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

.clang-format

@@ -51,7 +51,7 @@ IncludeBlocks: Merge
 IncludeCategories:
   - Regex:           '^.*.h"'
     Priority:        1
-  - Regex:           '^.*(boost|gflags|glog|gnsssdr|gpstk|gtest|gnuradio|pmt|uhd|volk)/'
+  - Regex:           '^.*(boost|gflags|glog|gnsssdr|gnuradio|gpstk|gsl|gtest|pmt|uhd|volk)/'
     Priority:        2
   - Regex:           '^.*(armadillo|matio|pugixml)'
     Priority:        2

src/algorithms/PVT/libs/CMakeLists.txt

@@ -95,6 +95,12 @@ target_include_directories(pvt_libs
 
 target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(pvt_libs
+        PUBLIC -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 if(Boost_VERSION_STRING VERSION_GREATER 1.65.99)
     target_compile_definitions(pvt_libs
         PUBLIC

src/algorithms/PVT/libs/pvt_solution.h

@@ -32,6 +32,9 @@
 #ifndef GNSS_SDR_PVT_SOLUTION_H_
 #define GNSS_SDR_PVT_SOLUTION_H_
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
 
 #include <armadillo>
 #include <boost/date_time/posix_time/posix_time.hpp>

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -94,6 +94,7 @@ Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag
     d_dump_filename = std::move(dump_filename);
     d_flag_dump_enabled = flag_dump_to_file;
     d_flag_dump_mat_enabled = flag_dump_to_mat;
+    count_valid_position = 0;
     this->set_averaging_flag(false);
     rtk_ = rtk;
 
@@ -442,9 +443,9 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
     int valid_obs = 0;      // valid observations counter
     int glo_valid_obs = 0;  // GLONASS L1/L2 valid observations counter
 
-    obs_data.fill({});
-    eph_data.fill({});
-    geph_data.fill({});
+    std::array<obsd_t, MAXOBS> obs_data{};
+    std::vector<eph_t> eph_data(MAXOBS);
+    std::vector<geph_t> geph_data(MAXOBS);
 
     // Workaround for NAV/CNAV clash problem
     bool gps_dual_band = false;

src/algorithms/PVT/libs/rtklib_solver.h

@@ -126,6 +126,8 @@ public:
     Beidou_Dnav_Iono beidou_dnav_iono;
     std::map<int, Beidou_Dnav_Almanac> beidou_dnav_almanac_map;
 
+    int count_valid_position;
+
 private:
     rtk_t rtk_{};
     std::string d_dump_filename;
@@ -135,9 +137,6 @@ private:
     bool d_flag_dump_mat_enabled;
     int d_nchannels;  // Number of available channels for positioning
     std::array<double, 4> dop_{};
-    std::array<obsd_t, MAXOBS> obs_data{};
-    std::array<eph_t, MAXOBS> eph_data{};
-    std::array<geph_t, MAXOBS> geph_data{};
     Monitor_Pvt monitor_pvt{};
 };
 

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc

@@ -41,8 +41,8 @@
 #include "gps_sdr_signal_processing.h"
 #include <boost/math/distributions/exponential.hpp>
 #include <glog/logging.h>
-#include <algorithm>
 #include <gsl/gsl>
+#include <algorithm>
 
 
 GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(

src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt

@@ -69,12 +69,13 @@ endif()
 target_link_libraries(acquisition_gr_blocks
     PUBLIC
         algorithms_libs
+        acquisition_libs
+        channel_libs
+        core_system_parameters
+        Armadillo::armadillo
         Gnuradio::runtime
         Gnuradio::fft
         Volk::volk
-        channel_libs
-        acquisition_libs
-        core_system_parameters
     PRIVATE
         Gflags::gflags
         Glog::glog
@@ -90,6 +91,12 @@ target_include_directories(acquisition_gr_blocks
         ${CMAKE_SOURCE_DIR}/src/core/receiver
 )
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(acquisition_gr_blocks
+        PUBLIC -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 if(OPENCL_FOUND)
     target_link_libraries(acquisition_gr_blocks PUBLIC OpenCL::OpenCL)
     target_include_directories(acquisition_gr_blocks

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h

@@ -52,6 +52,10 @@
 #ifndef GNSS_SDR_PCPS_ACQUISITION_H_
 #define GNSS_SDR_PCPS_ACQUISITION_H_
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include "acq_conf.h"
 #include "channel_fsm.h"
 #include <armadillo>
@@ -61,6 +65,7 @@
 #include <gnuradio/gr_complex.h>     // for gr_complex
 #include <gnuradio/thread/thread.h>  // for scoped_lock
 #include <gnuradio/types.h>          // for gr_vector_const_void_star
+#include <gsl/gsl>                   // for Guidelines Support Library
 #include <volk/volk_complex.h>       // for lv_16sc_t
 #include <complex>
 #include <cstdint>
@@ -68,12 +73,6 @@
 #include <string>
 #include <utility>
 #include <vector>
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
 
 class Gnss_Synchro;
 class pcps_acquisition;

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h

@@ -49,6 +49,10 @@
 #ifndef GNSS_SDR_PCPS_ACQUISITION_FINE_DOPPLER_CC_H_
 #define GNSS_SDR_PCPS_ACQUISITION_FINE_DOPPLER_CC_H_
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include "acq_conf.h"
 #include "channel_fsm.h"
 #include "gnss_synchro.h"

src/algorithms/libs/CMakeLists.txt

@@ -92,22 +92,10 @@ else()
     target_link_libraries(algorithms_libs PRIVATE Boost::filesystem Boost::system)
 endif()
 
-include(CheckCXXSourceCompiles)
-check_cxx_source_compiles("
-    #include <span>
-    int main()
-    { std::span<float> sv; }"
-    has_span
-)
-
-if(${has_span})
-    target_compile_definitions(algorithms_libs PUBLIC -DHAS_SPAN=1)
-else()
 target_include_directories(algorithms_libs
     PUBLIC
         ${CMAKE_SOURCE_DIR}/src/algorithms/libs/gsl/include
 )
-endif()
 
 target_link_libraries(algorithms_libs
     PUBLIC
@@ -130,6 +118,12 @@ if(OPENCL_FOUND)
     )
 endif()
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(algorithms_libs
+        PUBLIC -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 target_include_directories(algorithms_libs
     PUBLIC
         ${CMAKE_SOURCE_DIR}/src/core/interfaces

src/algorithms/libs/beidou_b1i_signal_processing.h

@@ -33,17 +33,10 @@
 #ifndef GNSS_SDR_BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
-
 //! Generates int32_t GPS L1 C/A code for the desired SV ID and code shift
 void beidou_b1i_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift);
 

src/algorithms/libs/beidou_b3i_signal_processing.h

@@ -33,16 +33,10 @@
 #ifndef GNSS_SDR_BEIDOU_B3I_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_BEIDOU_B3I_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 //! Generates int BeiDou B3I code for the desired SV ID and code shift
 void beidou_b3i_code_gen_int(gsl::span<int> _dest, int32_t _prn, uint32_t _chip_shift);
 

src/algorithms/libs/galileo_e1_signal_processing.h

@@ -32,15 +32,10 @@
 #ifndef GNSS_SDR_GALILEO_E1_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GALILEO_E1_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <array>
 #include <complex>
 #include <cstdint>
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
 
 
 /*!

src/algorithms/libs/galileo_e5_signal_processing.h

@@ -34,16 +34,10 @@
 #ifndef GNSS_SDR_GALILEO_E5_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GALILEO_E5_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <array>
 #include <complex>
 #include <cstdint>
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 
 /*!
  * \brief Generates Galileo E5a code at 1 sample/chip

src/algorithms/libs/geofunctions.h

@@ -32,6 +32,10 @@
 #ifndef GNSS_SDR_GEOFUNCTIONS_H
 #define GNSS_SDR_GEOFUNCTIONS_H
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include <armadillo>
 
 arma::mat Skew_symmetric(const arma::vec &a);  //!< Calculates skew-symmetric matrix

src/algorithms/libs/glonass_l1_signal_processing.h

@@ -33,16 +33,10 @@
 #ifndef GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 //! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
 void glonass_l1_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _chip_shift);
 

src/algorithms/libs/glonass_l2_signal_processing.h

@@ -33,16 +33,10 @@
 #ifndef GNSS_SDR_GLONASS_L2_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GLONASS_L2_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 //! Generates complex GLONASS L2 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
 void glonass_l2_ca_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _chip_shift);
 

src/algorithms/libs/gnss_signal_processing.h

@@ -35,17 +35,10 @@
 #ifndef GNSS_SDR_GNSS_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GNSS_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
-
 /*!
  * \brief This function generates a complex exponential in _dest.
  *

src/algorithms/libs/gps_l2c_signal.h

@@ -33,17 +33,10 @@
 #ifndef GNSS_SDR_GPS_L2C_SIGNAL_H_
 #define GNSS_SDR_GPS_L2C_SIGNAL_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
-
 //! Generates complex GPS L2C M code for the desired SV ID
 void gps_l2c_m_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _prn);
 void gps_l2c_m_code_gen_float(gsl::span<float> _dest, uint32_t _prn);

src/algorithms/libs/gps_l5_signal.h

@@ -33,16 +33,10 @@
 #ifndef GNSS_SDR_GPS_L5_SIGNAL_H_
 #define GNSS_SDR_GPS_L5_SIGNAL_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 //! Generates complex GPS L5I code for the desired SV ID
 void gps_l5i_code_gen_complex(gsl::span<std::complex<float>> _dest, uint32_t _prn);
 

src/algorithms/libs/gps_sdr_signal_processing.h

@@ -33,16 +33,10 @@
 #ifndef GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
 #define GNSS_SDR_GPS_SDR_SIGNAL_PROCESSING_H_
 
+#include <gsl/gsl>
 #include <complex>
 #include <cstdint>
 
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
-
 //! Generates int GPS L1 C/A code for the desired SV ID and code shift
 void gps_l1_ca_code_gen_int(gsl::span<int32_t> _dest, int32_t _prn, uint32_t _chip_shift);
 

src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc

@@ -251,7 +251,7 @@ void signal_generator_c::generate_codes()
 
                             std::array<char, 3> signal_1C = {{'1', 'C', '\0'}};
 
-                            galileo_e1_code_gen_complex_sampled(gsl::span<gr_complex>(sampled_code_pilot_[sat].data(), vector_length_), signal_1C, cboc, PRN_[sat], fs_in_,
+                            galileo_e1_code_gen_complex_sampled(sampled_code_pilot_[sat], signal_1C, cboc, PRN_[sat], fs_in_,
                                 static_cast<int>(GALILEO_E1_B_CODE_LENGTH_CHIPS) - delay_chips_[sat], true);
 
                             // Obtain the desired CN0 assuming that Pn = 1.

src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt

@@ -89,6 +89,7 @@ endif()
 target_link_libraries(tracking_gr_blocks
     PUBLIC
         Boost::boost
+        Armadillo::armadillo
         Gnuradio::blocks
         Matio::matio
         Volkgnsssdr::volkgnsssdr
@@ -108,6 +109,12 @@ if(ENABLE_CUDA AND NOT CMAKE_VERSION VERSION_GREATER 3.11)
     )
 endif()
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(tracking_gr_blocks
+        PUBLIC -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 if(ENABLE_CLANG_TIDY)
     if(CLANG_TIDY_EXE)
         set_target_properties(tracking_gr_blocks

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

@@ -57,6 +57,7 @@
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>   // for io_signature
 #include <gnuradio/thread/thread.h>  // for scoped_lock
+#include <gsl/gsl>
 #include <matio.h>          // for Mat_VarCreate
 #include <pmt/pmt_sugar.h>  // for mp
 #include <volk_gnsssdr/volk_gnsssdr.h>
@@ -64,7 +65,6 @@
 #include <array>
 #include <cmath>      // for fmod, round, floor
 #include <exception>  // for exception
-#include <gsl/gsl>
 #include <iostream>   // for cout, cerr
 #include <map>
 #include <numeric>

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc

@@ -49,13 +49,13 @@
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>   // for io_signature
 #include <gnuradio/thread/thread.h>  // for scoped_lock
+#include <gsl/gsl>
 #include <matio.h>          // for Mat_VarCreate
 #include <pmt/pmt_sugar.h>  // for mp
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <algorithm>  // for fill_n
 #include <cmath>      // for fmod, round, floor
 #include <exception>  // for exception
-#include <gsl/gsl>
 #include <iostream>   // for cout, cerr
 #include <map>
 #include <numeric>

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc

@@ -45,12 +45,12 @@
 #include "tracking_discriminators.h"
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
+#include <gsl/gsl>
 #include <matio.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <array>
 #include <cmath>
 #include <exception>
-#include <gsl/gsl>
 #include <iostream>
 #include <memory>
 #include <sstream>

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.h

@@ -40,6 +40,10 @@
 #ifndef GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H
 #define GNSS_SDR_GPS_L1_CA_KF_TRACKING_CC_H
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include "bayesian_estimation.h"
 #include "cpu_multicorrelator_real_codes.h"
 #include "gnss_synchro.h"

src/algorithms/tracking/libs/CMakeLists.txt

@@ -134,6 +134,12 @@ if(OS_IS_MACOSX)
     endif()
 endif()
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(tracking_libs
+        PUBLIC -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 if(ENABLE_CLANG_TIDY)
     if(CLANG_TIDY_EXE)
         set_target_properties(tracking_libs

src/algorithms/tracking/libs/bayesian_estimation.h

@@ -45,6 +45,10 @@
 #ifndef GNSS_SDR_BAYESIAN_ESTIMATION_H_
 #define GNSS_SDR_BAYESIAN_ESTIMATION_H_
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include <armadillo>
 #include <gnuradio/gr_complex.h>
 

src/algorithms/tracking/libs/nonlinear_tracking.h

@@ -43,6 +43,10 @@
 #ifndef GNSS_SDR_NONLINEAR_TRACKING_H_
 #define GNSS_SDR_NONLINEAR_TRACKING_H_
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include <armadillo>
 #include <gnuradio/gr_complex.h>
 

src/core/receiver/CMakeLists.txt

@@ -156,6 +156,12 @@ target_link_libraries(core_receiver
         Armadillo::armadillo
 )
 
+if(CMAKE_BUILD_TYPE MATCHES Rel)
+    target_compile_definitions(core_receiver
+        PRIVATE -DARMA_NO_BOUND_CHECKING=1
+    )
+endif()
+
 # Fix for Boost Asio < 1.70
 if(OS_IS_MACOSX)
     if((CMAKE_CXX_COMPILER_ID MATCHES "Clang") AND (Boost_VERSION_STRING VERSION_LESS 1.70.0))

src/core/receiver/control_thread.cc

@@ -32,6 +32,10 @@
  * -------------------------------------------------------------------------
  */
 
+#if ARMA_NO_BOUND_CHECKING
+#define ARMA_NO_DEBUG 1
+#endif
+
 #include "control_thread.h"
 #include "channel_event.h"
 #include "command_event.h"

src/tests/unit-tests/arithmetic/code_generation_test.cc

@@ -31,14 +31,9 @@
 
 #include "gnss_signal_processing.h"
 #include "gps_sdr_signal_processing.h"
+#include <gsl/gsl>
 #include <chrono>
 #include <complex>
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
-#include <gsl/gsl>
-#endif
 
 
 TEST(CodeGenerationTest, CodeGenGPSL1Test)

src/tests/unit-tests/arithmetic/complex_carrier_test.cc

@@ -32,14 +32,9 @@
 #include "GPS_L1_CA.h"
 #include "gnss_signal_processing.h"
 #include <armadillo>
-#include <chrono>
-#include <complex>
-#if HAS_SPAN
-#include <span>
-namespace gsl = std;
-#else
 #include <gsl/gsl>
-#endif
+#include <chrono>
+#include <complex>e
 
 DEFINE_int32(size_carrier_test, 100000, "Size of the arrays used for complex carrier testing");