump_file.close();
}
}
catch (const std::ofstream::failure &e)
{
std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
}
catch (const std::exception &e)
{
std::cerr << e.what() << '\n';
} }
} }

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@ -47,7 +47,7 @@
class galileo_e5a_noncoherentIQ_acquisition_caf_cc; class galileo_e5a_noncoherentIQ_acquisition_caf_cc;
typedef boost::shared_ptr<galileo_e5a_noncoherentIQ_acquisition_caf_cc> galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr; using galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr = boost::shared_ptr<galileo_e5a_noncoherentIQ_acquisition_caf_cc>;
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(unsigned int sampled_ms, galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(unsigned int sampled_ms,

View File

@ -30,11 +30,11 @@
*/ */
#include "galileo_pcps_8ms_acquisition_cc.h" #include "galileo_pcps_8ms_acquisition_cc.h"
#include "control_message_factory.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <volk/volk.h> #include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <exception>
#include <sstream> #include <sstream>
#include <utility> #include <utility>
@ -54,6 +54,7 @@ galileo_pcps_8ms_acquisition_cc_sptr galileo_pcps_8ms_make_acquisition_cc(
samples_per_code, dump, std::move(dump_filename))); samples_per_code, dump, std::move(dump_filename)));
} }
galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc( galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
uint32_t sampled_ms, uint32_t sampled_ms,
uint32_t max_dwells, uint32_t max_dwells,
@ -126,9 +127,20 @@ galileo_pcps_8ms_acquisition_cc::~galileo_pcps_8ms_acquisition_cc()
delete d_ifft; delete d_ifft;
delete d_fft_if; delete d_fft_if;
if (d_dump) try
{ {
d_dump_file.close(); if (d_dump)
{
d_dump_file.close();
}
}
catch (const std::ofstream::failure &e)
{
std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
}
catch (const std::exception &e)
{
std::cerr << e.what() << '\n';
} }
} }

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@ -41,7 +41,7 @@
class galileo_pcps_8ms_acquisition_cc; class galileo_pcps_8ms_acquisition_cc;
typedef boost::shared_ptr<galileo_pcps_8ms_acquisition_cc> galileo_pcps_8ms_acquisition_cc_sptr; using galileo_pcps_8ms_acquisition_cc_sptr = boost::shared_ptr<galileo_pcps_8ms_acquisition_cc>;
galileo_pcps_8ms_acquisition_cc_sptr galileo_pcps_8ms_acquisition_cc_sptr
galileo_pcps_8ms_make_acquisition_cc(uint32_t sampled_ms, galileo_pcps_8ms_make_acquisition_cc(uint32_t sampled_ms,

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@ -317,7 +317,10 @@ void pcps_acquisition::init()
d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step))); d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
// Create the carrier Doppler wipeoff signals // Create the carrier Doppler wipeoff signals
if (d_grid_doppler_wipeoffs == nullptr) d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins]; if (d_grid_doppler_wipeoffs == nullptr)
{
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
}
if (acq_parameters.make_2_steps && (d_grid_doppler_wipeoffs_step_two == nullptr)) if (acq_parameters.make_2_steps && (d_grid_doppler_wipeoffs_step_two == nullptr))
{ {
d_grid_doppler_wipeoffs_step_two = new gr_complex*[d_num_doppler_bins_step2]; d_grid_doppler_wipeoffs_step_two = new gr_complex*[d_num_doppler_bins_step2];
@ -629,7 +632,10 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
{ {
d_tmp_buffer[idx] = 0.0; d_tmp_buffer[idx] = 0.0;
idx++; idx++;
if (idx == static_cast<int32_t>(d_fft_size)) idx = 0; if (idx == static_cast<int32_t>(d_fft_size))
{
idx = 0;
}
} }
while (idx != excludeRangeIndex2); while (idx != excludeRangeIndex2);
@ -842,7 +848,10 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
if (d_num_noncoherent_integrations_counter == acq_parameters.max_dwells) if (d_num_noncoherent_integrations_counter == acq_parameters.max_dwells)
{ {
if (d_state != 0) send_negative_acquisition(); if (d_state != 0)
{
send_negative_acquisition();
}
d_state = 0; d_state = 0;
d_active = false; d_active = false;
d_step_two = false; d_step_two = false;

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@ -63,7 +63,7 @@
class pcps_acquisition; class pcps_acquisition;
typedef boost::shared_ptr<pcps_acquisition> pcps_acquisition_sptr; using pcps_acquisition_sptr = boost::shared_ptr<pcps_acquisition>;
pcps_acquisition_sptr pcps_acquisition_sptr
pcps_make_acquisition(const Acq_Conf& conf_); pcps_make_acquisition(const Acq_Conf& conf_);

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@ -32,7 +32,6 @@
#include "pcps_acquisition_fine_doppler_cc.h" #include "pcps_acquisition_fine_doppler_cc.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "control_message_factory.h"
#include "gnss_sdr_create_directory.h" #include "gnss_sdr_create_directory.h"
#include "gps_sdr_signal_processing.h" #include "gps_sdr_signal_processing.h"
#include <boost/filesystem/path.hpp> #include <boost/filesystem/path.hpp>
@ -314,7 +313,10 @@ double pcps_acquisition_fine_doppler_cc::compute_CAF()
{ {
d_grid_data[index_doppler][idx] = 0.0; d_grid_data[index_doppler][idx] = 0.0;
idx++; idx++;
if (idx == static_cast<int>(d_fft_size)) idx = 0; if (idx == static_cast<int>(d_fft_size))
{
idx = 0;
}
} }
while (idx != excludeRangeIndex2); while (idx != excludeRangeIndex2);

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@ -55,13 +55,13 @@
#include <gnuradio/block.h> #include <gnuradio/block.h>
#include <gnuradio/fft/fft.h> #include <gnuradio/fft/fft.h>
#include <gnuradio/gr_complex.h> #include <gnuradio/gr_complex.h>
#include <cstdint>
#include <fstream> #include <fstream>
#include <string> #include <string>
class pcps_acquisition_fine_doppler_cc; class pcps_acquisition_fine_doppler_cc;
typedef boost::shared_ptr<pcps_acquisition_fine_doppler_cc> using pcps_acquisition_fine_doppler_cc_sptr = boost::shared_ptr<pcps_acquisition_fine_doppler_cc>;
pcps_acquisition_fine_doppler_cc_sptr;
pcps_acquisition_fine_doppler_cc_sptr pcps_acquisition_fine_doppler_cc_sptr
pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_); pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
@ -87,7 +87,7 @@ private:
bool start(); bool start();
Acq_Conf acq_parameters; Acq_Conf acq_parameters;
long d_fs_in; int64_t d_fs_in;
int d_samples_per_ms; int d_samples_per_ms;
int d_max_dwells; int d_max_dwells;
int d_gnuradio_forecast_samples; int d_gnuradio_forecast_samples;

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@ -33,16 +33,16 @@
#include "pcps_assisted_acquisition_cc.h" #include "pcps_assisted_acquisition_cc.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "concurrent_map.h" #include "concurrent_map.h"
#include "control_message_factory.h"
#include "gps_acq_assist.h" #include "gps_acq_assist.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <volk/volk.h> #include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <exception>
#include <sstream> #include <sstream>
#include <utility> #include <utility>
extern concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map; extern Concurrent_Map<Gps_Acq_Assist> global_gps_acq_assist_map;
using google::LogMessage; using google::LogMessage;
@ -132,9 +132,20 @@ pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc()
volk_gnsssdr_free(d_fft_codes); volk_gnsssdr_free(d_fft_codes);
delete d_ifft; delete d_ifft;
delete d_fft_if; delete d_fft_if;
if (d_dump) try
{ {
d_dump_file.close(); if (d_dump)
{
d_dump_file.close();
}
}
catch (const std::ofstream::failure &e)
{
std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
}
catch (const std::exception &e)
{
std::cerr << e.what() << '\n';
} }
} }
@ -381,7 +392,10 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
switch (d_state) switch (d_state)
{ {
case 0: // S0. StandBy case 0: // S0. StandBy
if (d_active == true) d_state = 1; if (d_active == true)
{
d_state = 1;
}
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]); consume_each(ninput_items[0]);
break; break;

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@ -57,8 +57,7 @@
class pcps_assisted_acquisition_cc; class pcps_assisted_acquisition_cc;
typedef boost::shared_ptr<pcps_assisted_acquisition_cc> using pcps_assisted_acquisition_cc_sptr = boost::shared_ptr<pcps_assisted_acquisition_cc>;
pcps_assisted_acquisition_cc_sptr;
pcps_assisted_acquisition_cc_sptr pcps_assisted_acquisition_cc_sptr
pcps_make_assisted_acquisition_cc( pcps_make_assisted_acquisition_cc(

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@ -36,11 +36,11 @@
#include "pcps_cccwsr_acquisition_cc.h" #include "pcps_cccwsr_acquisition_cc.h"
#include "GPS_L1_CA.h" // GPS_TWO_PI #include "GPS_L1_CA.h" // GPS_TWO_PI
#include "control_message_factory.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <volk/volk.h> #include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <exception>
#include <sstream> #include <sstream>
#include <utility> #include <utility>
@ -118,6 +118,7 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
d_channel = 0; d_channel = 0;
} }
pcps_cccwsr_acquisition_cc::~pcps_cccwsr_acquisition_cc() pcps_cccwsr_acquisition_cc::~pcps_cccwsr_acquisition_cc()
{ {
if (d_num_doppler_bins > 0) if (d_num_doppler_bins > 0)
@ -140,12 +141,24 @@ pcps_cccwsr_acquisition_cc::~pcps_cccwsr_acquisition_cc()
delete d_ifft; delete d_ifft;
delete d_fft_if; delete d_fft_if;
if (d_dump) try
{ {
d_dump_file.close(); if (d_dump)
{
d_dump_file.close();
}
}
catch (const std::ofstream::failure &e)
{
std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
}
catch (const std::exception &e)
{
std::cerr << e.what() << '\n';
} }
} }
void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float> *code_data, void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float> *code_data,
std::complex<float> *code_pilot) std::complex<float> *code_pilot)
{ {
@ -166,6 +179,7 @@ void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float> *code_data,
volk_32fc_conjugate_32fc(d_fft_code_pilot, d_fft_if->get_outbuf(), d_fft_size); volk_32fc_conjugate_32fc(d_fft_code_pilot, d_fft_if->get_outbuf(), d_fft_size);
} }
void pcps_cccwsr_acquisition_cc::init() void pcps_cccwsr_acquisition_cc::init()
{ {
d_gnss_synchro->Flag_valid_acquisition = false; d_gnss_synchro->Flag_valid_acquisition = false;

View File

@ -47,7 +47,7 @@
class pcps_cccwsr_acquisition_cc; class pcps_cccwsr_acquisition_cc;
typedef boost::shared_ptr<pcps_cccwsr_acquisition_cc> pcps_cccwsr_acquisition_cc_sptr; using pcps_cccwsr_acquisition_cc_sptr = boost::shared_ptr<pcps_cccwsr_acquisition_cc>;
pcps_cccwsr_acquisition_cc_sptr pcps_cccwsr_acquisition_cc_sptr
pcps_cccwsr_make_acquisition_cc( pcps_cccwsr_make_acquisition_cc(

View File

@ -50,7 +50,6 @@
#include "pcps_opencl_acquisition_cc.h" #include "pcps_opencl_acquisition_cc.h"
#include "GPS_L1_CA.h" //GPS_TWO_PI #include "GPS_L1_CA.h" //GPS_TWO_PI
#include "control_message_factory.h"
#include "opencl/fft_base_kernels.h" #include "opencl/fft_base_kernels.h"
#include "opencl/fft_internal.h" #include "opencl/fft_internal.h"
#include <glog/logging.h> #include <glog/logging.h>
@ -58,6 +57,7 @@
#include <volk/volk.h> #include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> #include <algorithm>
#include <exception>
#include <fstream> #include <fstream>
#include <iostream> #include <iostream>
#include <sstream> #include <sstream>
@ -187,9 +187,20 @@ pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc()
delete d_fft_if; delete d_fft_if;
} }
if (d_dump) try
{ {
d_dump_file.close(); if (d_dump)
{
d_dump_file.close();
}
}
catch (const std::ofstream::failure &e)
{
std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
}
catch (const std::exception &e)
{
std::cerr << e.what() << '\n';
} }
} }

View File

@ -30,12 +30,12 @@
#include "pcps_quicksync_acquisition_cc.h" #include "pcps_quicksync_acquisition_cc.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "control_message_factory.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <volk/volk.h> #include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> #include <cmath>
#include <exception>
#include <sstream> #include <sstream>
#include <utility> #include <utility>
@ -159,11 +159,21 @@ pcps_quicksync_acquisition_cc::~pcps_quicksync_acquisition_cc()
delete d_corr_output_f; delete d_corr_output_f;
delete[] d_code_folded; delete[] d_code_folded;
if (d_dump) try
{ {
d_dump_file.close(); if (d_dump)
{
d_dump_file.close();
}
}
catch (const std::ofstream::failure& e)
{
std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
} }
// DLOG(INFO) << "END DESTROYER";
} }
@ -208,7 +218,10 @@ void pcps_quicksync_acquisition_cc::init()
d_mag = 0.0; d_mag = 0.0;
d_input_power = 0.0; d_input_power = 0.0;
if (d_doppler_step == 0) d_doppler_step = 250; if (d_doppler_step == 0)
{
d_doppler_step = 250;
}
// Count the number of bins // Count the number of bins
d_num_doppler_bins = 0; d_num_doppler_bins = 0;
@ -535,7 +548,10 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
DLOG(INFO) << "test statistics threshold " << d_threshold; DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "folding factor " << d_folding_factor; DLOG(INFO) << "folding factor " << d_folding_factor;
DLOG(INFO) << "possible delay correlation output"; DLOG(INFO) << "possible delay correlation output";
for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i]; for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++)
{
DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
}
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples; DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz; DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "magnitude folded " << d_mag; DLOG(INFO) << "magnitude folded " << d_mag;
@ -564,7 +580,10 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
DLOG(INFO) << "test statistics threshold " << d_threshold; DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "folding factor " << d_folding_factor; DLOG(INFO) << "folding factor " << d_folding_factor;
DLOG(INFO) << "possible delay corr output"; DLOG(INFO) << "possible delay corr output";
for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i]; for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++)
{
DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
}
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples; DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz; DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "magnitude folded " << d_mag; DLOG(INFO) << "magnitude folded " << d_mag;

View File

@ -63,8 +63,7 @@
class pcps_quicksync_acquisition_cc; class pcps_quicksync_acquisition_cc;
typedef boost::shared_ptr<pcps_quicksync_acquisition_cc> using pcps_quicksync_acquisition_cc_sptr = boost::shared_ptr<pcps_quicksync_acquisition_cc>;
pcps_quicksync_acquisition_cc_sptr;
pcps_quicksync_acquisition_cc_sptr pcps_quicksync_acquisition_cc_sptr
pcps_quicksync_make_acquisition_cc( pcps_quicksync_make_acquisition_cc(

View File

@ -50,11 +50,11 @@
#include "pcps_tong_acquisition_cc.h" #include "pcps_tong_acquisition_cc.h"
#include "GPS_L1_CA.h" // for GPS_TWO_PI #include "GPS_L1_CA.h" // for GPS_TWO_PI
#include "control_message_factory.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
#include <volk/volk.h> #include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h> #include <volk_gnsssdr/volk_gnsssdr.h>
#include <exception>
#include <sstream> #include <sstream>
#include <utility> #include <utility>
@ -76,6 +76,7 @@ pcps_tong_acquisition_cc_sptr pcps_tong_make_acquisition_cc(
tong_init_val, tong_max_val, tong_max_dwells, dump, std::move(dump_filename))); tong_init_val, tong_max_val, tong_max_dwells, dump, std::move(dump_filename)));
} }
pcps_tong_acquisition_cc::pcps_tong_acquisition_cc( pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
uint32_t sampled_ms, uint32_t sampled_ms,
uint32_t doppler_max, uint32_t doppler_max,
@ -153,12 +154,24 @@ pcps_tong_acquisition_cc::~pcps_tong_acquisition_cc()
delete d_ifft; delete d_ifft;
delete d_fft_if; delete d_fft_if;
if (d_dump) try
{ {
d_dump_file.close(); if (d_dump)
{
d_dump_file.close();
}
}
catch (const std::ofstream::failure &e)
{
std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
}
catch (const std::exception &e)
{
std::cerr << e.what() << '\n';
} }
} }
void pcps_tong_acquisition_cc::set_local_code(std::complex<float> *code) void pcps_tong_acquisition_cc::set_local_code(std::complex<float> *code)
{ {
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size); memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
@ -169,6 +182,7 @@ void pcps_tong_acquisition_cc::set_local_code(std::complex<float> *code)
volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size); volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
} }
void pcps_tong_acquisition_cc::init() void pcps_tong_acquisition_cc::init()
{ {
d_gnss_synchro->Flag_valid_acquisition = false; d_gnss_synchro->Flag_valid_acquisition = false;
@ -213,6 +227,7 @@ void pcps_tong_acquisition_cc::init()
} }
} }
void pcps_tong_acquisition_cc::set_state(int32_t state) void pcps_tong_acquisition_cc::set_state(int32_t state)
{ {
d_state = state; d_state = state;
@ -245,6 +260,7 @@ void pcps_tong_acquisition_cc::set_state(int32_t state)
} }
} }
int pcps_tong_acquisition_cc::general_work(int noutput_items, int pcps_tong_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star &output_items __attribute__((unused)))

View File

@ -61,7 +61,7 @@
class pcps_tong_acquisition_cc; class pcps_tong_acquisition_cc;
typedef boost::shared_ptr<pcps_tong_acquisition_cc> pcps_tong_acquisition_cc_sptr; using pcps_tong_acquisition_cc_sptr = boost::shared_ptr<pcps_tong_acquisition_cc>;
pcps_tong_acquisition_cc_sptr pcps_tong_acquisition_cc_sptr
pcps_tong_make_acquisition_cc( pcps_tong_make_acquisition_cc(

View File

@ -29,24 +29,32 @@ list(SORT ACQUISITION_LIB_SOURCES)
source_group(Headers FILES ${ACQUISITION_LIB_HEADERS}) source_group(Headers FILES ${ACQUISITION_LIB_HEADERS})
add_library(acquisition_lib add_library(acquisition_libs
${ACQUISITION_LIB_SOURCES} ${ACQUISITION_LIB_SOURCES}
${ACQUISITION_LIB_HEADERS} ${ACQUISITION_LIB_HEADERS}
) )
target_link_libraries(acquisition_lib target_link_libraries(acquisition_libs
PUBLIC PUBLIC
Volk::volk Volk::volk
Gnuradio::fft Gnuradio::fft
PRIVATE PRIVATE
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
gnss_system_parameters algorithms_libs
gnss_rx core_system_parameters
gnss_sp_libs
) )
set_property(TARGET acquisition_lib if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(acquisition_libs
PROPERTIES
CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
set_property(TARGET acquisition_libs
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
) )

View File

@ -29,14 +29,27 @@ source_group(Headers FILES ${CHANNEL_ADAPTER_HEADERS})
target_link_libraries(channel_adapters target_link_libraries(channel_adapters
PUBLIC PUBLIC
Gnuradio::runtime Gnuradio::runtime
channel_fsm channel_libs
gnss_rx
PRIVATE PRIVATE
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
gnss_sdr_flags gnss_sdr_flags
) )
target_include_directories(channel_adapters
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/interfaces
)
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(channel_adapters
PROPERTIES
CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
set_property(TARGET channel_adapters set_property(TARGET channel_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>

View File

@ -75,14 +75,23 @@ Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::s
// IMPORTANT: Do not change the order between set_doppler_step and set_threshold // IMPORTANT: Do not change the order between set_doppler_step and set_threshold
uint32_t doppler_step = configuration->property("Acquisition_" + implementation_ + std::to_string(channel_) + ".doppler_step", 0); uint32_t doppler_step = configuration->property("Acquisition_" + implementation_ + std::to_string(channel_) + ".doppler_step", 0);
if (doppler_step == 0) doppler_step = configuration->property("Acquisition_" + implementation_ + ".doppler_step", 500); if (doppler_step == 0)
if (FLAGS_doppler_step != 0) doppler_step = static_cast<uint32_t>(FLAGS_doppler_step); {
doppler_step = configuration->property("Acquisition_" + implementation_ + ".doppler_step", 500);
}
if (FLAGS_doppler_step != 0)
{
doppler_step = static_cast<uint32_t>(FLAGS_doppler_step);
}
DLOG(INFO) << "Channel " << channel_ << " Doppler_step = " << doppler_step; DLOG(INFO) << "Channel " << channel_ << " Doppler_step = " << doppler_step;
acq_->set_doppler_step(doppler_step); acq_->set_doppler_step(doppler_step);
float threshold = configuration->property("Acquisition_" + implementation_ + std::to_string(channel_) + ".threshold", 0.0); float threshold = configuration->property("Acquisition_" + implementation_ + std::to_string(channel_) + ".threshold", 0.0);
if (threshold == 0.0) threshold = configuration->property("Acquisition_" + implementation_ + ".threshold", 0.0); if (threshold == 0.0)
{
threshold = configuration->property("Acquisition_" + implementation_ + ".threshold", 0.0);
}
acq_->set_threshold(threshold); acq_->set_threshold(threshold);

View File

@ -31,18 +31,28 @@ list(SORT CHANNEL_FSM_SOURCES)
source_group(Headers FILES ${CHANNEL_FSM_HEADERS}) source_group(Headers FILES ${CHANNEL_FSM_HEADERS})
add_library(channel_fsm ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS}) add_library(channel_libs ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
target_link_libraries(channel_fsm target_link_libraries(channel_libs
PUBLIC PUBLIC
gnss_rx
Gnuradio::runtime Gnuradio::runtime
core_system_parameters
PRIVATE PRIVATE
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
core_receiver
) )
set_property(TARGET channel_fsm if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(channel_libs
PROPERTIES
CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
set_property(TARGET channel_libs
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
) )

View File

@ -36,7 +36,7 @@
class channel_msg_receiver_cc; class channel_msg_receiver_cc;
typedef boost::shared_ptr<channel_msg_receiver_cc> channel_msg_receiver_cc_sptr; using channel_msg_receiver_cc_sptr = boost::shared_ptr<channel_msg_receiver_cc>;
channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat); channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat);

View File

@ -36,13 +36,26 @@ add_library(conditioner_adapters ${COND_ADAPTER_SOURCES} ${COND_ADAPTER_HEADERS}
target_link_libraries(conditioner_adapters target_link_libraries(conditioner_adapters
PUBLIC PUBLIC
gnss_rx
Gnuradio::runtime Gnuradio::runtime
PRIVATE PRIVATE
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
) )
target_include_directories(conditioner_adapters
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/interfaces
)
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(conditioner_adapters
PROPERTIES
CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
set_property(TARGET conditioner_adapters set_property(TARGET conditioner_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>

View File

@ -40,30 +40,39 @@ list(SORT DATATYPE_ADAPTER_SOURCES)
source_group(Headers FILES ${DATATYPE_ADAPTER_HEADERS}) source_group(Headers FILES ${DATATYPE_ADAPTER_HEADERS})
add_library(datatype_adapters add_library(data_type_adapters
${DATATYPE_ADAPTER_SOURCES} ${DATATYPE_ADAPTER_SOURCES}
${DATATYPE_ADAPTER_HEADERS} ${DATATYPE_ADAPTER_HEADERS}
) )
target_link_libraries(datatype_adapters target_link_libraries(data_type_adapters
PUBLIC PUBLIC
Gnuradio::blocks Gnuradio::blocks
gnss_system_parameters
gnss_rx
data_type_gr_blocks data_type_gr_blocks
gnss_sp_libs algorithms_libs
core_system_parameters
PRIVATE PRIVATE
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
Volk::volk Volk::volk
) )
target_include_directories(datatype_adapters target_include_directories(data_type_adapters
PUBLIC PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs ${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/core/interfaces
) )
set_property(TARGET datatype_adapters if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(data_type_adapters
PROPERTIES
CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
set_property(TARGET data_type_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
) )

View File

@ -43,7 +43,7 @@ target_link_libraries(data_type_gr_blocks
PUBLIC PUBLIC
Gnuradio::runtime Gnuradio::runtime
Boost::boost Boost::boost
gnss_sp_libs algorithms_libs
PRIVATE PRIVATE
Volk::volk Volk::volk
) )

View File

@ -37,7 +37,7 @@
class interleaved_byte_to_complex_byte; class interleaved_byte_to_complex_byte;
typedef boost::shared_ptr<interleaved_byte_to_complex_byte> interleaved_byte_to_complex_byte_sptr; using interleaved_byte_to_complex_byte_sptr = boost::shared_ptr<interleaved_byte_to_complex_byte>;
interleaved_byte_to_complex_byte_sptr make_interleaved_byte_to_complex_byte(); interleaved_byte_to_complex_byte_sptr make_interleaved_byte_to_complex_byte();

View File

@ -36,7 +36,7 @@
class interleaved_byte_to_complex_short; class interleaved_byte_to_complex_short;
typedef boost::shared_ptr<interleaved_byte_to_complex_short> interleaved_byte_to_complex_short_sptr; using interleaved_byte_to_complex_short_sptr = boost::shared_ptr<interleaved_byte_to_complex_short>;
interleaved_byte_to_complex_short_sptr make_interleaved_byte_to_complex_short(); interleaved_byte_to_complex_short_sptr make_interleaved_byte_to_complex_short();

View File

@ -36,7 +36,7 @@
class interleaved_short_to_complex_short; class interleaved_short_to_complex_short;
typedef boost::shared_ptr<interleaved_short_to_complex_short> interleaved_short_to_complex_short_sptr; using interleaved_short_to_complex_short_sptr = boost::shared_ptr<interleaved_short_to_complex_short>;
interleaved_short_to_complex_short_sptr make_interleaved_short_to_complex_short(); interleaved_short_to_complex_short_sptr make_interleaved_short_to_complex_short();

View File

@ -49,20 +49,32 @@ target_link_libraries(input_filter_adapters
Gnuradio::blocks Gnuradio::blocks
Gnuradio::filter Gnuradio::filter
input_filter_gr_blocks input_filter_gr_blocks
gnss_sp_libs algorithms_libs
gnss_rx
PRIVATE PRIVATE
Gflags::gflags
Glog::glog
Volk::volk Volk::volk
) )
target_include_directories(input_filter_adapters target_include_directories(input_filter_adapters
PUBLIC ${CMAKE_SOURCE_DIR}/src/algorithms/libs PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/core/interfaces
) )
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4") if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4")
target_compile_definitions(input_filter_adapters PUBLIC -DGR_GREATER_38=1) target_compile_definitions(input_filter_adapters PUBLIC -DGR_GREATER_38=1)
endif() endif()
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(input_filter_adapters
PROPERTIES
CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
set_property(TARGET input_filter_adapters set_property(TARGET input_filter_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>

View File

@ -67,7 +67,7 @@ BeamformerFilter::BeamformerFilter(
file_sink_ = gr::blocks::file_sink::make(item_size_, dump_filename_.c_str()); file_sink_ = gr::blocks::file_sink::make(item_size_, dump_filename_.c_str());
DLOG(INFO) << "file_sink(" << file_sink_->unique_id() << ")"; DLOG(INFO) << "file_sink(" << file_sink_->unique_id() << ")";
} }
samples_ = 0; samples_ = 0ULL;
if (in_stream_ > 8) if (in_stream_ > 8)
{ {
LOG(ERROR) << "This implementation only supports eight input streams"; LOG(ERROR) << "This implementation only supports eight input streams";

View File

@ -34,6 +34,7 @@
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
#include <gnuradio/hier_block2.h> #include <gnuradio/hier_block2.h>
#include <cstdint>
#include <string> #include <string>
class ConfigurationInterface; class ConfigurationInterface;
@ -78,7 +79,7 @@ private:
unsigned int out_stream_; unsigned int out_stream_;
std::string item_type_; std::string item_type_;
size_t item_size_; size_t item_size_;
unsigned long long samples_; uint64_t samples_;
bool dump_; bool dump_;
std::string dump_filename_; std::string dump_filename_;
gr::block_sptr beamformer_; gr::block_sptr beamformer_;

View File

@ -299,11 +299,8 @@ gr::basic_block_sptr FirFilter::get_left_block()
{ {
return cshort_to_float_x2_; return cshort_to_float_x2_;
} }
else LOG(WARNING) << "Unknown item type conversion";
{ return nullptr;
return nullptr;
LOG(ERROR) << " Unknown item type conversion";
}
} }
@ -329,11 +326,8 @@ gr::basic_block_sptr FirFilter::get_right_block()
{ {
return float_to_complex_; return float_to_complex_;
} }
else LOG(WARNING) << "Unknown input filter taps item type";
{ return nullptr;
return nullptr;
LOG(ERROR) << " unknown input filter item type";
}
} }

View File

@ -339,7 +339,7 @@ gr::basic_block_sptr FreqXlatingFirFilter::get_left_block()
{ {
return gr_char_to_short_; return gr_char_to_short_;
} }
else if ((taps_item_type_ == "float") && (input_item_type_ == "byte") && (output_item_type_ == "cbyte")) if ((taps_item_type_ == "float") && (input_item_type_ == "byte") && (output_item_type_ == "cbyte"))
{ {
return gr_char_to_short_; return gr_char_to_short_;
} }
@ -373,7 +373,7 @@ gr::basic_block_sptr FreqXlatingFirFilter::get_right_block()
{ {
return freq_xlating_fir_filter_scf_; return freq_xlating_fir_filter_scf_;
} }
else if ((taps_item_type_ == "float") && (input_item_type_ == "byte") && (output_item_type_ == "cbyte")) if ((taps_item_type_ == "float") && (input_item_type_ == "byte") && (output_item_type_ == "cbyte"))
{ {
return complex_to_complex_byte_; return complex_to_complex_byte_;
} }

View File

@ -46,11 +46,18 @@ target_link_libraries(input_filter_gr_blocks
Gnuradio::filter Gnuradio::filter
Volkgnsssdr::volkgnsssdr Volkgnsssdr::volkgnsssdr
PRIVATE PRIVATE
Gflags::gflags
Glog::glog
Log4cpp::log4cpp Log4cpp::log4cpp
) )
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(input_filter_gr_blocks
PROPERTIES
CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
)
endif()
endif()
set_property(TARGET input_filter_gr_blocks set_property(TARGET input_filter_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>

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