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

docs/changelog

@@ -16,6 +16,7 @@ Next release will have several improvements in different dimensions, addition of
 - Redesign of the time counter for enhanced continuity.
 - Improved flow graph in multisystem configurations: the receiver does not get stalled anymore if no signal is found from the first system.
 - Improved acquisition and tracking sensitivity.
+- Added mechanisms for Assisted GNSS, thus shortening the Time-To-First-Fix. Provision of data via XML files or via SUPL v1.0. Documented at https://gnss-sdr.org/docs/sp-blocks/global-parameters/
 - Other minor bug fixes.
 
 
@@ -27,6 +28,7 @@ Next release will have several improvements in different dimensions, addition of
 - New volk_gnsssdr kernels: volk_gnsssdr_16i_xn_resampler_16i_xn.h, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h, volk_gnsssdr_32f_xn_resampler_32f_xn.h, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn.h
 - Some AVX2 implementations added to the volk_gnsssdr library.
 - Improvement in C++ usage: Use of const container calls when result is immediately converted to a const iterator. Using these members removes an implicit conversion from iterator to const_iterator.
+- Output printers can be shut down, with some savings in memory and storage requirements.
 - A number of code optimizations here and there.
 
 
@@ -34,7 +36,8 @@ Next release will have several improvements in different dimensions, addition of
 
 - A number of new parameters have been exposed to the configuration system.
 - Possibility to choose Pilot or Data component for tracking of GPS L5 and Galileo E5a signals.
-- Enabled extended coherent integration times.
+- Enabled extended coherent integration times for signal tracking.
+- Configurable coherent and/or non-coherent signal acquisition.
 - Some configuration parameters can now be overridden by commandline flags for easier use in scripts.
 
 
@@ -48,11 +51,15 @@ Next release will have several improvements in different dimensions, addition of
 - Added five more signal sources: "Fmcomms2_Signal_Source" (requires gr-iio), "Plutosdr_Signal Source" (requires gr-iio), "Spir_GSS6450_File_Signal_Source", "Labsat_Signal_Source" and "Custom_UDP_Signal_Source" (requires libpcap). Documented in https://gnss-sdr.org/docs/sp-blocks/signal-source/
 - Improved support for BladeRF, HackRF and RTL-SDR front-ends.
 - Added tools for the interaction with front-ends based on the AD9361 chipset.
-- Intermediate results are now saved in .mat binary format, readable from Matlab/Octave and from Python via h5py.
+- Intermediate results are now saved in MAT-file format (.mat), readable from Matlab/Octave and from Python via h5py.
 - Added the GPX output format.
-- Fixed a bug in the format of NMEA sentences when latitude or longitude minutes were >10.
+- Improvements in the generation of KML files.
+- Improvements in the NMEA output. The receiver can produce GPGGA, GPRMC, GPGSA, GPGSV, GAGSA and GAGSV sentences.
 - Improvements in the RTCM server stability.
 - Improvements in the correctness of generated RINEX files.
+- The receiver can read and make use of Galileo almanac XML files published by the European GNSS Service Centre at https://www.gsc-europa.eu/system-status/almanac-data
+- Own-defined XML schemas for navigation data published at https://github.com/gnss-sdr/gnss-sdr/tree/next/docs/xml-schemas
+- Added program rinex2assist to convert RINEX navigation files into XML files usable for Assisted GNSS. Only available building from source. See https://github.com/gnss-sdr/gnss-sdr/tree/next/src/utils/rinex2assist
 
 
 ### Improvements in Maintainability:
@@ -64,6 +71,8 @@ Next release will have several improvements in different dimensions, addition of
 - Improvement in C++ usage: The override special identifier is now used when overriding a virtual function. This helps the compiler to check for type changes in the base class, making the detection of errors easier.
 - Improvement in C++ usage: A number of unused includes have been removed. Order of includes set to: local (in-source) headers, then library headers, then system headers. This helps to detect missing includes.
 - Improvement in C++ usage: Enhanced const correctness. Misuses of those variables are detected by the compiler.
+- Applied some style rules to CMake scripts.
+- Minimal versions of dependencies identified and detected.
 
 
 ### Improvements in Portability:
@@ -76,15 +85,16 @@ Next release will have several improvements in different dimensions, addition of
 - The Ninja build system can be used in replacement of make.
 - The volk_gnsssdr library can be built using Python 2.7 or Python 3.6.
 - The volk_gnsssdr library is now ready for AArch64 NEON instructions.
-- Ready for GNU Radio 3.8 C++ API (as per current next branch of GNU Radio upstream repository).
+- Ready for GNU Radio 3.8 C++ API (as per current master branch of GNU Radio upstream repository).
 - Improved detection of required and optional dependencies in many GNU/Linux distributions and processor architectures.
-- Improvement in C++ usage: The <ctime> library has been replaced by the more modern and portable <chrono>.
+- Improvement in C++ usage: The <ctime> library has been replaced by the more modern and portable <chrono> (except for the interaction with RTKLIB).
 - Improvement in C++ usage: The <stdio.h> library has been replaced by the more modern and portable <fstream> for file handling.
 - Improvement in C++ usage: C++ libraries preferred over C libraries (e.g., <cctype> instead of <ctype.h>, <cmath> instead of <math.h>).
 - Fixes required by Debian packaging.
 - Fixes required by Macports packaging.
 - A downside in portability: BLAS and LAPACK libraries are now required even in ARM devices.
 - A downside in portability: the matio library >= 1.5.3 is a new required dependency. If not found, it is downloaded and built automatically at building time, but this requires libtool, automake and hdf5 already installed in the system.
+- A downside in portability: the PugiXML library is a new required dependency. If not found, it is downloaded and built automatically at building time.
 
 
 ### Improvements in Reliability:
@@ -93,6 +103,7 @@ Next release will have several improvements in different dimensions, addition of
 - Improved flow graph stabiliy.
 - Introduction of high-integrity C++ practices into the source code and included in the coding style guide. See https://gnss-sdr.org/coding-style/
 - Fixed a number of defects detected by Coverity Scan.
+- Improvement of QA code and addition of a number of new tests. Documented at https://gnss-sdr.org/docs/tutorials/testing-software-receiver-2/
 - Improvement in C++ usage: rand() function replaced by <random> library.
 - Improvement in C++ usage: strlen and strncpy have been replaced by safer C++ counterparts.
 - Improvement in C++ usage: Some destructors have been fixed, avoiding segmentation faults when exiting the program.
@@ -122,9 +133,10 @@ Next release will have several improvements in different dimensions, addition of
 
 - All Observables block implementations have been merged into a single implementation for all kinds of GNSS signals, making it easier to configure.
 - All PVT block implementations have been merged into a single implementation for all kinds of GNSS signals, making it easier to configure.
-- Misleading parameter name GNSS-SDR.internal_fs_hz has been replaced by GNSS-SDR.internal_fs_sps. The old parameter name is still read. If found, a warning is provided to the user.
+- Misleading parameter name GNSS-SDR.internal_fs_hz has been replaced by GNSS-SDR.internal_fs_sps. The old parameter name is still read. If found, a warning is provided to the user. The old name will be removed in future releases.
-- Updated and improved documentation of processing blocks at https://gnss-sdr.org/docs/sp-blocks/
+- Updated and improved online documentation of processing blocks at https://gnss-sdr.org/docs/sp-blocks/
 - Improved documentation of required dependency packages in several GNU/Linux distributions.
+- Dump and output files can now be stored anywhere.
 - Parameter names with the same role have been harmonized within different block implementations.
 - Added a changelog, a code of conduct, a contributing guide and a pull-request template in the source tree.
 - Added colors to the commandline user interface.

docs/xml-schemas/README.md

@@ -32,3 +32,4 @@ Galileo
 
 Please check https://gnss-sdr.org/docs/sp-blocks/global-parameters/ for more information about the usage of XML files in GNSS-SDR.
 
+You could find useful the utility program [rinex2assist](https://github.com/gnss-sdr/gnss-sdr/tree/next/src/utils/rinex2assist) for the generation of compatible XML files from recent, publicly available RINEX navigation data files.

docs/xml-schemas/gal_ephemeris_map.xsd

@@ -1,4 +1,4 @@
-<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
+<<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
   <xs:element name="boost_serialization">
     <xs:complexType>
       <xs:sequence>
@@ -16,6 +16,7 @@
                         <xs:sequence>
                           <xs:element type="xs:byte" name="i_satellite_PRN"/>
                           <xs:element type="xs:float" name="M0_1"/>
+                          <xs:element type="xs:float" name="delta_n_3"/>
                           <xs:element type="xs:float" name="e_1"/>
                           <xs:element type="xs:float" name="A_1"/>
                           <xs:element type="xs:float" name="OMEGA_0_2"/>
@@ -34,6 +35,22 @@
                           <xs:element type="xs:float" name="af0_4"/>
                           <xs:element type="xs:float" name="af1_4"/>
                           <xs:element type="xs:float" name="af2_4"/>
+                          <xs:element type="xs:float" name="WN_5"/>
+                          <xs:element type="xs:float" name="TOW_5"/>
+                          <xs:element type="xs:float" name="Galileo_satClkDrift"/>
+                          <xs:element type="xs:float" name="Galileo_dtr"/>
+                          <xs:element type="xs:byte" name="flag_all_ephemeris"/>
+                          <xs:element type="xs:byte" name="IOD_ephemeris"/>
+                          <xs:element type="xs:byte" name="IOD_nav_1"/>
+                          <xs:element type="xs:float" name="SISA_3"/>
+                          <xs:element type="xs:byte" name="E5a_HS"/>
+                          <xs:element type="xs:float" name="E5b_HS_5"/>
+                          <xs:element type="xs:float" name="E1B_HS_5"/>
+                          <xs:element type="xs:byte" name="E5a_DVS"/>
+                          <xs:element type="xs:float" name="E5b_DVS_5"/>
+                          <xs:element type="xs:float" name="E1B_DVS_5"/>
+                          <xs:element type="xs:float" name="BGD_E1E5a_5"/>
+                          <xs:element type="xs:float" name="BGD_E1E5b_5"/>
                         </xs:sequence>
                         <xs:attribute type="xs:byte" name="class_id" use="optional"/>
                         <xs:attribute type="xs:byte" name="tracking_level" use="optional"/>

src/core/system_parameters/galileo_ephemeris.h

@@ -123,10 +123,7 @@ public:
             {
             };
 
-        archive& BOOST_SERIALIZATION_NVP(flag_all_ephemeris);
+        archive& BOOST_SERIALIZATION_NVP(i_satellite_PRN);
-        archive& BOOST_SERIALIZATION_NVP(IOD_ephemeris);
-        archive& BOOST_SERIALIZATION_NVP(IOD_nav_1);
-        archive& BOOST_SERIALIZATION_NVP(SV_ID_PRN_4);
 
         archive& BOOST_SERIALIZATION_NVP(M0_1);
         archive& BOOST_SERIALIZATION_NVP(delta_n_3);
@@ -155,6 +152,10 @@ public:
         archive& BOOST_SERIALIZATION_NVP(Galileo_satClkDrift);
         archive& BOOST_SERIALIZATION_NVP(Galileo_dtr);
 
+        archive& BOOST_SERIALIZATION_NVP(flag_all_ephemeris);
+        archive& BOOST_SERIALIZATION_NVP(IOD_ephemeris);
+        archive& BOOST_SERIALIZATION_NVP(IOD_nav_1);
+
         archive& BOOST_SERIALIZATION_NVP(SISA_3);
         archive& BOOST_SERIALIZATION_NVP(E5a_HS);
         archive& BOOST_SERIALIZATION_NVP(E5b_HS_5);
@@ -165,8 +166,6 @@ public:
 
         archive& BOOST_SERIALIZATION_NVP(BGD_E1E5a_5);
         archive& BOOST_SERIALIZATION_NVP(BGD_E1E5b_5);
-
-        archive& BOOST_SERIALIZATION_NVP(i_satellite_PRN);
     }
 };
 

src/utils/rinex2assist/CMakeLists.txt

@@ -28,6 +28,18 @@ set(CMAKE_INCLUDE_PATH ${CMAKE_INCLUDE_PATH} ${GPSTK_INCLUDE_DIR}/gpstk)
 
 find_package(Boost COMPONENTS iostreams serialization QUIET)
 
+find_program(UNCOMPRESS_EXECUTABLE uncompress
+    PATHS /bin
+    /usr/bin
+    /usr/sbin
+)
+
+if(NOT UNCOMPRESS_EXECUTABLE-NOTFOUND)
+    add_definitions(-DUNCOMPRESS_EXECUTABLE="${UNCOMPRESS_EXECUTABLE}")
+else()
+    add_definitions(-DUNCOMPRESS_EXECUTABLE="")
+endif()
+
 if(Boost_FOUND)
     include_directories(
         ${CMAKE_SOURCE_DIR}/src/core/system_parameters

src/utils/rinex2assist/README.md

@@ -1,7 +1,35 @@
 Rinex2assist
 ------------
 
-This program reads data from RINEX navigation files and generates XML files that can be read by GNSS-SDR as Assisted GNSS data. The usage is as follows:
+This program reads data from RINEX navigation files and generates XML files that can be read by GNSS-SDR as Assisted GNSS data.
+
+### Building
+
+This program is built along with GNSS-SDR if the options `ENABLE_UNIT_TESTING_EXTRA` or `ENABLE_SYSTEM_TESTING_EXTRA` are set to `ON` when calling CMake:
+
+```
+$ cmake -DENABLE_SYSTEM_TESTING_EXTRA=ON ..
+$ make
+$ sudo make intall
+```
+
+The last step is optional. Without it, you will get the executable at `../install/rinex2assist`.
+
+The building requires two extra dependencies: the Boost Iostreams library and the program `uncompress`:
+
+  * The Boost Iostreams library can be installed through a package:
+     - In Debian / Ubuntu: `sudo apt-get install libboost-iostreams-dev`
+     - In Fedora / CentOS: `sudo yum install boost-iostreams`
+     - In OpenSUSE: `sudo zypper install libboost_iostreams-devel`
+     - In Arch Linux: included in `boost-libs` package.
+     - In MacOS: included in Macports / Homebrew `boost` package.
+  * The program `uncompress` is available by default in most UNIX and GNU/Linux systems.
+     - In Fedora / CentOS: `sudo yum install ncompress`
+     - In OpenSUSE: `sudo zypper install ncompress`
+
+### Usage
+
+The usage is as follows:
 
 ```
 $ rinex2assist /path/to/RINEX_nav_file
@@ -9,11 +37,12 @@ $ rinex2assist /path/to/RINEX_nav_file
 
 The argument is mandatory (the name of the RINEX navigation file). The name `gps_ephemeris.xml` is given to the output if GPS NAV data is fould. If the RINEX file contains Galileo data, the corresponding `gal_ephemeris.xml` file will be generated. The program is also able to extract parameters of the UTC and the Ionospheric models from the RINEX header, if available. They will be called `gps_utc_model.xml`, `gps_iono.xml`, `gal_utc_model.xml` and `gal_iono.xml`.
 
-There are some servers available for downloading RINEX navigation files. For instance:
+There are some servers available for downloading recent RINEX navigation files. For instance:
   * NASA: [ftp://cddis.gsfc.nasa.gov/pub/gnss/data/hourly/](ftp://gssc.esa.int/gnss/data/hourly/)
   * ESA: [ftp://gssc.esa.int/gnss/data/hourly/](ftp://gssc.esa.int/gnss/data/hourly/)
+  * UNAVCO: [ftp://data-out.unavco.org/pub/hourly/rinex/](ftp://data-out.unavco.org/pub/hourly/rinex/)
 
-Just make sure to pick up a [station near you](http://www.igs.org/network).
+Just make sure to pick up a recent file from a [station near you](http://www.igs.org/network).
 
 The program accepts either versions 2.xx or 3.xx for the RINEX navigation data file, as well as compressed files (ending in `.gz` or `.Z`).
 

src/utils/rinex2assist/main.cc

@@ -76,6 +76,7 @@ int main(int argc, char** argv)
 
     // Uncompress if RINEX file is gzipped
     std::string rinex_filename(argv[1]);
+    std::string input_filename = rinex_filename;
     std::size_t found = rinex_filename.find_last_of(".");
     if (found != std::string::npos)
         {
@@ -99,9 +100,14 @@ int main(int argc, char** argv)
                         }
                     in.push(file);
                     std::string rinex_filename_unzipped = rinex_filename.substr(0, found);
-                    std::ofstream output_file(rinex_filename_unzipped.c_str(), std::ios_base::out | std::ios_base::binary);
+                    std::ofstream output_file(rinex_filename_unzipped.c_str(), std::ios_base::out | std::ios_base::binary | std::ios_base::trunc);
+                    if (file.fail())
+                        {
+                            std::cerr << "Could not create file " << rinex_filename_unzipped << std::endl;
+                            return 1;
+                        }
                     boost::iostreams::copy(in, output_file);
-                    rinex_filename = rinex_filename_unzipped;
+                    input_filename = rinex_filename_unzipped;
                 }
             if ((rinex_filename.substr(found + 1, found + 2).compare("Z") == 0))
                 {
@@ -112,14 +118,28 @@ int main(int argc, char** argv)
                             return 1;
                         }
                     file.close();
+                    std::string uncompress_executable(UNCOMPRESS_EXECUTABLE);
+                    if (!uncompress_executable.empty())
+                        {
                             // option k is not always available, so we save a copy of the original file
                             std::string argum = std::string("/bin/cp " + rinex_filename + " " + rinex_filename + ".aux");
-                    std::system(argum.c_str());
+                            int s1 = std::system(argum.c_str());
-                    std::string argum2 = std::string("/usr/bin/uncompress -f " + rinex_filename);
+                            std::string argum2 = std::string(uncompress_executable + " -f " + rinex_filename);
-                    std::system(argum2.c_str());
+                            int s2 = std::system(argum2.c_str());
                             std::string argum3 = std::string("/bin/mv " + rinex_filename + +".aux" + " " + rinex_filename);
-                    std::system(argum3.c_str());
+                            int s3 = std::system(argum3.c_str());
-                    rinex_filename = rinex_filename.substr(0, found);
+                            input_filename = rinex_filename.substr(0, found);
+                            if ((s1 != 0) or (s2 != 0) or (s3 != 0))
+                                {
+                                    std::cerr << "Failure uncompressing file." << std::endl;
+                                    return 1;
+                                }
+                        }
+                    else
+                        {
+                            std::cerr << "uncompress program not found." << std::endl;
+                            return 1;
+                        }
                 }
         }
 
@@ -136,7 +156,7 @@ int main(int argc, char** argv)
     try
         {
             // Read nav file
-            gpstk::Rinex3NavStream rnffs(rinex_filename.c_str());  // Open navigation data file
+            gpstk::Rinex3NavStream rnffs(input_filename.c_str());  // Open navigation data file
             gpstk::Rinex3NavData rne;
             gpstk::Rinex3NavHeader hdr;
 
@@ -271,6 +291,7 @@ int main(int argc, char** argv)
                             eph.af0_4 = rne.af0;
                             eph.af1_4 = rne.af1;
                             eph.af2_4 = rne.af2;
+                            eph.WN_5 = rne.weeknum;
                             eph_gal_map[j] = eph;
                             j++;
                         }