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

docs/changelog

@@ -4,6 +4,7 @@
 
 - Fixed bug that caused a random deadlock in the Observables block, preventing the computation of PVT fixes.
 - Fixed bug in Galileo INAV message decoding when PLL is locked at 180 degrees, which prevented from correct navigation message decoding in some situations.
+- Fixed PVT computation continuity through the TOW rollover.
 
 
 ### Improvements in Efficiency
@@ -27,6 +28,8 @@
 - Added a custom UDP/IP output for PVT data streaming.
 - Improved Monitor block with UDP/IP output for internal receiver's data streaming.
 - Custom output formats described with .proto files, making easier to other applications reading them in a forward and backward-compatible fashion upon future format changes.
+- Fixes in RINEX generation: week rollover, annotations are not repeated anymore in navigation files. Parameter rinexnav_rate_ms has been removed, annotations are made as new ephemeris arrive.
+- Fixes in RTCM messages generation: week rollover.
 
 
 ### Improvements in Maintainability:
@@ -34,6 +37,7 @@
 - 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: readability-container-size-empty, readability-identifier-naming, readability-inconsistent-declaration-parameter-name, readability-named-parameter, readability-non-const-parameter, readability-string-compare.
 - Improved includes selection following suggestions by include-what-you-use (see https://include-what-you-use.org/), allowing faster compiles, fewer recompiles and making refactoring easier.
+- Deprecated boost::asio::io_service replaced by boost::asio::io_context if Boost > 1.65
 
 
 ### Improvements in Portability:

src/algorithms/PVT/libs/CMakeLists.txt

@@ -87,6 +87,13 @@ target_include_directories(pvt_libs
 
 target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
 
+if(Boost_VERSION VERSION_GREATER "106500")
+    target_compile_definitions(pvt_libs
+        PUBLIC
+            -DBOOST_GREATER_1_65
+    )
+endif()
+
 if(OS_IS_MACOSX)
     if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")  # not AppleClang
         target_compile_definitions(pvt_libs

src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc

@@ -35,7 +35,7 @@
 #include <sstream>
 
 
-Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_service}
+Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_context}
 {
     for (const auto& address : addresses)
         {

src/algorithms/PVT/libs/monitor_pvt_udp_sink.h

@@ -36,6 +36,12 @@
 #include "serdes_monitor_pvt.h"
 #include <boost/asio.hpp>
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
+
 class Monitor_Pvt_Udp_Sink
 {
 public:
@@ -43,7 +49,7 @@ public:
     bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt);
 
 private:
-    boost::asio::io_service io_service;
+    b_io_context io_context;
     boost::asio::ip::udp::socket socket;
     boost::system::error_code error;
     std::vector<boost::asio::ip::udp::endpoint> endpoints;

src/algorithms/PVT/libs/rtcm.cc

@@ -3402,6 +3402,13 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris& eph, double
 {
     const double gps_t = obs_time;
     boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000));  // NOLINT(google-runtime-int)
+
+    if (eph.i_GPS_week < 512)
+        {
+            boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t);
+            return p_time;
+        }
+
     boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
     return p_time;
 }
@@ -3411,6 +3418,13 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris& eph, d
 {
     const double gps_t = obs_time;
     boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000));  // NOLINT(google-runtime-int)
+
+    if (eph.i_GPS_week < 512)
+        {
+            boost::posix_time::ptime p_time(boost::gregorian::date(2019, 4, 7), t);
+            return p_time;
+        }
+
     boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
     return p_time;
 }

src/algorithms/PVT/libs/rtcm.h

@@ -56,6 +56,12 @@
 #include <utility>
 #include <vector>
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
+
 
 /*!
  * \brief This class implements the generation and reading of some Message Types
@@ -757,7 +763,7 @@ private:
         : public std::enable_shared_from_this<Tcp_Internal_Client>
     {
     public:
-        Tcp_Internal_Client(boost::asio::io_service& io_context,
+        Tcp_Internal_Client(b_io_context& io_context,
             boost::asio::ip::tcp::resolver::iterator endpoint_iterator)
             : io_context_(io_context), socket_(io_context)
         {
@@ -835,7 +841,7 @@ private:
                 });
         }
 
-        boost::asio::io_service& io_context_;
+        b_io_context& io_context_;
         boost::asio::ip::tcp::socket socket_;
         Rtcm_Message read_msg_;
         std::deque<Rtcm_Message> write_msgs_;
@@ -845,7 +851,7 @@ private:
     class Queue_Reader
     {
     public:
-        Queue_Reader(boost::asio::io_service& io_context, std::shared_ptr<Concurrent_Queue<std::string> >& queue, int32_t port) : queue_(queue)
+        Queue_Reader(b_io_context& io_context, std::shared_ptr<Concurrent_Queue<std::string> >& queue, int32_t port) : queue_(queue)
         {
             boost::asio::ip::tcp::resolver resolver(io_context);
             std::string host("localhost");
@@ -883,7 +889,7 @@ private:
     class Tcp_Server
     {
     public:
-        Tcp_Server(boost::asio::io_service& io_context, const boost::asio::ip::tcp::endpoint& endpoint)
+        Tcp_Server(b_io_context& io_context, const boost::asio::ip::tcp::endpoint& endpoint)
             : acceptor_(io_context), socket_(io_context)
         {
             acceptor_.open(endpoint.protocol());
@@ -950,7 +956,7 @@ private:
         bool start_session = true;
     };
 
-    boost::asio::io_service io_context;
+    b_io_context io_context;
     std::shared_ptr<Concurrent_Queue<std::string> > rtcm_message_queue;
     std::thread t;
     std::thread tq;

src/algorithms/libs/rtklib/rtklib_ephemeris.cc

@@ -128,7 +128,7 @@ void alm2pos(gtime_t time, const alm_t *alm, double *rs, double *dts)
 
     trace(4, "alm2pos : time=%s sat=%2d\n", time_str(time, 3), alm->sat);
 
-    tk = timediff(time, alm->toa);
+    tk = timediffweekcrossover(time, alm->toa);
 
     if (alm->A <= 0.0)
         {
@@ -181,7 +181,7 @@ double eph2clk(gtime_t time, const eph_t *eph)
 
     trace(4, "eph2clk : time=%s sat=%2d\n", time_str(time, 3), eph->sat);
 
-    t = timediff(time, eph->toc);
+    t = timediffweekcrossover(time, eph->toc);
 
     for (i = 0; i < 2; i++)
         {
@@ -218,7 +218,7 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
             rs[0] = rs[1] = rs[2] = *dts = *var = 0.0;
             return;
         }
-    tk = timediff(time, eph->toe);
+    tk = timediffweekcrossover(time, eph->toe);
 
     switch ((sys = satsys(eph->sat, &prn)))
         {
@@ -288,7 +288,7 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
             rs[1] = x * sinO + y * cosi * cosO;
             rs[2] = y * sin(i);
         }
-    tk = timediff(time, eph->toc);
+    tk = timediffweekcrossover(time, eph->toc);
     *dts = eph->f0 + eph->f1 * tk + eph->f2 * tk * tk;
 
     /* relativity correction */
@@ -433,7 +433,7 @@ double seph2clk(gtime_t time, const seph_t *seph)
 
     trace(4, "seph2clk: time=%s sat=%2d\n", time_str(time, 3), seph->sat);
 
-    t = timediff(time, seph->t0);
+    t = timediffweekcrossover(time, seph->t0);
 
     for (i = 0; i < 2; i++)
         {
@@ -461,7 +461,7 @@ void seph2pos(gtime_t time, const seph_t *seph, double *rs, double *dts,
 
     trace(4, "seph2pos: time=%s sat=%2d\n", time_str(time, 3), seph->sat);
 
-    t = timediff(time, seph->t0);
+    t = timediffweekcrossover(time, seph->t0);
 
     for (i = 0; i < 3; i++)
         {
@@ -508,7 +508,7 @@ eph_t *seleph(gtime_t time, int sat, int iode, const nav_t *nav)
                 {
                     continue;
                 }
-            if ((t = fabs(timediff(nav->eph[i].toe, time))) > tmax)
+            if ((t = fabs(timediffweekcrossover(nav->eph[i].toe, time))) > tmax)
                 {
                     continue;
                 }
@@ -588,7 +588,7 @@ seph_t *selseph(gtime_t time, int sat, const nav_t *nav)
                 {
                     continue;
                 }
-            if ((t = fabs(timediff(nav->seph[i].t0, time))) > tmax)
+            if ((t = fabs(timediffweekcrossover(nav->seph[i].t0, time))) > tmax)
                 {
                     continue;
                 }
@@ -792,9 +792,9 @@ int satpos_ssr(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
             *svh = -1;
             return 0;
         }
-    t1 = timediff(time, ssr->t0[0]);
+    t1 = timediffweekcrossover(time, ssr->t0[0]);
-    t2 = timediff(time, ssr->t0[1]);
+    t2 = timediffweekcrossover(time, ssr->t0[1]);
-    t3 = timediff(time, ssr->t0[2]);
+    t3 = timediffweekcrossover(time, ssr->t0[2]);
 
     /* ssr orbit and clock correction (ref [4]) */
     if (fabs(t1) > MAXAGESSR || fabs(t2) > MAXAGESSR)
@@ -847,7 +847,7 @@ int satpos_ssr(gtime_t time, gtime_t teph, int sat, const nav_t *nav,
                 }
 
             /* satellite clock by clock parameters */
-            tk = timediff(time, eph->toc);
+            tk = timediffweekcrossover(time, eph->toc);
             dts[0] = eph->f0 + eph->f1 * tk + eph->f2 * tk * tk;
             dts[1] = eph->f1 + 2.0 * eph->f2 * tk;
 

src/algorithms/libs/rtklib/rtklib_rtkcmn.cc

@@ -223,12 +223,11 @@ const unsigned int TBL_CR_C24_Q[] = {
     0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9, 0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538};
 
 
-extern "C"
+extern "C" {
-{
+void dgemm_(char *, char *, int *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
-    void dgemm_(char *, char *, int *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
+extern void dgetrf_(int *, int *, double *, int *, int *, int *);
-    extern void dgetrf_(int *, int *, double *, int *, int *, int *);
+extern void dgetri_(int *, double *, int *, int *, double *, int *, int *);
-    extern void dgetri_(int *, double *, int *, int *, double *, int *, int *);
+extern void dgetrs_(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-    extern void dgetrs_(char *, int *, int *, double *, int *, int *, double *, int *, int *);
 }
 
 
@@ -1690,7 +1689,28 @@ double timediff(gtime_t t1, gtime_t t2)
     return difftime(t1.time, t2.time) + t1.sec - t2.sec;
 }
 
+/* time difference accounting with week crossovers -------------------------------------------------------------
+ * difference between gtime_t structs
+ * args   : gtime_t t1,t2    I   gtime_t structs
+ * return : time difference (t1-t2) (s)
+ *-----------------------------------------------------------------------------*/
+double timediffweekcrossover(gtime_t t1, gtime_t t2)
+{
+    //as stated in IS-GPS-200J table 20-IV footnote among other parts of the ICD,
 
+    //if tk=(t - toe) > 302400s then tk = tk - s
+    //if tk=(t - toe) < -302400s then tk = tk + 604800s
+    double tk = difftime(t1.time, t2.time) + t1.sec - t2.sec;
+    if (tk > 302400.0)
+        {
+            tk -= 604800.0;
+        }
+    else if (tk < -302400.0)
+        {
+            tk += 604800.0;
+        }
+    return tk;
+}
 /* get current time in utc -----------------------------------------------------
  * get current time in utc
  * args   : none

src/algorithms/libs/rtklib/rtklib_rtkcmn.h

@@ -173,6 +173,7 @@ gtime_t bdt2time(int week, double sec);
 double time2bdt(gtime_t t, int *week);
 gtime_t timeadd(gtime_t t, double sec);
 double timediff(gtime_t t1, gtime_t t2);
+double timediffweekcrossover(gtime_t t1, gtime_t t2);
 gtime_t timeget(void);
 void timeset(gtime_t t);
 int read_leaps_text(FILE *fp);

src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc

@@ -441,8 +441,16 @@ bool hybrid_observables_gs::interp_trk_obs(Gnss_Synchro &interpolated_obs, const
                             // CARRIER DOPPLER INTERPOLATION
                             interpolated_obs.Carrier_Doppler_hz = d_gnss_synchro_history->at(ch, t1_idx).Carrier_Doppler_hz + (d_gnss_synchro_history->at(ch, t2_idx).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, t1_idx).Carrier_Doppler_hz) * time_factor;
                             // TOW INTERPOLATION
-                            interpolated_obs.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->at(ch, t2_idx).TOW_at_current_symbol_ms) - static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms)) * time_factor;
+                            // check TOW rollover
-
+                            if ((d_gnss_synchro_history->at(ch, t2_idx).TOW_at_current_symbol_ms - d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms) > 0)
+                                {
+                                    interpolated_obs.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->at(ch, t2_idx).TOW_at_current_symbol_ms) - static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms)) * time_factor;
+                                }
+                            else
+                                {
+                                    //TOW rollover situation
+                                    interpolated_obs.interp_TOW_ms = static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms) + (static_cast<double>(d_gnss_synchro_history->at(ch, t2_idx).TOW_at_current_symbol_ms + 604800000) - static_cast<double>(d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms)) * time_factor;
+                                }
 
                             //                            LOG(INFO) << "Channel " << ch << " int idx: " << t1_idx << " TOW Int: " << interpolated_obs.interp_TOW_ms
                             //                                      << " TOW p1 : " << d_gnss_synchro_history->at(ch, t1_idx).TOW_at_current_symbol_ms
@@ -507,9 +515,9 @@ void hybrid_observables_gs::update_TOW(const std::vector<Gnss_Synchro> &data)
     else
         {
             T_rx_TOW_ms += T_rx_step_ms;  //the tow time step increment must match the ref time channel step
-            //todo: check what happens during the week rollover
             if (T_rx_TOW_ms >= 604800000)
                 {
+                    DLOG(INFO) << "TOW RX TIME rollover!";
                     T_rx_TOW_ms = T_rx_TOW_ms % 604800000;
                 }
         }
@@ -521,15 +529,19 @@ void hybrid_observables_gs::compute_pranges(std::vector<Gnss_Synchro> &data)
     //    std::cout.precision(17);
     //    std::cout << " T_rx_TOW_ms: " << static_cast<double>(T_rx_TOW_ms) << std::endl;
     std::vector<Gnss_Synchro>::iterator it;
-    double current_T_rx_TOW_s = (static_cast<double>(T_rx_TOW_ms - T_rx_remnant_to_20ms) + GPS_STARTOFFSET_MS) / 1000.0;
+    double current_T_rx_TOW_ms = (static_cast<double>(T_rx_TOW_ms - T_rx_remnant_to_20ms));
+    double current_T_rx_TOW_s = current_T_rx_TOW_ms / 1000.0;
     for (it = data.begin(); it != data.end(); it++)
         {
             if (it->Flag_valid_word)
                 {
-                    double traveltime_s = current_T_rx_TOW_s - it->interp_TOW_ms / 1000.0;
+                    double traveltime_ms = current_T_rx_TOW_ms - it->interp_TOW_ms;
-                    //todo: check what happens during the week rollover (TOW rollover at 604800000ms)
+                    if (fabs(traveltime_ms) > 302400)  //check TOW roll over
+                        {
+                            traveltime_ms = 604800000.0 + current_T_rx_TOW_ms - it->interp_TOW_ms;
+                        }
                     it->RX_time = current_T_rx_TOW_s;
-                    it->Pseudorange_m = traveltime_s * SPEED_OF_LIGHT;
+                    it->Pseudorange_m = traveltime_ms * SPEED_OF_LIGHT_MS;
                     it->Flag_valid_pseudorange = true;
                     // debug code
                     //

src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt

@@ -85,6 +85,13 @@ if(OS_IS_MACOSX)
     endif()
 endif()
 
+if(Boost_VERSION VERSION_GREATER "106500")
+    target_compile_definitions(signal_source_gr_blocks
+        PUBLIC
+            -DBOOST_GREATER_1_65
+    )
+endif()
+
 if(ENABLE_CLANG_TIDY)
     if(CLANG_TIDY_EXE)
         set_target_properties(signal_source_gr_blocks

src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc

@@ -65,7 +65,7 @@ rtl_tcp_signal_source_c::rtl_tcp_signal_source_c(const std::string &address,
     : gr::sync_block("rtl_tcp_signal_source_c",
           gr::io_signature::make(0, 0, 0),
           gr::io_signature::make(1, 1, sizeof(gr_complex))),
-      socket_(io_service_),
+      socket_(io_context_),
       data_(RTL_TCP_PAYLOAD_SIZE),
       flip_iq_(flip_iq),
       buffer_(RTL_TCP_BUFFER_SIZE),
@@ -147,14 +147,14 @@ rtl_tcp_signal_source_c::rtl_tcp_signal_source_c(const std::string &address,
     boost::asio::async_read(socket_, boost::asio::buffer(data_),
         boost::bind(&rtl_tcp_signal_source_c::handle_read,
             this, _1, _2));
-    boost::thread(boost::bind(&boost::asio::io_service::run, &io_service_));
+    boost::thread(boost::bind(&b_io_context::run, &io_context_));
 }
 
 
 rtl_tcp_signal_source_c::~rtl_tcp_signal_source_c()  // NOLINT(modernize-use-equals-default)
 {
     mutex_.unlock();
-    io_service_.stop();
+    io_context_.stop();
     not_empty_.notify_one();
     not_full_.notify_one();
 }
@@ -289,7 +289,7 @@ void rtl_tcp_signal_source_c::handle_read(const boost::system::error_code &ec,
             std::cout << "Error during read: " << ec << std::endl;
             LOG(WARNING) << "Error during read: " << ec;
             boost::mutex::scoped_lock lock(mutex_);
-            io_service_.stop();
+            io_context_.stop();
             not_empty_.notify_one();
         }
     else
@@ -334,7 +334,7 @@ int rtl_tcp_signal_source_c::work(int noutput_items,
 {
     auto *out = reinterpret_cast<gr_complex *>(output_items[0]);
     int i = 0;
-    if (io_service_.stopped())
+    if (io_context_.stopped())
         {
             return -1;
         }

src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.h

@@ -52,6 +52,12 @@ class rtl_tcp_signal_source_c;
 
 using rtl_tcp_signal_source_c_sptr = boost::shared_ptr<rtl_tcp_signal_source_c>;
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
+
 rtl_tcp_signal_source_c_sptr
 rtl_tcp_make_signal_source_c(const std::string &address,
     int16_t port,
@@ -91,7 +97,7 @@ private:
     Rtl_Tcp_Dongle_Info info_;
 
     // IO members
-    boost::asio::io_service io_service_;
+    b_io_context io_context_;
     boost::asio::ip::tcp::socket socket_;
     std::vector<unsigned char> data_;
     bool flip_iq_;
@@ -117,7 +123,7 @@ private:
 
     inline bool not_empty() const
     {
-        return unread_ > 0 || io_service_.stopped();
+        return unread_ > 0 || io_context_.stopped();
     }
 };
 

src/algorithms/tracking/libs/CMakeLists.txt

@@ -93,6 +93,13 @@ target_include_directories(tracking_libs
         ${OPT_TRACKING_INCLUDES}
 )
 
+if(Boost_VERSION VERSION_GREATER "106500")
+    target_compile_definitions(tracking_libs
+        PUBLIC
+            -DBOOST_GREATER_1_65
+    )
+endif()
+
 if(OS_IS_MACOSX)
     if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")  # not AppleClang
         target_compile_definitions(tracking_libs

src/algorithms/tracking/libs/tcp_communication.cc

@@ -35,7 +35,7 @@
 #include <string>
 
 
-Tcp_Communication::Tcp_Communication() : tcp_socket_(io_service_) {}  // NOLINT
+Tcp_Communication::Tcp_Communication() : tcp_socket_(io_context_) {}  // NOLINT
 
 
 Tcp_Communication::~Tcp_Communication() = default;
@@ -47,7 +47,7 @@ int Tcp_Communication::listen_tcp_connection(size_t d_port_, size_t d_port_ch0_)
         {
             // Specify IP type and port
             boost::asio::ip::tcp::endpoint endpoint(boost::asio::ip::tcp::v4(), d_port_);
-            boost::asio::ip::tcp::acceptor acceptor(io_service_, endpoint);
+            boost::asio::ip::tcp::acceptor acceptor(io_context_, endpoint);
 
             if (d_port_ == d_port_ch0_)
                 {

src/algorithms/tracking/libs/tcp_communication.h

@@ -36,6 +36,12 @@
 #include <boost/array.hpp>
 #include <boost/asio.hpp>
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
+
 #define NUM_TX_VARIABLES_GALILEO_E1 13
 #define NUM_TX_VARIABLES_GPS_L1_CA 9
 #define NUM_RX_VARIABLES 4
@@ -55,7 +61,7 @@ public:
     void close_tcp_connection(size_t d_port_);
 
 private:
-    boost::asio::io_service io_service_;
+    b_io_context io_context_;
     boost::asio::ip::tcp::socket tcp_socket_;
 };
 

src/core/monitor/CMakeLists.txt

@@ -59,6 +59,15 @@ target_include_directories(core_monitor
         ${PROTO_INCLUDE_HEADERS}
 )
 
+
+if(Boost_VERSION VERSION_GREATER "106500")
+    target_compile_definitions(core_monitor
+        PUBLIC
+            -DBOOST_GREATER_1_65
+    )
+endif()
+
+
 if(OS_IS_MACOSX)
     if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")  # not AppleClang
         target_compile_definitions(core_monitor

src/core/monitor/gnss_synchro_udp_sink.cc

@@ -35,7 +35,7 @@
 #include <iostream>
 #include <sstream>
 
-Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool enable_protobuf) : socket{io_service}
+Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool enable_protobuf) : socket{io_context}
 {
     use_protobuf = enable_protobuf;
     if (enable_protobuf)

src/core/monitor/gnss_synchro_udp_sink.h

@@ -40,6 +40,11 @@
 #include <string>
 #include <vector>
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
 
 /*!
  * \brief This class sends serialized Gnss_Synchro objects
@@ -52,7 +57,7 @@ public:
     bool write_gnss_synchro(const std::vector<Gnss_Synchro>& stocks);
 
 private:
-    boost::asio::io_service io_service;
+    b_io_context io_context;
     boost::asio::ip::udp::socket socket;
     boost::system::error_code error;
     std::vector<boost::asio::ip::udp::endpoint> endpoints;

src/core/receiver/CMakeLists.txt

@@ -129,6 +129,12 @@ if(ENABLE_CUDA)
     target_compile_definitions(core_receiver PRIVATE -DCUDA_GPU_ACCEL=1)
 endif()
 
+if(Boost_VERSION VERSION_GREATER "106500")
+    target_compile_definitions(core_receiver
+        PRIVATE
+            -DBOOST_GREATER_1_65
+    )
+endif()
 
 target_link_libraries(core_receiver
     PUBLIC

src/core/receiver/tcp_cmd_interface.cc

@@ -39,6 +39,11 @@
 #include <sstream>    // for stringstream
 #include <utility>    // for move
 
+#if BOOST_GREATER_1_65
+using b_io_context = boost::asio::io_context;
+#else
+using b_io_context = boost::asio::io_service;
+#endif
 
 TcpCmdInterface::TcpCmdInterface()
 {
@@ -175,9 +180,11 @@ std::string TcpCmdInterface::hotstart(const std::vector<std::string> &commandLin
     std::string response;
     if (commandLine.size() > 5)
         {
+            std::string tmp_str;
             // Read commandline time parameter
             struct tm tm = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, nullptr};
-            if (strptime(commandLine.at(1).c_str(), "%d/%m/%Y %H:%M:%S", &tm) == nullptr)
+            tmp_str = commandLine.at(1) + commandLine.at(2);
+            if (strptime(tmp_str.c_str(), "%d/%m/%Y %H:%M:%S", &tm) == nullptr)
                 {
                     response = "ERROR: time parameter malformed\n";
                     return response;
@@ -224,7 +231,7 @@ std::string TcpCmdInterface::warmstart(const std::vector<std::string> &commandLi
             // Read commandline time parameter
             struct tm tm = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, nullptr};
             tmp_str = commandLine.at(1) + commandLine.at(2);
-            if (strptime(commandLine.at(1).c_str(), "%d/%m/%Y %H:%M:%S", &tm) == nullptr)
+            if (strptime(tmp_str.c_str(), "%d/%m/%Y %H:%M:%S", &tm) == nullptr)
                 {
                     response = "ERROR: time parameter malformed\n";
                     return response;
@@ -235,6 +242,7 @@ std::string TcpCmdInterface::warmstart(const std::vector<std::string> &commandLi
             rx_latitude_ = std::stod(commandLine.at(3).c_str());
             rx_longitude_ = std::stod(commandLine.at(4).c_str());
             rx_altitude_ = std::stod(commandLine.at(5).c_str());
+
             if (std::isnan(rx_latitude_) || std::isnan(rx_longitude_) || std::isnan(rx_altitude_))
                 {
                     response = "ERROR: position malformed\n";
@@ -302,10 +310,10 @@ void TcpCmdInterface::run_cmd_server(int tcp_port)
     boost::system::error_code not_throw;
 
     // Socket and acceptor
-    boost::asio::io_service service;
+    b_io_context context;
     try
         {
-            boost::asio::ip::tcp::acceptor acceptor(service, boost::asio::ip::tcp::endpoint(boost::asio::ip::tcp::v4(), port));
+            boost::asio::ip::tcp::acceptor acceptor(context, boost::asio::ip::tcp::endpoint(boost::asio::ip::tcp::v4(), port));
 
             while (keep_running_)
                 {
@@ -313,7 +321,7 @@ void TcpCmdInterface::run_cmd_server(int tcp_port)
                         {
                             std::cout << "TcpCmdInterface: Telecommand TCP interface listening on port " << tcp_port << std::endl;
 
-                            boost::asio::ip::tcp::socket socket(service);
+                            boost::asio::ip::tcp::socket socket(context);
                             acceptor.accept(socket, not_throw);
                             if (not_throw)
                                 {

src/core/system_parameters/MATH_CONSTANTS.h

@@ -115,6 +115,7 @@ const double AS2R = (D2R / 3600.0);     //!<  arc sec to radian
 
 const double DEFAULT_OMEGA_EARTH_DOT = 7.2921151467e-5;  //!<  Default Earth rotation rate, [rad/s]
 const double SPEED_OF_LIGHT = 299792458.0;               //!<  [m/s]
+const double SPEED_OF_LIGHT_MS = 299792.4580;            //!<  [m/ms]
 const double AU = 149597870691.0;                        //!<  1 Astronomical Unit AU (m) distance from Earth to the Sun.
 
 #endif /* GNSS_SDR_MATH_CONSTANTS_H_ */