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

CMakeLists.txt

@@ -1797,7 +1797,24 @@ set_package_properties(Protobuf PROPERTIES
     PURPOSE "Used to serialize output data in a way that can be read by other applications."
     TYPE REQUIRED
 )
+if(CMAKE_VERSION VERSION_LESS 3.6)
+    if(PROTOBUF_FOUND)
+        set(Protobuf_FOUND ${PROTOBUF_FOUND})
+    endif()
+endif()
 if(Protobuf_FOUND AND CMAKE_VERSION VERSION_LESS 3.9)
+    if(PROTOBUF_INCLUDE_DIR)
+        set(Protobuf_INCLUDE_DIR ${PROTOBUF_INCLUDE_DIR})
+    endif()
+    if(PROTOBUF_LIBRARY)
+        set(Protobuf_LIBRARY ${PROTOBUF_LIBRARY})
+    endif()
+    if(PROTOBUF_PROTOC_EXECUTABLE)
+        set(Protobuf_PROTOC_EXECUTABLE ${PROTOBUF_PROTOC_EXECUTABLE})
+    endif()
+    if(PROTOBUF_PROTOC_LIBRARY)
+        set(Protobuf_PROTOC_LIBRARY ${PROTOBUF_PROTOC_EXECUTABLE})
+    endif()
     add_library(protobuf::libprotobuf SHARED IMPORTED)
     set_target_properties(protobuf::libprotobuf PROPERTIES
         IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
@@ -1811,6 +1828,20 @@ if(Protobuf_FOUND AND CMAKE_VERSION VERSION_LESS 3.9)
         IMPORTED_LOCATION "${Protobuf_PROTOC_EXECUTABLE}"
         INTERFACE_LINK_LIBRARIES "${Protobuf_PROTOC_LIBRARY}"
     )
+    if(${Protobuf_VERSION} VERSION_EQUAL "0.0.0")
+        set(_PROTOBUF_COMMON_HEADER ${Protobuf_INCLUDE_DIR}/google/protobuf/stubs/common.h)
+        set(Protobuf_VERSION "")
+        set(Protobuf_LIB_VERSION "")
+        file(STRINGS ${_PROTOBUF_COMMON_HEADER} _PROTOBUF_COMMON_H_CONTENTS REGEX "#define[ \t]+GOOGLE_PROTOBUF_VERSION[ \t]+")
+        if(_PROTOBUF_COMMON_H_CONTENTS MATCHES "#define[ \t]+GOOGLE_PROTOBUF_VERSION[ \t]+([0-9]+)")
+            set(Protobuf_LIB_VERSION "${CMAKE_MATCH_1}")
+        endif()
+        unset(_PROTOBUF_COMMON_H_CONTENTS)
+        math(EXPR _PROTOBUF_MAJOR_VERSION "${Protobuf_LIB_VERSION} / 1000000")
+        math(EXPR _PROTOBUF_MINOR_VERSION "${Protobuf_LIB_VERSION} / 1000 % 1000")
+        math(EXPR _PROTOBUF_SUBMINOR_VERSION "${Protobuf_LIB_VERSION} % 1000")
+        set(Protobuf_VERSION "${_PROTOBUF_MAJOR_VERSION}.${_PROTOBUF_MINOR_VERSION}.${_PROTOBUF_SUBMINOR_VERSION}")
+    endif()
 endif()
 if(Protobuf_FOUND AND CMAKE_CROSSCOMPILING)
     find_program(PROTOC_EXECUTABLE protoc

src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h

@@ -45,6 +45,7 @@
 #include <gnuradio/gr_complex.h>
 #include <fstream>
 #include <string>
+#include <utility>
 
 class galileo_e5a_noncoherentIQ_acquisition_caf_cc;
 
@@ -218,8 +219,9 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
-        d_channel_fsm = channel_fsm;
+        d_channel_fsm = std::move(channel_fsm);
     }
+
     /*!
      * \brief Set statistics threshold of PCPS algorithm.
      * \param threshold - Threshold for signal detection (check \ref Navitec2012,

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h

@@ -39,6 +39,7 @@
 #include <gnuradio/gr_complex.h>
 #include <fstream>
 #include <string>
+#include <utility>
 
 class galileo_pcps_8ms_acquisition_cc;
 
@@ -182,14 +183,14 @@ public:
         d_channel = channel;
     }
 
-
     /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
-        d_channel_fsm = channel_fsm;
+        d_channel_fsm = std::move(channel_fsm);
     }
+
     /*!
      * \brief Set statistics threshold of PCPS algorithm.
      * \param threshold - Threshold for signal detection (check \ref Navitec2012,

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h

@@ -63,6 +63,7 @@
 #include <volk/volk_complex.h>       // for lv_16sc_t
 #include <cstdint>
 #include <string>
+#include <utility>
 
 class Gnss_Synchro;
 class pcps_acquisition;
@@ -209,13 +210,12 @@ public:
         d_channel = channel;
     }
 
-
     /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
-        d_channel_fsm = channel_fsm;
+        d_channel_fsm = std::move(channel_fsm);
     }
 
     /*!

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h

@@ -59,6 +59,7 @@
 #include <cstdint>
 #include <fstream>
 #include <string>
+#include <utility>
 
 class pcps_acquisition_fine_doppler_cc;
 
@@ -185,14 +186,14 @@ public:
         d_dump_channel = d_channel;
     }
 
-
     /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
-        d_channel_fsm = channel_fsm;
+        d_channel_fsm = std::move(channel_fsm);
     }
+
     /*!
      * \brief Set statistics threshold of PCPS algorithm.
      * \param threshold - Threshold for signal detection (check \ref Navitec2012,

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h

@@ -55,6 +55,7 @@
 #include <gnuradio/gr_complex.h>
 #include <fstream>
 #include <string>
+#include <utility>
 
 class pcps_assisted_acquisition_cc;
 
@@ -195,13 +196,12 @@ public:
         d_channel = channel;
     }
 
-
     /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
-        d_channel_fsm = channel_fsm;
+        d_channel_fsm = std::move(channel_fsm);
     }
 
     /*!

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h

@@ -44,6 +44,7 @@
 #include <gnuradio/gr_complex.h>
 #include <fstream>
 #include <string>
+#include <utility>
 
 
 class pcps_cccwsr_acquisition_cc;
@@ -182,14 +183,14 @@ public:
         d_channel = channel;
     }
 
-
     /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
-        d_channel_fsm = channel_fsm;
+        d_channel_fsm = std::move(channel_fsm);
     }
+
     /*!
      * \brief Set statistics threshold of CCCWSR algorithm.
      * \param threshold - Threshold for signal detection (check \ref Navitec2012,

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h

@@ -61,6 +61,7 @@
 #include <fstream>
 #include <functional>
 #include <string>
+#include <utility>
 
 class pcps_quicksync_acquisition_cc;
 
@@ -215,14 +216,14 @@ public:
         d_channel = channel;
     }
 
-
     /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
-        d_channel_fsm = channel_fsm;
+        d_channel_fsm = std::move(channel_fsm);
     }
+
     /*!
      * \brief Set statistics threshold of PCPS algorithm.
      * \param threshold - Threshold for signal detection (check \ref Navitec2012,

src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h

@@ -58,6 +58,7 @@
 #include <gnuradio/gr_complex.h>
 #include <fstream>
 #include <string>
+#include <utility>
 
 
 class pcps_tong_acquisition_cc;
@@ -198,14 +199,14 @@ public:
         d_channel = channel;
     }
 
-
     /*!
      * \brief Set channel fsm associated to this acquisition instance
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
-        d_channel_fsm = channel_fsm;
+        d_channel_fsm = std::move(channel_fsm);
     }
+
     /*!
      * \brief Set statistics threshold of TONG algorithm.
      * \param threshold - Threshold for signal detection (check \ref Navitec2012,

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_gs.cc

@@ -218,8 +218,6 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
     uint32_t GPS_frame_4bytes = 0;
     float symbol_accumulator = 0;
     bool subframe_synchro_confirmation = false;
-    bool CRC_ok = true;
-
     for (float subframe_symbol : d_symbol_history)
         {
             // ******* SYMBOL TO BIT *******
@@ -269,11 +267,6 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
                                 {
                                     subframe_synchro_confirmation = true;
                                 }
-                            else
-                                {
-                                    // std::cout << "word invalid sat " << this->d_satellite << std::endl;
-                                    CRC_ok = false;
-                                }
                             // add word to subframe
                             // insert the word in the correct position of the subframe
                             std::memcpy(&subframe[word_index * GPS_WORD_LENGTH], &GPS_frame_4bytes, sizeof(uint32_t));
@@ -290,7 +283,7 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
 
     // decode subframe
     // NEW GPS SUBFRAME HAS ARRIVED!
-    if (CRC_ok)
+    if (subframe_synchro_confirmation)
         {
             int32_t subframe_ID = d_nav.subframe_decoder(subframe);  //decode the subframe
             if (subframe_ID > 0 and subframe_ID < 6)
@@ -329,6 +322,12 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
                         default:
                             break;
                         }
+                    return true;
+                }
+            else
+                {
+                    return false;
+                }
         }
     else
         {
@@ -336,14 +335,15 @@ bool gps_l1_ca_telemetry_decoder_gs::decode_subframe()
         }
 }
 
-    return subframe_synchro_confirmation;
-}
-
 
 void gps_l1_ca_telemetry_decoder_gs::reset()
 {
+    gr::thread::scoped_lock lock(d_setlock);  // require mutex with work function called by the scheduler
     d_last_valid_preamble = d_sample_counter;
     d_sent_tlm_failed_msg = false;
+    flag_TOW_set = false;
+    d_symbol_history.clear();
+    d_stat = 0;
     DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
 }
 
@@ -400,6 +400,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
                         DLOG(INFO) << "Preamble detection for GPS L1 satellite " << this->d_satellite;
                         d_stat = 1;  // enter into frame pre-detection status
                     }
+                flag_TOW_set = false;
                 break;
             }
         case 1:  // possible preamble lock
@@ -438,6 +439,7 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
                                 if (preamble_diff > d_preamble_period_symbols)
                                     {
                                         d_stat = 0;  // start again
+                                        flag_TOW_set = false;
                                     }
                             }
                     }
@@ -485,11 +487,18 @@ int gps_l1_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__
 
     // 2. Add the telemetry decoder information
     if (d_flag_preamble == true)
+        {
+            if (!d_nav.d_TOW == 0)
                 {
                     d_TOW_at_current_symbol_ms = static_cast<uint32_t>(d_nav.d_TOW * 1000.0);
                     d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_nav.d_TOW * 1000.0);
                     flag_TOW_set = true;
                 }
+            else
+                {
+                    DLOG(INFO) << "Received GPS L1 TOW equal to zero at sat " << d_nav.i_satellite_PRN;
+                }
+        }
     else
         {
             if (flag_TOW_set == true)