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

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This commit is contained in:
Marc Majoral 2019-07-04 12:55:36 +02:00
commit c8ccd5ef91
273 changed files with 9234 additions and 5518 deletions
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309
CMakeLists.txt
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@ -23,7 +23,7 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
message(FATAL_ERROR "Prevented in-tree build, it is bad practice.\nTry 'cd build && cmake ..' instead.")
endif()
cmake_minimum_required(VERSION 2.8.12)
cmake_minimum_required(VERSION 2.8.12...3.14.5)
project(gnss-sdr CXX C)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/Modules)
@ -34,73 +34,53 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/Modules)
# Enable them at the command line by doing 'cmake -DENABLE_XXX=ON ..'
################################################################################
include(FeatureSummary)
# Support of optional RF front-ends
option(ENABLE_UHD "Enable the use of UHD (driver for all USRP devices)" ON)
add_feature_info(ENABLE_UHD ENABLE_UHD "Enables UHD_Signal_Source for using RF front-ends from the USRP family. Requires gr-uhd.")
option(ENABLE_OSMOSDR "Enable the use of OsmoSDR and other front-ends (RTL-based dongles, HackRF, bladeRF, etc.) as signal source" OFF)
add_feature_info(ENABLE_OSMOSDR ENABLE_OSMOSDR "Enables Osmosdr_Signal_Source and RtlTcp_Signal_Source for using RF front-ends compatible with the OsmoSDR driver. Requires gr-osmosdr.")
option(ENABLE_FMCOMMS2 "Enable the use of FMCOMMS4-EBZ + ZedBoard hardware, requires gr-iio" OFF)
add_feature_info(ENABLE_FMCOMMS2 ENABLE_FMCOMMS2 "Enables Fmcomms2_Signal_Source for FMCOMMS2/3/4 devices. Requires gr-iio.")
option(ENABLE_PLUTOSDR "Enable the use of ADALM-PLUTO Evaluation Boards (Analog Devices Inc.), requires gr-iio" OFF)
add_feature_info(ENABLE_PLUTOSDR ENABLE_PLUTOSDR "Enables Plutosdr_Signal_Source for using ADALM-PLUTO boards. Requires gr-iio.")
option(ENABLE_AD9361 "Enable the use of AD9361 direct to FPGA hardware, requires libiio" OFF)
add_feature_info(ENABLE_AD9361 ENABLE_AD9361 "Enables Ad9361_Fpga_Signal_Source for devices with the AD9361 chipset. Requires libiio.")
option(ENABLE_RAW_UDP "Enable the use of high-optimized custom UDP packet sample source, requires libpcap" OFF)
add_feature_info(ENABLE_RAW_UDP ENABLE_RAW_UDP "Enables Custom_UDP_Signal_Source for custom UDP packet sample source. Requires libpcap.")
option(ENABLE_FLEXIBAND "Enable the use of the signal source adater for the Teleorbit Flexiband GNU Radio driver" OFF)
add_feature_info(ENABLE_FLEXIBAND ENABLE_FLEXIBAND "Enables Flexiband_Signal_Source for using Teleorbit's Flexiband RF front-end. Requires gr-teleorbit.")
option(ENABLE_GN3S "Enable the use of the GN3S dongle as signal source (experimental)" OFF)
add_feature_info(ENABLE_GN3S ENABLE_GN3S "Enables Gn3s_Signal_Source for using the GN3S v2 dongle. Requires gr-gn3s.")
option(ENABLE_ARRAY "Enable the use of CTTC's antenna array front-end as signal source (experimental)" OFF)
add_feature_info(ENABLE_ARRAY ENABLE_ARRAY "Enables Raw_Array_Signal_Source and Array_Signal_Conditioner for using CTTC's antenna array. Requires gr-dbfcttc.")
# Performance analysis tools
option(ENABLE_GPERFTOOLS "Enable linking to Gperftools libraries (tcmalloc and profiler)" OFF)
add_feature_info(ENABLE_GPERFTOOLS ENABLE_GPERFTOOLS "Enables performance analysis. Requires Gperftools.")
option(ENABLE_GPROF "Enable the use of the GNU profiler tool 'gprof'" OFF)
add_feature_info(ENABLE_GPROF ENABLE_GPROF "Enables performance analysis with 'gprof'.")
# Code correctness
option(ENABLE_CLANG_TIDY "Enable the use of clang-tidy when compiling" OFF)
add_feature_info(ENABLE_CLANG_TIDY ENABLE_CLANG_TIDY "Runs clang-tidy along with the compiler. Requires Clang.")
# Acceleration
option(ENABLE_PROFILING "Enable execution of volk_gnsssdr_profile at the end of the building" OFF)
add_feature_info(ENABLE_PROFILING ENABLE_PROFILING "Runs volk_gnsssdr_profile at the end of the building.")
option(ENABLE_OPENCL "Enable building of processing blocks implemented with OpenCL (experimental)" OFF)
add_feature_info(ENABLE_OPENCL ENABLE_OPENCL "Enables GPS_L1_CA_PCPS_OpenCl_Acquisition (experimental). Requires OpenCL.")
option(ENABLE_CUDA "Enable building of processing blocks implemented with CUDA (experimental, requires CUDA SDK)" OFF)
add_feature_info(ENABLE_CUDA ENABLE_CUDA "Enables GPS_L1_CA_DLL_PLL_Tracking_GPU (experimental). Requires CUDA.")
option(ENABLE_FPGA "Enable building of processing blocks implemented with FPGA" OFF)
add_feature_info(ENABLE_FPGA ENABLE_FPGA "Enables building of processing blocks for FPGA off-loading.")
# Building and packaging options
option(ENABLE_GENERIC_ARCH "Builds a portable binary" OFF)
add_feature_info(ENABLE_GENERIC_ARCH ENABLE_GENERIC_ARCH "When disabled, flags such as '-march=native' are passed to the compiler.")
option(ENABLE_PACKAGING "Enable software packaging" OFF)
add_feature_info(ENABLE_PACKAGING ENABLE_PACKAGING "Enables software packaging.")
option(ENABLE_OWN_GLOG "Download glog and link it to gflags" OFF)
add_feature_info(ENABLE_OWN_GLOG ENABLE_OWN_GLOG "Forces the downloading and building of Google glog.")
option(ENABLE_OWN_ARMADILLO "Download and build Armadillo locally" OFF)
add_feature_info(ENABLE_OWN_ARMADILLO ENABLE_OWN_ARMADILLO "Forces the downloading and building of Armadillo.")
option(ENABLE_LOG "Enable logging" ON)
add_feature_info(ENABLE_LOG ENABLE_LOG "Enables runtime internal logging with Google glog.")
if(ENABLE_PACKAGING)
set(ENABLE_GENERIC_ARCH ON)
@ -108,25 +88,26 @@ endif()
# Testing
option(ENABLE_UNIT_TESTING "Build unit tests" ON)
add_feature_info(ENABLE_UNIT_TESTING ENABLE_UNIT_TESTING "Enables building of Unit Tests.")
option(ENABLE_UNIT_TESTING_MINIMAL "Build a minimal set of unit tests" OFF)
add_feature_info(ENABLE_UNIT_TESTING_MINIMAL ENABLE_UNIT_TESTING_MINIMAL "Enables building a minimal set of Unit Tests.")
option(ENABLE_UNIT_TESTING_EXTRA "Download external files and build extra unit tests" OFF)
add_feature_info(ENABLE_UNIT_TESTING_EXTRA ENABLE_UNIT_TESTING_EXTRA "Enables building of Extra Unit Tests and downloading of external data files.")
option(ENABLE_SYSTEM_TESTING "Build system tests" OFF)
add_feature_info(ENABLE_SYSTEM_TESTING ENABLE_SYSTEM_TESTING "Enables building of System Tests.")
option(ENABLE_SYSTEM_TESTING_EXTRA "Download external tools and build extra system tests" OFF)
add_feature_info(ENABLE_SYSTEM_TESTING_EXTRA ENABLE_SYSTEM_TESTING_EXTRA "Enables building of Extra System Tests and downloading of external tools.")
option(ENABLE_GNSS_SIM_INSTALL "Enable the installation of gnss_sim on the fly" ON)
if(NOT (ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA))
set(ENABLE_GNSS_SIM_INSTALL OFF)
endif()
if(ENABLE_SYSTEM_TESTING_EXTRA)
set(ENABLE_SYSTEM_TESTING ON)
endif()
option(ENABLE_OWN_GPSTK "Force to download, build and link GPSTk for system tests, even if it is already installed" OFF)
add_feature_info(ENABLE_OWN_GPSTK ENABLE_OWN_GPSTK "Forces the downloading and building of GPSTk for system tests.")
option(ENABLE_INSTALL_TESTS "Install QA code system-wide" OFF)
if(ENABLE_FPGA)
@ -143,7 +124,7 @@ if(NOT ${THIS_IS_A_RELEASE})
find_package(Git)
set_package_properties(Git PROPERTIES
URL "https://git-scm.com"
DESCRIPTION "A free and open source distributed version control system (found: ${GIT_VERSION_STRING})"
DESCRIPTION "A free and open source distributed version control system (found: v${GIT_VERSION_STRING})"
PURPOSE "Manage version control, get MINOR_VERSION name for version number."
TYPE REQUIRED
)
@ -391,7 +372,6 @@ endif()
if(NOT CMAKE_MAKE_PROGRAM_PRETTY_NAME)
set(CMAKE_MAKE_PROGRAM_PRETTY_NAME "${CMAKE_MAKE_PROGRAM}")
endif()
add_feature_info(ENABLE_INSTALL_TESTS ENABLE_INSTALL_TESTS "Install test binaries when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} install'.")
@ -421,7 +401,7 @@ set(GNSSSDR_ARMADILLO_LOCAL_VERSION "9.500.x")
set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10.6")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.15")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.16")
set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.9")
set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.8.0")
@ -589,8 +569,6 @@ endif()
find_package(GOOGLETEST)
set_package_properties(GOOGLETEST PROPERTIES
URL "https://github.com/google/googletest"
DESCRIPTION "Source code of Google's Testing Framework"
PURPOSE "Used for Unit and System Tests."
TYPE REQUIRED
)
@ -609,38 +587,19 @@ set(GR_REQUIRED_COMPONENTS RUNTIME PMT BLOCKS FFT FILTER ANALOG)
find_package(UHD)
set_package_properties(UHD PROPERTIES
URL "https://www.ettus.com/sdr-software/detail/usrp-hardware-driver"
PURPOSE "Used for communication with front-ends of the USRP family."
TYPE OPTIONAL
)
if(ENABLE_UHD)
if(NOT UHD_FOUND)
set(ENABLE_UHD OFF)
set_package_properties(UHD PROPERTIES
DESCRIPTION "USRP Hardware Driver"
)
else()
set(GR_REQUIRED_COMPONENTS ${GR_REQUIRED_COMPONENTS} UHD)
if(UHD_VERSION)
set_package_properties(UHD PROPERTIES
DESCRIPTION "USRP Hardware Driver (found: v${UHD_VERSION})"
)
else()
set_package_properties(UHD PROPERTIES
DESCRIPTION "USRP Hardware Driver"
)
endif()
endif()
else()
set_package_properties(UHD PROPERTIES
DESCRIPTION "USRP Hardware Driver"
)
endif()
find_package(GNURADIO)
set_package_properties(GNURADIO PROPERTIES
URL "https://www.gnuradio.org/"
DESCRIPTION "The free and open software radio ecosystem (found: v${GNURADIO_VERSION})"
PURPOSE "Implements flowgraph scheduler, provides some processing blocks and classes to create new ones."
TYPE REQUIRED
)
@ -652,8 +611,6 @@ set_package_properties(GNURADIO PROPERTIES
################################################################################
find_package(LOG4CPP)
set_package_properties(LOG4CPP PROPERTIES
URL "http://log4cpp.sourceforge.net/"
DESCRIPTION "Library of C++ classes for flexible logging to files"
PURPOSE "Required by GNU Radio."
TYPE REQUIRED
)
@ -670,10 +627,7 @@ set(FILESYSTEM_FOUND FALSE)
if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17)
# Check if we have std::filesystem
if(NOT (CMAKE_VERSION VERSION_LESS 3.8))
if(POLICY CMP0057)
cmake_policy(SET CMP0057 NEW)
endif()
if(NOT ENABLE_UNIT_TESTING_EXTRA) # Workaround for GPSTk
if((NOT ENABLE_UNIT_TESTING_EXTRA) AND (NOT ENABLE_SYSTEM_TESTING_EXTRA) AND (NOT ENABLE_FPGA)) # Workaround for GPSTk
find_package(FILESYSTEM COMPONENTS Final Experimental)
set_package_properties(FILESYSTEM PROPERTIES
URL "https://en.cppreference.com/w/cpp/filesystem"
@ -730,11 +684,11 @@ set_package_properties(Boost PROPERTIES
if(CMAKE_VERSION VERSION_GREATER 3.14)
set_package_properties(Boost PROPERTIES
DESCRIPTION "Portable C++ source libraries (found: ${Boost_VERSION_STRING})"
DESCRIPTION "Portable C++ source libraries (found: v${Boost_VERSION_STRING})"
)
else()
set_package_properties(Boost PROPERTIES
DESCRIPTION "Portable C++ source libraries (found: ${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION})"
DESCRIPTION "Portable C++ source libraries (found: v${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION})"
)
endif()
@ -828,8 +782,6 @@ if(NOT VOLK_FOUND)
message(FATAL_ERROR "*** VOLK is required to build gnss-sdr")
endif()
set_package_properties(VOLK PROPERTIES
URL "http://libvolk.org"
DESCRIPTION "Vector-Optimized Library of Kernels (found: ${VOLK_VERSION})"
PURPOSE "Provides an abstraction of optimized math routines targeting several SIMD processors."
TYPE REQUIRED
)
@ -841,7 +793,6 @@ set_package_properties(VOLK PROPERTIES
################################################################################
find_package(VOLKGNSSSDR)
set_package_properties(VOLKGNSSSDR PROPERTIES
DESCRIPTION "Vector-Optimized Library of Kernels for GNSS-SDR."
PURPOSE "Accelerates math routines targeting several SIMD processors."
TYPE REQUIRED
)
@ -864,7 +815,7 @@ if(NOT VOLKGNSSSDR_FOUND)
# Mako
if(NOT MAKO_FOUND)
message(STATUS "Mako template library not found. See http://www.makotemplates.org/ ")
message(STATUS "Mako template library not found. See http://www.makotemplates.org/")
message(STATUS " You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(STATUS " sudo yum install ${PYTHON_NAME}-mako")
@ -878,7 +829,7 @@ if(NOT VOLKGNSSSDR_FOUND)
# Six
if(NOT SIX_FOUND)
message(STATUS "python-six not found. See https://pythonhosted.org/six/ ")
message(STATUS "python-six not found. See https://pythonhosted.org/six/")
message(STATUS " You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(STATUS " sudo yum install ${PYTHON_NAME}-six")
@ -889,29 +840,36 @@ if(NOT VOLKGNSSSDR_FOUND)
endif()
message(FATAL_ERROR "six - python 2 and 3 compatibility library required to build VOLK_GNSSSDR")
endif()
if(Python3_FOUND)
if(CMAKE_VERSION VERSION_GREATER 3.12)
set_package_properties(Python3 PROPERTIES
URL "https://www.python.org/"
DESCRIPTION "An interpreted, high-level, general-purpose programming language (found: ${Python3_VERSION})"
PURPOSE "Required to build volk_gnsssdr."
TYPE REQUIRED
)
endif()
if(Python2_FOUND)
set_package_properties(Python2 PROPERTIES
URL "https://www.python.org/"
DESCRIPTION "An interpreted, high-level, general-purpose programming language (found: ${Python2_VERSION})"
PURPOSE "Required to build volk_gnsssdr."
TYPE REQUIRED
)
if(Python3_FOUND)
set_package_properties(Python3 PROPERTIES
DESCRIPTION "An interpreted, high-level, general-purpose programming language (found: v${Python3_VERSION})"
)
else()
set_package_properties(Python3 PROPERTIES
DESCRIPTION "An interpreted, high-level, general-purpose programming language"
PURPOSE "Another Python version will be used."
)
endif()
if(Python2_FOUND)
set_package_properties(Python2 PROPERTIES
URL "https://www.python.org/"
DESCRIPTION "An interpreted, high-level, general-purpose programming language (found: v${Python2_VERSION})"
PURPOSE "Required to build volk_gnsssdr."
TYPE REQUIRED
)
endif()
endif()
if(PYTHONINTERP_FOUND)
set_package_properties(PythonInterp PROPERTIES
URL "https://www.python.org/"
DESCRIPTION "An interpreted, high-level, general-purpose programming language (found: ${PYTHON_VERSION_STRING})"
DESCRIPTION "An interpreted, high-level, general-purpose programming language (found: v${PYTHON_VERSION_STRING})"
PURPOSE "Required to build volk_gnsssdr."
TYPE REQUIRED
)
@ -986,11 +944,10 @@ if(NOT VOLKGNSSSDR_FOUND)
endif()
find_package(ORC)
set_package_properties(ORC PROPERTIES
URL "https://gstreamer.freedesktop.org/modules/orc.html"
DESCRIPTION "The Optimized Inner Loops Runtime Compiler"
PURPOSE "Used by volk_gnsssdr."
TYPE OPTIONAL
)
if(NOT ORC_FOUND)
set(ORC_LIBRARIES "")
set(ORC_INCLUDE_DIRS "")
@ -1045,14 +1002,12 @@ endif()
set(LOCAL_GFLAGS false)
find_package(GFLAGS)
set_package_properties(GFLAGS PROPERTIES
URL "https://github.com/gflags/gflags"
DESCRIPTION "C++ library that implements commandline flags processing"
PURPOSE "Used for commandline flags management."
TYPE REQUIRED
)
if(NOT GFLAGS_FOUND)
message(STATUS " gflags library has not been found.")
message(STATUS " gflags v${GNSSSDR_GFLAGS_LOCAL_VERSION} will be downloaded and built automatically ")
message(STATUS " gflags v${GNSSSDR_GFLAGS_LOCAL_VERSION} will be downloaded and built automatically")
message(STATUS " when doing 'make'.")
if(CMAKE_VERSION VERSION_LESS 3.2)
@ -1123,8 +1078,6 @@ if(NOT ${ENABLE_OWN_GLOG})
endif()
endif()
set_package_properties(GLOG PROPERTIES
URL "https://github.com/google/glog"
DESCRIPTION "C++ implementation of the Google logging module"
PURPOSE "Used for runtime internal logging."
TYPE REQUIRED
)
@ -1133,7 +1086,7 @@ if(NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
if(NOT GFLAGS_FOUND)
message(STATUS " or it is likely not linked to gflags.")
endif()
message(STATUS " glog v${GNSSSDR_GLOG_LOCAL_VERSION} will be downloaded and built automatically ")
message(STATUS " glog v${GNSSSDR_GLOG_LOCAL_VERSION} will be downloaded and built automatically")
message(STATUS " when doing 'make'.")
if(NOT ${LOCAL_GFLAGS})
add_library(gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION} UNKNOWN IMPORTED)
@ -1398,8 +1351,6 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
if(NOT OS_IS_MACOSX)
find_package(GFORTRAN)
set_package_properties(GFORTRAN PROPERTIES
URL "http://gcc.gnu.org/wiki/GFortran"
DESCRIPTION "GNU Fortran project"
PURPOSE "Required by Armadillo."
TYPE REQUIRED
)
@ -1478,10 +1429,18 @@ endif()
find_package(GnuTLS)
set_package_properties(GnuTLS PROPERTIES
URL "https://www.gnutls.org/"
DESCRIPTION "Transport Layer Security Library"
PURPOSE "Used for the SUPL protocol implementation."
TYPE REQUIRED
)
if(GnuTLS_FOUND AND GNUTLS_VERSION_STRING)
set_package_properties(GnuTLS PROPERTIES
DESCRIPTION "Transport Layer Security Library (found: v${GNUTLS_VERSION_STRING})"
)
else()
set_package_properties(GnuTLS PROPERTIES
DESCRIPTION "Transport Layer Security Library"
)
endif()
find_library(GNUTLS_OPENSSL_LIBRARY NAMES gnutls-openssl libgnutls-openssl.so.27
HINTS /usr/lib
/usr/lib64
@ -1560,7 +1519,6 @@ endif()
################################################################################
find_package(MATIO)
set_package_properties(MATIO PROPERTIES
URL "https://github.com/tbeu/matio"
PURPOSE "Used to store processing block's results in MAT files readable from MATLAB/Octave."
TYPE REQUIRED
)
@ -1570,16 +1528,21 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
endif()
message(STATUS " Matio v${GNSSSDR_MATIO_LOCAL_VERSION} will be downloaded and built automatically")
message(STATUS " when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'.")
set_package_properties(MATIO PROPERTIES
DESCRIPTION "MATLAB MAT File I/O Library"
)
find_package(ZLIB)
set_package_properties(ZLIB PROPERTIES
URL "https://www.zlib.net/"
DESCRIPTION "A Massively Spiffy Yet Delicately Unobtrusive Compression Library"
PURPOSE "Required to build Matio."
TYPE REQUIRED
)
if(ZLIB_FOUND AND ZLIB_VERSION_STRING)
set_package_properties(ZLIB PROPERTIES
DESCRIPTION "A Massively Spiffy Yet Delicately Unobtrusive Compression Library (found: v${ZLIB_VERSION_STRING})"
)
else()
set_package_properties(ZLIB PROPERTIES
DESCRIPTION "A Massively Spiffy Yet Delicately Unobtrusive Compression Library"
)
endif()
if(ZLIB_FOUND)
get_filename_component(ZLIB_BASE_DIR ${ZLIB_INCLUDE_DIRS} DIRECTORY)
if(OS_IS_LINUX)
@ -1619,10 +1582,18 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
find_package(HDF5)
set_package_properties(HDF5 PROPERTIES
URL "https://support.hdfgroup.org/HDF5/"
DESCRIPTION "A versatile data model, a portable file format and a software library"
PURPOSE "Required to build Matio."
TYPE REQUIRED
)
if(HDF5_FOUND AND HDF5_VERSION)
set_package_properties(HDF5 PROPERTIES
DESCRIPTION "A versatile data model, a portable file format and a software library (found: v${HDF5_VERSION})"
)
else()
set_package_properties(HDF5 PROPERTIES
DESCRIPTION "A versatile data model, a portable file format and a software library"
)
endif()
if(HDF5_FOUND)
list(GET HDF5_LIBRARIES 0 HDF5_FIRST_DIR)
get_filename_component(HDF5_BASE_DIR2 ${HDF5_FIRST_DIR} DIRECTORY)
@ -1703,10 +1674,6 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
set_package_properties(MATIO PROPERTIES
PURPOSE "Matio v${GNSSSDR_MATIO_LOCAL_VERSION} will be downloaded and built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'."
)
else()
set_package_properties(MATIO PROPERTIES
DESCRIPTION "MATLAB MAT File I/O Library (found: v${MATIO_VERSION_STRING})"
)
endif()
@ -1716,14 +1683,10 @@ endif()
################################################################################
find_package(PUGIXML)
set_package_properties(PUGIXML PROPERTIES
URL "https://pugixml.org/"
PURPOSE "Used to handle Galileo almanac XML files published by the European GNSS Service Centre."
TYPE REQUIRED
)
if(NOT PUGIXML_FOUND)
set_package_properties(PUGIXML PROPERTIES
DESCRIPTION "Light-weight, simple and fast XML parser for C++"
)
message(STATUS " PugiXML v${GNSSSDR_PUGIXML_LOCAL_VERSION} will be downloaded and built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'.")
set(PUGIXML_COMPILER -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER})
set(TOOLCHAIN_ARG "")
@ -1773,16 +1736,6 @@ if(NOT PUGIXML_FOUND)
set_package_properties(PUGIXML PROPERTIES
PURPOSE "PugiXML v${GNSSSDR_PUGIXML_LOCAL_VERSION} will be downloaded and built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'."
)
else()
if(PUGIXML_VERSION)
set_package_properties(PUGIXML PROPERTIES
DESCRIPTION "Light-weight, simple and fast XML parser for C++ (found: ${PUGIXML_VERSION})"
)
else()
set_package_properties(PUGIXML PROPERTIES
DESCRIPTION "Light-weight, simple and fast XML parser for C++"
)
endif()
endif()
@ -2017,10 +1970,18 @@ endif()
find_package(Doxygen)
set_package_properties(Doxygen PROPERTIES
URL "http://www.doxygen.nl"
DESCRIPTION "Generates documentation from annotated C++ sources"
PURPOSE "Used to generate code documentation by doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc'"
TYPE OPTIONAL
)
if(DOXYGEN_FOUND AND DOXYGEN_VERSION)
set_package_properties(Doxygen PROPERTIES
DESCRIPTION "Generates documentation from annotated C++ sources (found: v${DOXYGEN_VERSION})"
)
else()
set_package_properties(Doxygen PROPERTIES
DESCRIPTION "Generates documentation from annotated C++ sources"
)
endif()
find_package(LATEX)
set_package_properties(LATEX PROPERTIES
URL "https://www.latex-project.org"
@ -2072,7 +2033,7 @@ if(DOXYGEN_FOUND)
else()
message(STATUS " Doxygen has not been found in your system.")
message(STATUS " You can get nice code documentation by using it!")
message(STATUS " Get it from http://www.stack.nl/~dimitri/doxygen/index.html")
message(STATUS " Get it from http://www.doxygen.nl/download.html")
if(OS_IS_LINUX)
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(STATUS " or simply by doing 'sudo yum install doxygen-latex'.")
@ -2092,8 +2053,6 @@ endif()
################################################################################
find_package(OPENCL QUIET)
set_package_properties(OPENCL PROPERTIES
URL "https://www.khronos.org/opencl/"
DESCRIPTION "Library for parallel programming"
PURPOSE "Used in some processing block implementations."
TYPE OPTIONAL
)
@ -2107,7 +2066,7 @@ if(ENABLE_OPENCL)
else()
if(OPENCL_FOUND)
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()
if(ENABLE_GENERIC_ARCH)
@ -2117,8 +2076,6 @@ if(ENABLE_OPENCL)
if(NOT OPENCL_FOUND)
message(STATUS "Processing blocks using OpenCL will not be built.")
endif()
else()
set(OPENCL_FOUND FALSE)
endif()
@ -2132,13 +2089,33 @@ if(DEFINED ENV{CUDA_GPU_ACCEL})
endif()
if(ENABLE_CUDA)
find_package(CUDA REQUIRED)
set_package_properties(CUDA PROPERTIES
URL "https://developer.nvidia.com/cuda-downloads"
DESCRIPTION "Library for parallel programming in Nvidia GPUs"
PURPOSE "Used in some processing block implementations."
TYPE REQUIRED
)
if(CMAKE_VERSION VERSION_GREATER 3.11)
include(CheckLanguage)
check_language(CUDA)
if(CMAKE_CUDA_COMPILER)
enable_language(CUDA)
set(CUDA_FOUND TRUE)
if(NOT DEFINED CMAKE_CUDA_STANDARD)
set(CMAKE_CUDA_STANDARD 11)
set(CMAKE_CUDA_STANDARD_REQUIRED ON)
endif()
else()
set(ENABLE_CUDA OFF)
endif()
else()
find_package(CUDA REQUIRED)
set_package_properties(CUDA PROPERTIES
URL "https://developer.nvidia.com/cuda-downloads"
DESCRIPTION "Library for parallel programming in Nvidia GPUs"
PURPOSE "Used in some processing block implementations."
TYPE REQUIRED
)
if(NOT CUDA_FOUND)
set(ENABLE_CUDA OFF)
endif()
endif()
endif()
if(ENABLE_CUDA)
message(STATUS "NVIDIA CUDA GPU Acceleration will be enabled.")
message(STATUS " You can disable it with 'cmake -DENABLE_CUDA=OFF ..'")
else()
@ -2153,13 +2130,14 @@ endif()
################################################################################
find_package(PCAP)
set_package_properties(PCAP PROPERTIES
URL "https://www.tcpdump.org"
DESCRIPTION "A portable C/C++ library for network traffic capture"
PURPOSE "Used for the custom UDP IP packet source."
TYPE OPTIONAL
)
if(PCAP_FOUND)
set(ENABLE_RAW_UDP ON)
endif()
if(ENABLE_RAW_UDP)
message(STATUS "High-optimized custom UDP IP packet source is enabled.")
message(STATUS "Highly-optimized custom UDP IP packet source is enabled.")
message(STATUS " You can disable it with 'cmake -DENABLE_RAW_UDP=OFF ..'")
if(NOT PCAP_FOUND)
message(FATAL_ERROR "PCAP required to compile custom UDP packet sample source (with ENABLE_RAW_UDP=ON)")
@ -2196,7 +2174,6 @@ endif()
find_package(GROSMOSDR)
set_package_properties(GROSMOSDR PROPERTIES
URL "https://osmocom.org/projects/gr-osmosdr/wiki"
PURPOSE "Used for communication with OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based dongles, etc.)."
TYPE OPTIONAL
)
@ -2204,29 +2181,15 @@ if(ENABLE_OSMOSDR)
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 " You can disable it with 'cmake -DENABLE_OSMOSDR=OFF ..'")
if(GROSMOSDR_VERSION)
set_package_properties(GROSMOSDR PROPERTIES
DESCRIPTION "osmocom GNU Radio blocks (found: ${GROSMOSDR_VERSION})"
)
else()
set_package_properties(GROSMOSDR PROPERTIES
DESCRIPTION "osmocom GNU Radio blocks"
)
endif()
else()
set_package_properties(GROSMOSDR PROPERTIES
DESCRIPTION "osmocom GNU Radio blocks"
)
if(ENABLE_PACKAGING)
message(WARNING "gr-osmosdr has not been found. Source blocks depending on it will NOT be built.")
else()
message(FATAL_ERROR "gr-osmosdr required to build gnss-sdr with the optional OSMOSDR driver")
endif()
set(ENABLE_OSMOSDR OFF)
endif()
else()
set_package_properties(GROSMOSDR PROPERTIES
DESCRIPTION "osmocom GNU Radio blocks"
)
message(STATUS "The (optional) driver for OsmoSDR and related front-ends is not enabled.")
message(STATUS " Enable it with 'cmake -DENABLE_OSMOSDR=ON ..' to add support for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based USB dongles, etc.)")
endif()
@ -2239,20 +2202,9 @@ endif()
##############################################
find_package(GRIIO)
set_package_properties(GRIIO PROPERTIES
URL "https://github.com/analogdevicesinc/gr-iio"
PURPOSE "Used for communication with PlutoSDR and FMCOMMS devices."
TYPE OPTIONAL
)
if(GRIIO_FOUND AND GRIIO_VERSION)
set_package_properties(GRIIO PROPERTIES
DESCRIPTION "IIO blocks for GNU Radio (found: v${GRIIO_VERSION})"
)
else()
set_package_properties(GRIIO PROPERTIES
DESCRIPTION "IIO blocks for GNU Radio"
)
endif()
#####################################################################
@ -2262,19 +2214,9 @@ endif()
#####################################################################
find_package(LIBIIO)
set_package_properties(LIBIIO PROPERTIES
URL "https://github.com/analogdevicesinc/libiio"
PURPOSE "Used for communication with the AD9361 chipset."
TYPE OPTIONAL
)
if(LIBIIO_FOUND AND LIBIIO_VERSION)
set_package_properties(LIBIIO PROPERTIES
DESCRIPTION "A library for interfacing with Linux IIO devices (found: v${LIBIIO_VERSION})"
)
else()
set_package_properties(LIBIIO PROPERTIES
DESCRIPTION "A library for interfacing with Linux IIO devices"
)
endif()
##############################################
@ -2298,7 +2240,6 @@ else()
endif()
find_package(TELEORBIT)
set_package_properties(TELEORBIT PROPERTIES
DESCRIPTION "The Teleorbit's Flexiband GNU Radio block."
PURPOSE "Used for communication with the Flexiband front-end."
TYPE OPTIONAL
)
@ -2369,8 +2310,6 @@ endif()
################################################################################
find_package(GPERFTOOLS)
set_package_properties(GPERFTOOLS PROPERTIES
URL "https://github.com/gperftools/gperftools"
DESCRIPTION "Collection of performance analysis tools"
PURPOSE "Used for performance analysis."
TYPE OPTIONAL
)
@ -2507,6 +2446,36 @@ add_subdirectory(src)
################################################################################
# Print summary
################################################################################
add_feature_info(ENABLE_UHD ENABLE_UHD "Enables UHD_Signal_Source for using RF front-ends from the USRP family. Requires gr-uhd.")
add_feature_info(ENABLE_OSMOSDR ENABLE_OSMOSDR "Enables Osmosdr_Signal_Source and RtlTcp_Signal_Source for using RF front-ends compatible with the OsmoSDR driver. Requires gr-osmosdr.")
add_feature_info(ENABLE_FMCOMMS2 ENABLE_FMCOMMS2 "Enables Fmcomms2_Signal_Source for FMCOMMS2/3/4 devices. Requires gr-iio.")
add_feature_info(ENABLE_PLUTOSDR ENABLE_PLUTOSDR "Enables Plutosdr_Signal_Source for using ADALM-PLUTO boards. Requires gr-iio.")
add_feature_info(ENABLE_AD9361 ENABLE_AD9361 "Enables Ad9361_Fpga_Signal_Source for devices with the AD9361 chipset. Requires libiio.")
add_feature_info(ENABLE_RAW_UDP ENABLE_RAW_UDP "Enables Custom_UDP_Signal_Source for custom UDP packet sample source. Requires libpcap.")
add_feature_info(ENABLE_FLEXIBAND ENABLE_FLEXIBAND "Enables Flexiband_Signal_Source for using Teleorbit's Flexiband RF front-end. Requires gr-teleorbit.")
add_feature_info(ENABLE_GN3S ENABLE_GN3S "Enables Gn3s_Signal_Source for using the GN3S v2 dongle. Requires gr-gn3s.")
add_feature_info(ENABLE_ARRAY ENABLE_ARRAY "Enables Raw_Array_Signal_Source and Array_Signal_Conditioner for using CTTC's antenna array. Requires gr-dbfcttc.")
add_feature_info(ENABLE_GPERFTOOLS ENABLE_GPERFTOOLS "Enables performance analysis. Requires Gperftools.")
add_feature_info(ENABLE_GPROF ENABLE_GPROF "Enables performance analysis with 'gprof'.")
add_feature_info(ENABLE_CLANG_TIDY ENABLE_CLANG_TIDY "Runs clang-tidy along with the compiler. Requires Clang.")
add_feature_info(ENABLE_PROFILING ENABLE_PROFILING "Runs volk_gnsssdr_profile at the end of the building.")
add_feature_info(ENABLE_OPENCL ENABLE_OPENCL "Enables GPS_L1_CA_PCPS_OpenCl_Acquisition (experimental). Requires OpenCL.")
add_feature_info(ENABLE_CUDA ENABLE_CUDA "Enables GPS_L1_CA_DLL_PLL_Tracking_GPU (experimental). Requires CUDA.")
add_feature_info(ENABLE_FPGA ENABLE_FPGA "Enables building of processing blocks for FPGA off-loading.")
add_feature_info(ENABLE_GENERIC_ARCH ENABLE_GENERIC_ARCH "When disabled, flags such as '-march=native' are passed to the compiler.")
add_feature_info(ENABLE_PACKAGING ENABLE_PACKAGING "Enables software packaging.")
add_feature_info(ENABLE_OWN_GLOG ENABLE_OWN_GLOG "Forces the downloading and building of Google glog.")
add_feature_info(ENABLE_OWN_ARMADILLO ENABLE_OWN_ARMADILLO "Forces the downloading and building of Armadillo.")
add_feature_info(ENABLE_LOG ENABLE_LOG "Enables runtime internal logging with Google glog.")
add_feature_info(ENABLE_UNIT_TESTING ENABLE_UNIT_TESTING "Enables building of Unit Tests.")
add_feature_info(ENABLE_UNIT_TESTING_MINIMAL ENABLE_UNIT_TESTING_MINIMAL "Enables building a minimal set of Unit Tests.")
add_feature_info(ENABLE_UNIT_TESTING_EXTRA ENABLE_UNIT_TESTING_EXTRA "Enables building of Extra Unit Tests and downloading of external data files.")
add_feature_info(ENABLE_SYSTEM_TESTING ENABLE_SYSTEM_TESTING "Enables building of System Tests.")
add_feature_info(ENABLE_SYSTEM_TESTING_EXTRA ENABLE_SYSTEM_TESTING_EXTRA "Enables building of Extra System Tests and downloading of external tools.")
add_feature_info(ENABLE_OWN_GPSTK ENABLE_OWN_GPSTK "Forces the downloading and building of GPSTk for system tests.")
add_feature_info(ENABLE_GNSS_SIM_INSTALL ENABLE_GNSS_SIM_INSTALL "Enables downloading and building of gnss-sim.")
add_feature_info(ENABLE_INSTALL_TESTS ENABLE_INSTALL_TESTS "Install test binaries when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} install'.")
message(STATUS "")
message(STATUS "***************************************")
message(STATUS "* SUMMARY REPORT *")

34
cmake/Modules/FindGFLAGS.cmake
View File

@ -31,6 +31,11 @@
# Gflags::gflags
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
if(APPLE)
find_path(GFlags_ROOT_DIR
libgflags.dylib
@ -111,6 +116,35 @@ endif()
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GFLAGS DEFAULT_MSG GFlags_LIBS GFlags_INCLUDE_DIRS)
if(GFLAGS_FOUND)
set(OLD_PACKAGE_VERSION ${PACKAGE_VERSION})
unset(PACKAGE_VERSION)
list(GET GFlags_LIBS 0 FIRST_DIR)
get_filename_component(GFlags_LIBS_DIR ${FIRST_DIR} DIRECTORY)
if(EXISTS ${GFlags_LIBS_DIR}/cmake/gflags/gflags-config-version.cmake)
include(${GFlags_LIBS_DIR}/cmake/gflags/gflags-config-version.cmake)
endif()
if(PACKAGE_VERSION)
set(GFLAGS_VERSION ${PACKAGE_VERSION})
set_package_properties(GFLAGS PROPERTIES
DESCRIPTION "C++ library that implements commandline flags processing (found: v${GFLAGS_VERSION})"
)
else()
set_package_properties(GFLAGS PROPERTIES
DESCRIPTION "C++ library that implements commandline flags processing"
)
endif()
set(PACKAGE_VERSION ${OLD_PACKAGE_VERSION})
else()
set_package_properties(GFLAGS PROPERTIES
DESCRIPTION "C++ library that implements commandline flags processing"
)
endif()
set_package_properties(GFLAGS PROPERTIES
URL "https://github.com/gflags/gflags"
)
if(GFLAGS_FOUND AND NOT TARGET Gflags::gflags)
add_library(Gflags::gflags SHARED IMPORTED)
set_target_properties(Gflags::gflags PROPERTIES

9
cmake/Modules/FindGFORTRAN.cmake
View File

@ -15,6 +15,10 @@
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
find_library(GFORTRAN NAMES gfortran
PATHS /usr/lib
/usr/lib64
@ -189,5 +193,10 @@ find_library(GFORTRAN NAMES gfortran
$ENV{GFORTRAN_ROOT}/lib
)
set_package_properties(GFORTRAN PROPERTIES
URL "http://gcc.gnu.org/wiki/GFortran"
DESCRIPTION "GNU Fortran library"
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GFORTRAN DEFAULT_MSG GFORTRAN)

36
cmake/Modules/FindGLOG.cmake
View File

@ -31,6 +31,10 @@
# Glog::glog
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
if(NOT DEFINED GLOG_ROOT)
set(GLOG_ROOT /usr /usr/local)
endif()
@ -41,6 +45,10 @@ else()
set(LIB_PATHS ${GLOG_ROOT} ${GLOG_ROOT}/lib)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_GLOG libglog)
macro(_FIND_GLOG_LIBRARIES _var)
find_library(${_var}
NAMES ${ARGN}
@ -75,6 +83,7 @@ macro(_FIND_GLOG_LIBRARIES _var)
$ENV{GLOG_ROOT}/lib
${GLOG_ROOT}/lib64
$ENV{GLOG_ROOT}/lib64
${PC_GLOG_LIBDIR}
PATH_SUFFIXES lib
)
mark_as_advanced(${_var})
@ -94,6 +103,7 @@ if(MSVC)
PATHS
${GLOG_ROOT}/src/windows
${GLOG_ROOT}/src/windows/glog
${PC_GLOG_INCLUDEDIR}
)
else()
# Linux/OS X builds
@ -102,6 +112,7 @@ else()
${GLOG_ROOT}/include/glog
/usr/include/glog
/opt/local/include/glog # default location in Macports
${PC_GLOG_INCLUDEDIR}
)
endif()
@ -118,15 +129,18 @@ else()
endif()
endif()
if(GLOG_FOUND)
message(STATUS "glog library found at ${GLOG_LIBRARIES}")
endif()
# handle the QUIETLY and REQUIRED arguments and set GLOG_FOUND to TRUE if
# all listed variables are TRUE
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GLOG DEFAULT_MSG GLOG_LIBRARIES)
if(GLOG_FOUND)
message(STATUS "glog library found at ${GLOG_LIBRARIES}")
if(PC_GLOG_VERSION)
set(GLOG_VERSION ${PC_GLOG_VERSION})
endif()
endif()
if(MSVC)
string(REGEX REPLACE "/glog$" "" VAR_WITHOUT ${GLOG_INCLUDE_DIR})
string(REGEX REPLACE "/windows$" "" VAR_WITHOUT ${VAR_WITHOUT})
@ -138,6 +152,20 @@ else()
string(REGEX REPLACE "/libglog.so" "" GLOG_LIBRARIES_DIR ${GLOG_LIBRARIES})
endif()
if(GLOG_FOUND AND GLOG_VERSION)
set_package_properties(GLOG PROPERTIES
DESCRIPTION "C++ implementation of the Google logging module (found: v${GLOG_VERSION})"
)
else()
set_package_properties(GLOG PROPERTIES
DESCRIPTION "C++ implementation of the Google logging module"
)
endif()
set_package_properties(GLOG PROPERTIES
URL "https://github.com/google/glog"
)
if(GLOG_FOUND AND NOT TARGET Glog::glog)
add_library(Glog::glog SHARED IMPORTED)
set_target_properties(Glog::glog PROPERTIES

19
cmake/Modules/FindGNURADIO.cmake
View File

@ -19,6 +19,11 @@
# Find GNU Radio
########################################################################
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
include(FindPackageHandleStandardArgs)
@ -182,6 +187,8 @@ list(REMOVE_DUPLICATES GNURADIO_ALL_INCLUDE_DIRS)
list(REMOVE_DUPLICATES GNURADIO_ALL_LIBRARIES)
if(NOT PC_GNURADIO_RUNTIME_VERSION)
set(OLD_PACKAGE_VERSION ${PACKAGE_VERSION})
unset(PACKAGE_VERSION)
list(GET GNURADIO_BLOCKS_LIBRARIES 0 FIRST_DIR)
get_filename_component(GNURADIO_BLOCKS_DIR ${FIRST_DIR} DIRECTORY)
if(EXISTS ${GNURADIO_BLOCKS_DIR}/cmake/gnuradio/GnuradioConfigVersion.cmake)
@ -193,6 +200,7 @@ if(NOT PC_GNURADIO_RUNTIME_VERSION)
if(PACKAGE_VERSION)
set(PC_GNURADIO_RUNTIME_VERSION ${PACKAGE_VERSION})
endif()
set(PACKAGE_VERSION ${OLD_PACKAGE_VERSION})
endif()
# Trick to find out that GNU Radio is >= 3.7.4 if pkgconfig is not present
@ -254,4 +262,15 @@ if(GNURADIO_VERSION)
endif()
message(FATAL_ERROR "GNU Radio v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr.")
endif()
set_package_properties(GNURADIO PROPERTIES
DESCRIPTION "The free and open software radio ecosystem (found: v${GNURADIO_VERSION})"
)
else()
set_package_properties(GNURADIO PROPERTIES
DESCRIPTION "The free and open software radio ecosystem"
)
endif()
set_package_properties(GNURADIO PROPERTIES
URL "https://www.gnuradio.org/"
)

25
cmake/Modules/FindGOOGLETEST.cmake
View File

@ -26,6 +26,13 @@
# LIBGTEST_DEV_DIR
# GTEST_INCLUDE_DIRS
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_GTEST gtest)
find_path(LIBGTEST_DEV_DIR
NAMES src/gtest-all.cc
@ -33,6 +40,7 @@ find_path(LIBGTEST_DEV_DIR
${GTEST_DIR}
${GTEST_DIR}/googletest
/usr/src/googletest/googletest
/usr/local/src/googletest/googletest
/usr/src/gtest
/usr/include/gtest
/opt/local/src/gtest-1.7.0
@ -44,8 +52,25 @@ find_path(GTEST_INCLUDE_DIRS
${GTEST_DIR}/googletest/include
/usr/include
/opt/local/src/gtest-1.7.0/include
${PC_GTEST_INCLUDEDIR}
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GOOGLETEST DEFAULT_MSG LIBGTEST_DEV_DIR GTEST_INCLUDE_DIRS)
if(GOOGLETEST_FOUND AND PC_GTEST_VERSION)
set(GOOGLETEST_VERSION ${PC_GTEST_VERSION})
set_package_properties(GOOGLETEST PROPERTIES
DESCRIPTION "Source code of Google's Testing Framework (found: v${GOOGLETEST_VERSION})"
)
else()
set_package_properties(GOOGLETEST PROPERTIES
DESCRIPTION "Source code of Google's Testing Framework"
)
endif()
set_package_properties(GOOGLETEST PROPERTIES
URL "https://github.com/google/googletest"
)
mark_as_advanced(LIBGTEST_DEV_DIR GTEST_INCLUDE_DIRS)

9
cmake/Modules/FindGPERFTOOLS.cmake
View File

@ -40,6 +40,10 @@
# Gperftools::gperftools
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
find_library(GPERFTOOLS_TCMALLOC
NAMES tcmalloc
HINTS ${Gperftools_ROOT_DIR}/lib
@ -124,6 +128,11 @@ if(GPERFTOOLS_FOUND AND NOT TARGET Gperftools::gperftools)
)
endif()
set_package_properties(GPERFTOOLS PROPERTIES
URL "https://github.com/gperftools/gperftools"
DESCRIPTION "Collection of performance analysis tools"
)
mark_as_advanced(
GPERFTOOLS_TCMALLOC
GPERFTOOLS_PROFILER

33
cmake/Modules/FindGPSTK.cmake
View File

@ -22,6 +22,10 @@
# GPSTK_FOUND, If false, do not try to use GPSTK.
# GPSTK_LIBRARY, where to find the GPSTK library.
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
find_path(GPSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
HINTS /usr/include
/usr/local/include
@ -44,10 +48,37 @@ find_library(GPSTK_LIBRARY NAMES ${GPSTK_NAMES}
$ENV{GPSTK_ROOT}/${CMAKE_INSTALL_LIBDIR}
)
# handle the QUIETLY and REQUIRED arguments and set GPSTK_FOUND to TRUE if
# handle the QUIET and REQUIRED arguments and set GPSTK_FOUND to TRUE if
# all listed variables are TRUE
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GPSTK DEFAULT_MSG GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
if(GPSTK_FOUND)
set(OLD_PACKAGE_VERSION ${PACKAGE_VERSION})
unset(PACKAGE_VERSION)
if(EXISTS ${CMAKE_INSTALL_FULL_DATADIR}/cmake/GPSTK/GPSTKConfigVersion.cmake)
include(${CMAKE_INSTALL_FULL_DATADIR}/cmake/GPSTK/GPSTKConfigVersion.cmake)
endif()
if(PACKAGE_VERSION)
set(GPSTK_VERSION ${PACKAGE_VERSION})
endif()
set(PACKAGE_VERSION ${OLD_PACKAGE_VERSION})
endif()
if(GPSTK_FOUND AND GPSTK_VERSION)
set_package_properties(GPSTK PROPERTIES
DESCRIPTION "Library and suite of applications for satellite navigation (found: v${GPSTK_VERSION})"
)
else()
set_package_properties(GPSTK PROPERTIES
DESCRIPTION "Library and suite of applications for satellite navigation"
)
endif()
set_package_properties(GPSTK PROPERTIES
URL "http://www.gpstk.org"
)
mark_as_advanced(GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
if(GPSTK_FOUND AND NOT TARGET Gpstk::gpstk)

1
cmake/Modules/FindGRDBFCTTC.cmake
View File

@ -19,6 +19,7 @@
# Find GR-DBFCTTC Module
########################################################################
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_GR_DBFCTTC gr-dbfcttc)

1
cmake/Modules/FindGRGN3S.cmake
View File

@ -19,6 +19,7 @@
# Find GR-GN3S Module
########################################################################
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_GR_GN3S gr-gn3s)

17
cmake/Modules/FindGRIIO.cmake
View File

@ -20,7 +20,11 @@
# Gnuradio::iio
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_IIO gnuradio-iio)
@ -96,6 +100,19 @@ if(PC_IIO_VERSION)
set(GRIIO_VERSION ${PC_IIO_VERSION})
endif()
set_package_properties(GRIIO PROPERTIES
URL "https://github.com/analogdevicesinc/gr-iio"
)
if(GRIIO_FOUND AND GRIIO_VERSION)
set_package_properties(GRIIO PROPERTIES
DESCRIPTION "IIO blocks for GNU Radio (found: v${GRIIO_VERSION})"
)
else()
set_package_properties(GRIIO PROPERTIES
DESCRIPTION "IIO blocks for GNU Radio"
)
endif()
if(GRIIO_FOUND AND NOT TARGET Gnuradio::iio)
add_library(Gnuradio::iio SHARED IMPORTED)
set_target_properties(Gnuradio::iio PROPERTIES

25
cmake/Modules/FindGROSMOSDR.cmake
View File

@ -38,7 +38,11 @@
# Gnuradio::osmosdr
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(GROSMOSDR_PKG gnuradio-osmosdr)
@ -47,18 +51,17 @@ find_path(GROSMOSDR_INCLUDE_DIR
osmosdr/source.h
osmosdr/api.h
PATHS
${GROSMOSDR_PKG_INCLUDE_DIRS}
/usr/include
/usr/local/include
/opt/local/include
${GROSMOSDR_ROOT}/include
$ENV{GROSMOSDR_ROOT}/include
${GROSMOSDR_PKG_INCLUDEDIR}
)
find_library(GROSMOSDR_LIBRARIES
NAMES gnuradio-osmosdr
PATHS
${GROSMOSDR_PKG_LIBRARY_DIRS}
/usr/lib
/usr/local/lib
/opt/local/lib
@ -90,13 +93,29 @@ find_library(GROSMOSDR_LIBRARIES
$ENV{GROSMOSDR_ROOT}/lib
${GROSMOSDR_ROOT}/lib64
$ENV{GROSMOSDR_ROOT}/lib64
${GROSMOSDR_PKG_LIBDIR}
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GROSMOSDR DEFAULT_MSG GROSMOSDR_LIBRARIES GROSMOSDR_INCLUDE_DIR)
if(GROSMOSDR_PKG_VERSION)
set(GROSMOSDR_VERSION ${GROSMOSDR_PKG_VERSION})
set(GROSMOSDR_VERSION_AUX ${GROSMOSDR_PKG_VERSION})
string(REGEX REPLACE "^v" "" GROSMOSDR_VERSION ${GROSMOSDR_VERSION_AUX})
endif()
set_package_properties(GROSMOSDR PROPERTIES
URL "https://osmocom.org/projects/gr-osmosdr/wiki"
)
if(GROSMOSDR_FOUND AND GROSMOSDR_VERSION)
set_package_properties(GROSMOSDR PROPERTIES
DESCRIPTION "osmocom GNU Radio blocks (found: v${GROSMOSDR_VERSION})"
)
else()
set_package_properties(GROSMOSDR PROPERTIES
DESCRIPTION "osmocom GNU Radio blocks"
)
endif()
if(GROSMOSDR_FOUND AND NOT TARGET Gnuradio::osmosdr)

19
cmake/Modules/FindLIBIIO.cmake
View File

@ -20,6 +20,11 @@
# Iio::iio
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_LIBIIO libiio)
@ -89,6 +94,20 @@ if(PC_LIBIIO_VERSION)
set(LIBIIO_VERSION ${PC_LIBIIO_VERSION})
endif()
if(LIBIIO_FOUND AND LIBIIO_VERSION)
set_package_properties(LIBIIO PROPERTIES
DESCRIPTION "A library for interfacing with Linux IIO devices (found: v${LIBIIO_VERSION})"
)
else()
set_package_properties(LIBIIO PROPERTIES
DESCRIPTION "A library for interfacing with Linux IIO devices"
)
endif()
set_package_properties(LIBIIO PROPERTIES
URL "https://github.com/analogdevicesinc/libiio"
)
if(LIBIIO_FOUND AND NOT TARGET Iio::iio)
add_library(Iio::iio SHARED IMPORTED)
set_target_properties(Iio::iio PROPERTIES

97
cmake/Modules/FindLIBOSMOSDR.cmake
View File

@ -1,97 +0,0 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
# GNSS-SDR is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# GNSS-SDR is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# Tries to find libosmosdr.
#
# Usage of this module as follows:
#
# find_package(LIBOSMOSDR)
#
#
# Variables defined by this module:
#
# LIBOSMOSDR_FOUND System has libosmosdr libs/headers
# LIBOSMOSDR_LIBRARIES The libosmosdr libraries
# LIBOSMOSDR_INCLUDE_DIR The location of libosmosdr headers
#
# Provides the following imported target:
# Osmosdr::osmosdr
#
include(FindPkgConfig)
pkg_check_modules(LIBOSMOSDR_PKG libosmosdr)
find_path(LIBOSMOSDR_INCLUDE_DIR NAMES osmosdr.h
PATHS
${LIBOSMOSDR_PKG_INCLUDE_DIRS}
/usr/include
/usr/local/include
${LIBOSMOSDR_ROOT}/include
$ENV{LIBOSMOSDR_ROOT}/include
${LIBOSMOSDR_PKG_INCLUDEDIR}
)
find_library(LIBOSMOSDR_LIBRARIES NAMES osmosdr
PATHS
${LIBOSMOSDR_PKG_LIBRARY_DIRS}
/usr/lib
/usr/local/lib
/usr/lib/x86_64-linux-gnu
/usr/lib/i386-linux-gnu
/usr/lib/arm-linux-gnueabihf
/usr/lib/arm-linux-gnueabi
/usr/lib/aarch64-linux-gnu
/usr/lib/mipsel-linux-gnu
/usr/lib/mips-linux-gnu
/usr/lib/mips64el-linux-gnuabi64
/usr/lib/powerpc-linux-gnu
/usr/lib/powerpc64-linux-gnu
/usr/lib/powerpc64le-linux-gnu
/usr/lib/powerpc-linux-gnuspe
/usr/lib/hppa-linux-gnu
/usr/lib/s390x-linux-gnu
/usr/lib/i386-gnu
/usr/lib/hppa-linux-gnu
/usr/lib/x86_64-kfreebsd-gnu
/usr/lib/i386-kfreebsd-gnu
/usr/lib/m68k-linux-gnu
/usr/lib/sh4-linux-gnu
/usr/lib/sparc64-linux-gnu
/usr/lib/x86_64-linux-gnux32
/usr/lib/alpha-linux-gnu
/usr/lib64
${LIBOSMOSDR_ROOT}/lib
$ENV{LIBOSMOSDR_ROOT}/lib
${LIBOSMOSDR_ROOT}/lib64
$ENV{LIBOSMOSDR_ROOT}/lib64
${LIBOSMOSDR_PKG_LIBDIR}
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(LIBOSMOSDR DEFAULT_MSG LIBOSMOSDR_INCLUDE_DIR LIBOSMOSDR_LIBRARIES)
if(LIBOSMOSDR_FOUND AND NOT TARGET Osmosdr::osmosdr)
add_library(Osmosdr::osmosdr SHARED IMPORTED)
set_target_properties(Osmosdr::osmosdr PROPERTIES
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
IMPORTED_LOCATION "${LIBOSMOSDR_LIBRARIES}"
INTERFACE_INCLUDE_DIRECTORIES "${LIBOSMOSDR_INCLUDE_DIR}"
INTERFACE_LINK_LIBRARIES "${LIBOSMOSDR_LIBRARIES}"
)
endif()
mark_as_advanced(LIBOSMOSDR_INCLUDE_DIR LIBOSMOSDR_LIBRARIES)

35
cmake/Modules/FindLOG4CPP.cmake
View File

@ -26,6 +26,14 @@
# Log4cpp::log4cpp
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_LOG4CPP log4cpp QUIET)
if(LOG4CPP_INCLUDE_DIR)
# Already in cache, be silent
set(LOG4CPP_FIND_QUIETLY TRUE)
@ -37,6 +45,7 @@ find_path(LOG4CPP_INCLUDE_DIR log4cpp/Category.hh
/usr/include
${LOG4CPP_ROOT}/include
$ENV{LOG4CPP_ROOT}/include
${PC_LOG4CPP_INCLUDEDIR}
)
if(LOG4CPP_INCLUDE_DIR)
@ -57,7 +66,7 @@ set(LOG4CPP_NAMES log4cpp)
find_library(LOG4CPP_LIBRARY
NAMES ${LOG4CPP_NAMES}
HINTS $ENV{GNURADIO_RUNTIME_DIR}/lib
${PC_LIBDIR}
${PC_LOG4CPP_LIBDIR}
${CMAKE_INSTALL_PREFIX}/lib/
PATHS /usr/local/lib
/usr/lib/x86_64-linux-gnu
@ -107,6 +116,30 @@ endif()
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(LOG4CPP DEFAULT_MSG LOG4CPP_INCLUDE_DIRS LOG4CPP_LIBRARIES)
set_package_properties(LOG4CPP PROPERTIES
URL "http://log4cpp.sourceforge.net/"
)
if(LOG4CPP_FOUND AND PC_LOG4CPP_VERSION)
set(LOG4CPP_VERSION ${PC_LOG4CPP_VERSION})
endif()
if(LOG4CPP_FOUND AND LOG4CPP_VERSION)
if(LOG4CPP_READY_FOR_CXX17)
set_package_properties(LOG4CPP PROPERTIES
DESCRIPTION "Library of C++ classes for flexible logging (found: v${LOG4CPP_VERSION}, C++17-ready)"
)
else()
set_package_properties(LOG4CPP PROPERTIES
DESCRIPTION "Library of C++ classes for flexible logging (found: v${LOG4CPP_VERSION})"
)
endif()
else()
set_package_properties(LOG4CPP PROPERTIES
DESCRIPTION "Library of C++ classes for flexible logging"
)
endif()
if (LOG4CPP_FOUND AND NOT TARGET Log4cpp::log4cpp)
add_library(Log4cpp::log4cpp SHARED IMPORTED)
set_target_properties(Log4cpp::log4cpp PROPERTIES

19
cmake/Modules/FindMATIO.cmake
View File

@ -62,6 +62,10 @@
#=============================================================================
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
# Look for the header file.
find_path(MATIO_INCLUDE_DIR
NAMES matio.h
@ -100,7 +104,6 @@ if(MATIO_INCLUDE_DIR)
endif()
if(MATIO_CONFIG_FILE)
# Read and parse MATIO config header file for version number
file(STRINGS "${MATIO_INCLUDE_DIR}/${MATIO_CONFIG_FILE}" _matio_HEADER_CONTENTS REGEX "#define MATIO_((MAJOR|MINOR)_VERSION)|(RELEASE_LEVEL) ")
@ -131,6 +134,20 @@ else()
set(MATIO_INCLUDE_DIRS)
endif()
if(MATIO_FOUND AND MATIO_VERSION_STRING)
set_package_properties(MATIO PROPERTIES
DESCRIPTION "MATLAB MAT File I/O Library (found: v${MATIO_VERSION_STRING})"
)
else()
set_package_properties(MATIO PROPERTIES
DESCRIPTION "MATLAB MAT File I/O Library"
)
endif()
set_package_properties(MATIO PROPERTIES
URL "https://github.com/tbeu/matio"
)
if(MATIO_FOUND AND NOT TARGET Matio::matio)
add_library(Matio::matio SHARED IMPORTED)
set_target_properties(Matio::matio PROPERTIES

49
cmake/Modules/FindOPENBLAS.cmake
View File

@ -1,49 +0,0 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
# GNSS-SDR is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# GNSS-SDR is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# - Try to find OpenBLAS library (not headers!)
#
# The following environment variable is optionally searched
# OPENBLAS_HOME: Base directory where all OpenBlas components are found
set(OPEN_BLAS_SEARCH_PATHS
/lib
/lib64/
/usr/lib
/usr/lib64
/usr/local/lib
/usr/local/lib64
/opt/OpenBLAS/lib
/opt/local/lib
/usr/lib/openblas-base
$ENV{OPENBLAS_HOME}/lib
${OPENBLAS_ROOT}/lib
$ENV{OPENBLAS_ROOT}/lib
${OPENBLAS_ROOT}/lib64
$ENV{OPENBLAS_ROOT}/lib64
)
find_library(OPENBLAS NAMES openblas PATHS ${OPEN_BLAS_SEARCH_PATHS})
if(OPENBLAS)
set(OPENBLAS_FOUND ON)
message(STATUS "Found OpenBLAS")
endif()
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(OPENBLAS DEFAULT_MSG OPENBLAS)
mark_as_advanced(OPENBLAS)

239
cmake/Modules/FindOPENCL.cmake
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.
#
@ -20,7 +20,7 @@
#
# - Try to find OpenCL
# This module tries to find an OpenCL implementation on your system. It supports
# AMD / ATI, Apple and NVIDIA implementations, but shoudl work, too.
# AMD / ATI, Apple and NVIDIA implementations.
#
# Once done this will define
# OPENCL_FOUND - system has OpenCL
@ -29,82 +29,195 @@
#
# WIN32 should work, but is untested
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
include(FindPackageHandleStandardArgs)
set(OPENCL_VERSION_STRING "0.1.0")
set(OPENCL_VERSION_MAJOR 0)
set(OPENCL_VERSION_MINOR 1)
set(OPENCL_VERSION_PATCH 0)
function(_FIND_OPENCL_VERSION)
include(CheckSymbolExists)
include(CMakePushCheckState)
set(CMAKE_REQUIRED_QUIET ${OPENCL_FIND_QUIETLY})
if(APPLE)
find_library(OPENCL_LIBRARIES OpenCL DOC "OpenCL lib for OSX")
find_path(OPENCL_INCLUDE_DIRS OpenCL/cl.h DOC "Include for OpenCL on OSX")
find_path(_OPENCL_CPP_INCLUDE_DIRS OpenCL/cl.hpp DOC "Include for OpenCL CPP bindings on OSX")
cmake_push_check_state()
foreach(VERSION "2_2" "2_1" "2_0" "1_2" "1_1" "1_0")
set(CMAKE_REQUIRED_INCLUDES "${OPENCL_INCLUDE_DIR}")
else()
if(WIN32)
find_path(OPENCL_INCLUDE_DIRS CL/cl.h)
find_path(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp)
if(APPLE)
check_symbol_exists(
CL_VERSION_${VERSION}
"${OPENCL_INCLUDE_DIR}/Headers/cl.h"
OPENCL_VERSION_${VERSION}
)
else()
check_symbol_exists(
CL_VERSION_${VERSION}
"${OPENCL_INCLUDE_DIR}/CL/cl.h"
OPENCL_VERSION_${VERSION}
)
endif()
# The AMD SDK currently installs both x86 and x86_64 libraries
# This is only a hack to find out architecture
if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
set(OPENCL_LIB_DIR "$ENV{ATISTREAMSDKROOT}/lib/x86_64")
set(OPENCL_LIB_DIR "$ENV{ATIINTERNALSTREAMSDKROOT}/lib/x86_64")
else()
set(OPENCL_LIB_DIR "$ENV{ATISTREAMSDKROOT}/lib/x86")
set(OPENCL_LIB_DIR "$ENV{ATIINTERNALSTREAMSDKROOT}/lib/x86")
endif()
if(OPENCL_VERSION_${VERSION})
string(REPLACE "_" "." VERSION "${VERSION}")
set(OPENCL_VERSION_STRING ${VERSION} PARENT_SCOPE)
string(REGEX MATCHALL "[0-9]+" version_components "${VERSION}")
list(GET version_components 0 major_version)
list(GET version_components 1 minor_version)
set(OPENCL_VERSION_MAJOR ${major_version} PARENT_SCOPE)
set(OPENCL_VERSION_MINOR ${minor_version} PARENT_SCOPE)
break()
endif()
endforeach()
cmake_pop_check_state()
endfunction()
# find out if the user asked for a 64-bit build, and use the corresponding
# 64 or 32 bit NVIDIA library paths to the search:
string(REGEX MATCH "Win64" ISWIN64 ${CMAKE_GENERATOR})
if("${ISWIN64}" STREQUAL "Win64")
find_library(OPENCL_LIBRARIES OpenCL.lib ${OPENCL_LIB_DIR} $ENV{CUDA_LIB_PATH} $ENV{CUDA_PATH}/lib/x64)
else()
find_library(OPENCL_LIBRARIES OpenCL.lib ${OPENCL_LIB_DIR} $ENV{CUDA_LIB_PATH} $ENV{CUDA_PATH}/lib/Win32)
endif()
find_path(OPENCL_INCLUDE_DIR
NAMES
CL/cl.h OpenCL/cl.h
PATHS
ENV "PROGRAMFILES(X86)"
ENV AMDAPPSDKROOT
ENV INTELOCLSDKROOT
ENV NVSDKCOMPUTE_ROOT
ENV CUDA_PATH
ENV ATISTREAMSDKROOT
ENV OCL_ROOT
/usr/local/cuda/include
PATH_SUFFIXES
include
OpenCL/common/inc
"AMD APP/include"
)
get_filename_component(_OPENCL_INC_CAND ${OPENCL_LIB_DIR}/../../include ABSOLUTE)
find_path(_OPENCL_CPP_INCLUDE_DIRS
NAMES
CL/cl.hpp OpenCL/cl.hpp
PATHS
ENV "PROGRAMFILES(X86)"
ENV AMDAPPSDKROOT
ENV INTELOCLSDKROOT
ENV NVSDKCOMPUTE_ROOT
ENV CUDA_PATH
ENV ATISTREAMSDKROOT
ENV OCL_ROOT
/usr/local/cuda/include
PATH_SUFFIXES
include
OpenCL/common/inc
"AMD APP/include"
)
# On Win32 search relative to the library
find_path(OPENCL_INCLUDE_DIRS CL/cl.h PATHS "${_OPENCL_INC_CAND}" $ENV{CUDA_INC_PATH} $ENV{CUDA_PATH}/include)
find_path(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS "${_OPENCL_INC_CAND}" $ENV{CUDA_INC_PATH} $ENV{CUDA_PATH}/include)
else()
# Unix style platforms
find_library(OPENCL_LIBRARIES OpenCL
ENV LD_LIBRARY_PATH
)
get_filename_component(OPENCL_LIB_DIR ${OPENCL_LIBRARIES} PATH)
get_filename_component(_OPENCL_INC_CAND ${OPENCL_LIB_DIR}/../../include ABSOLUTE)
# The AMD SDK currently does not place its headers
# in /usr/include, therefore also search relative
# to the library
find_path(OPENCL_INCLUDE_DIRS CL/cl.h PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include")
find_path(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include")
endif()
set(OPENCL_INCLUDE_DIRS ${OPENCL_INCLUDE_DIR})
if(_OPENCL_CPP_INCLUDE_DIRS)
set(OPENCL_HAS_CPP_BINDINGS TRUE)
list(APPEND OPENCL_INCLUDE_DIRS ${_OPENCL_CPP_INCLUDE_DIRS})
# This is often the same, so clean up
list(REMOVE_DUPLICATES OPENCL_INCLUDE_DIRS)
endif()
_FIND_OPENCL_VERSION()
if(WIN32)
if(CMAKE_SIZEOF_VOID_P EQUAL 4)
find_library(OPENCL_LIBRARY
NAMES OpenCL
PATHS
ENV "PROGRAMFILES(X86)"
ENV AMDAPPSDKROOT
ENV INTELOCLSDKROOT
ENV CUDA_PATH
ENV NVSDKCOMPUTE_ROOT
ENV ATISTREAMSDKROOT
ENV OCL_ROOT
PATH_SUFFIXES
"AMD APP/lib/x86"
lib/x86
lib/Win32
OpenCL/common/lib/Win32
)
elseif(CMAKE_SIZEOF_VOID_P EQUAL 8)
find_library(OPENCL_LIBRARY
NAMES OpenCL
PATHS
ENV "PROGRAMFILES(X86)"
ENV AMDAPPSDKROOT
ENV INTELOCLSDKROOT
ENV CUDA_PATH
ENV NVSDKCOMPUTE_ROOT
ENV ATISTREAMSDKROOT
ENV OCL_ROOT
PATH_SUFFIXES
"AMD APP/lib/x86_64"
lib/x86_64
lib/x64
OpenCL/common/lib/x64
)
endif()
else()
if(CMAKE_SIZEOF_VOID_P EQUAL 4)
find_library(OPENCL_LIBRARY
NAMES OpenCL
PATHS
ENV AMDAPPSDKROOT
ENV CUDA_PATH
ENV LD_LIBRARY_PATH
PATH_SUFFIXES
lib/x86
lib
)
elseif(CMAKE_SIZEOF_VOID_P EQUAL 8)
find_library(OPENCL_LIBRARY
NAMES OpenCL
PATHS
ENV AMDAPPSDKROOT
ENV CUDA_PATH
ENV LD_LIBRARY_PATH
PATH_SUFFIXES
lib/x86_64
lib/x64
lib
lib64
)
endif()
endif()
set(OPENCL_LIBRARIES ${OPENCL_LIBRARY})
find_package_handle_standard_args(OPENCL DEFAULT_MSG OPENCL_LIBRARIES OPENCL_INCLUDE_DIRS)
if(_OPENCL_CPP_INCLUDE_DIRS)
set(OPENCL_HAS_CPP_BINDINGS TRUE)
list(APPEND OPENCL_INCLUDE_DIRS ${_OPENCL_CPP_INCLUDE_DIRS})
# This is often the same, so clean up
list(REMOVE_DUPLICATES OPENCL_INCLUDE_DIRS)
endif()
mark_as_advanced(
OPENCL_INCLUDE_DIRS
OPENCL_LIBRARIES
)
if(OPENCL_INCLUDE_DIRS AND OPENCL_LIBRARIES)
set( OPENCL_FOUND TRUE )
add_definitions( -DOPENCL=1 )
set_package_properties(OPENCL PROPERTIES
URL "https://www.khronos.org/opencl/"
)
if(OPENCL_FOUND AND OPENCL_VERSION_STRING)
set_package_properties(OPENCL PROPERTIES
DESCRIPTION "Library for parallel programming (found: v${OPENCL_VERSION_STRING})"
)
else()
set( OPENCL_FOUND FALSE )
add_definitions( -DOPENCL=0 )
set_package_properties(OPENCL PROPERTIES
DESCRIPTION "Library for parallel programming"
)
endif()
if(OPENCL_FOUND AND NOT TARGET OpenCL::OpenCL)
if(OPENCL_LIBRARY MATCHES "/([^/]+)\\.framework$")
add_library(OpenCL::OpenCL INTERFACE IMPORTED)
set_target_properties(OpenCL::OpenCL PROPERTIES
INTERFACE_LINK_LIBRARIES "${OPENCL_LIBRARY}"
)
else()
add_library(OpenCL::OpenCL UNKNOWN IMPORTED)
set_target_properties(OpenCL::OpenCL PROPERTIES
IMPORTED_LOCATION "${OPENCL_LIBRARY}"
)
endif()
set_target_properties(OpenCL::OpenCL PROPERTIES
INTERFACE_INCLUDE_DIRECTORIES "${OPENCL_INCLUDE_DIRS}"
)
endif()

25
cmake/Modules/FindORC.cmake
View File

@ -15,7 +15,12 @@
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
find_package(PkgConfig)
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_ORC "orc-0.4 > 0.4.22")
find_program(ORCC_EXECUTABLE orcc
@ -63,6 +68,10 @@ find_library(ORC_LIB orc-0.4
${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
)
if(PC_ORC_VERSION)
set(ORC_VERSION ${PC_ORC_VERSION})
endif()
list(APPEND ORC_LIBRARY ${ORC_LIB})
set(ORC_INCLUDE_DIRS ${ORC_INCLUDE_DIR})
@ -72,4 +81,18 @@ set(ORC_LIBRARY_DIRS ${ORC_LIBRARY_DIR})
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(ORC "orc files" ORC_LIBRARY ORC_INCLUDE_DIR ORCC_EXECUTABLE)
set_package_properties(ORC PROPERTIES
URL "https://gstreamer.freedesktop.org/modules/orc.html"
)
if(ORC_FOUND AND ORC_VERSION)
set_package_properties(ORC PROPERTIES
DESCRIPTION "The Optimized Inner Loops Runtime Compiler (found: v${ORC_VERSION})"
)
else()
set_package_properties(ORC PROPERTIES
DESCRIPTION "The Optimized Inner Loops Runtime Compiler"
)
endif()
mark_as_advanced(ORC_INCLUDE_DIR ORC_LIBRARY ORCC_EXECUTABLE)

39
cmake/Modules/FindPCAP.cmake
View File

@ -48,6 +48,14 @@
# Pcap::pcap
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_PCAP libpcap QUIET)
if(EXISTS $ENV{PCAPDIR})
find_path(PCAP_INCLUDE_DIR
NAMES
@ -57,6 +65,7 @@ if(EXISTS $ENV{PCAPDIR})
$ENV{PCAPDIR}
${PCAP_ROOT}/include
$ENV{PCAP_ROOT}/include
${PC_PCAP_INCLUDEDIR}
NO_DEFAULT_PATH
)
find_library(PCAP_LIBRARY
@ -66,6 +75,7 @@ if(EXISTS $ENV{PCAPDIR})
$ENV{PCAPDIR}
${PCAP_ROOT}/lib
$ENV{PCAP_ROOT}/lib
${PC_PCAP_LIBDIR}
NO_DEFAULT_PATH
)
else()
@ -76,6 +86,7 @@ else()
HINTS
${PCAP_ROOT}/include
$ENV{PCAP_ROOT}/include
${PC_PCAP_INCLUDEDIR}
)
find_library(PCAP_LIBRARY
NAMES
@ -83,6 +94,7 @@ else()
HINTS
${PCAP_ROOT}/lib
$ENV{PCAP_ROOT}/lib
${PC_PCAP_LIBDIR}
)
endif()
@ -92,17 +104,20 @@ set(PCAP_LIBRARIES ${PCAP_LIBRARY})
if(PCAP_INCLUDE_DIRS)
message(STATUS "Pcap include dirs set to ${PCAP_INCLUDE_DIRS}")
else()
message(FATAL " Pcap include dirs cannot be found")
message(STATUS "Pcap include dirs cannot be found.")
endif()
if(PCAP_LIBRARIES)
message(STATUS "Pcap library set to ${PCAP_LIBRARIES}")
else()
message(FATAL "Pcap library cannot be found")
message(STATUS "Pcap library cannot be found.")
endif()
#Functions
include(CheckFunctionExists)
set(OLD_CMAKE_REQUIRED_INCLUDES ${CMAKE_REQUIRED_INCLUDES})
set(OLD_CMAKE_REQUIRED_LIBRARIES ${CMAKE_REQUIRED_LIBRARIES})
set(CMAKE_REQUIRED_INCLUDES ${PCAP_INCLUDE_DIRS})
set(CMAKE_REQUIRED_LIBRARIES ${PCAP_LIBRARIES})
check_function_exists("pcap_breakloop" HAVE_PCAP_BREAKLOOP)
@ -115,10 +130,30 @@ check_function_exists("pcap_lib_version" HAVE_PCAP_LIB_VERSION)
check_function_exists("pcap_list_datalinks" HAVE_PCAP_LIST_DATALINKS)
check_function_exists("pcap_open_dead" HAVE_PCAP_OPEN_DEAD)
check_function_exists("pcap_set_datalink" HAVE_PCAP_SET_DATALINK)
set(CMAKE_REQUIRED_INCLUDES ${OLD_CMAKE_REQUIRED_INCLUDES})
set(CMAKE_REQUIRED_LIBRARIES ${OLD_CMAKE_REQUIRED_LIBRARIES})
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(PCAP DEFAULT_MSG PCAP_INCLUDE_DIRS PCAP_LIBRARIES)
if(PCAP_FOUND AND PC_PCAP_VERSION)
set(PCAP_VERSION ${PC_PCAP_VERSION})
endif()
set_package_properties(PCAP PROPERTIES
URL "https://www.tcpdump.org"
)
if(PCAP_FOUND AND PCAP_VERSION)
set_package_properties(PCAP PROPERTIES
DESCRIPTION "A portable C/C++ library for network traffic capture (found: v${PCAP_VERSION})"
)
else()
set_package_properties(PCAP PROPERTIES
DESCRIPTION "A portable C/C++ library for network traffic capture"
)
endif()
if(PCAP_FOUND AND NOT TARGET Pcap::pcap)
add_library(Pcap::pcap SHARED IMPORTED)
set_target_properties(Pcap::pcap PROPERTIES

27
cmake/Modules/FindPUGIXML.cmake
View File

@ -27,6 +27,11 @@
# Pugixml::pugixml
#
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_PUGIXML pugixml QUIET)
@ -36,11 +41,14 @@ find_path(PUGIXML_INCLUDE_DIR
/usr/include
/usr/local/include
/usr/local/include/pugixml-1.9
/usr/local/include/pugixml-${PC_PUGIXML_VERSION}
/opt/local/include
${PUGIXML_ROOT}/include
$ENV{PUGIXML_ROOT}/include
${PUGIXML_ROOT}/include/pugixml-1.9
$ENV{PUGIXML_ROOT}/include/pugixml-1.9
${PUGIXML_ROOT}/include/pugixml-${PC_PUGIXML_VERSION}
$ENV{PUGIXML_ROOT}/include/pugixml-${PC_PUGIXML_VERSION}
${PC_PUGIXML_INCLUDEDIR}
)
@ -59,6 +67,7 @@ find_library(PUGIXML_LIBRARY
/usr/lib/s390x-linux-gnu
/usr/local/lib
/usr/local/lib/pugixml-1.9
/usr/local/lib/pugixml-${PC_PUGIXML_VERSION}
/opt/local/lib
/usr/lib
/usr/lib64
@ -71,6 +80,10 @@ find_library(PUGIXML_LIBRARY
$ENV{PUGIXML_ROOT}/lib/pugixml-1.9
${PUGIXML_ROOT}/lib64/pugixml-1.9
$ENV{PUGIXML_ROOT}/lib64/pugixml-1.9
${PUGIXML_ROOT}/lib/pugixml-${PC_PUGIXML_VERSION}
$ENV{PUGIXML_ROOT}/lib/pugixml-${PC_PUGIXML_VERSION}
${PUGIXML_ROOT}/lib64/pugixml-${PC_PUGIXML_VERSION}
$ENV{PUGIXML_ROOT}/lib64/pugixml-${PC_PUGIXML_VERSION}
${PC_PUGIXML_LIBDIR}
)
@ -92,6 +105,20 @@ else()
message(STATUS "PugiXML not found.")
endif()
set_package_properties(PUGIXML PROPERTIES
URL "https://pugixml.org/"
)
if(PUGIXML_FOUND AND PUGIXML_VERSION)
set_package_properties(PUGIXML PROPERTIES
DESCRIPTION "Light-weight, simple and fast XML parser for C++ (found: v${PUGIXML_VERSION})"
)
else()
set_package_properties(PUGIXML PROPERTIES
DESCRIPTION "Light-weight, simple and fast XML parser for C++"
)
endif()
mark_as_advanced(PUGIXML_LIBRARY PUGIXML_INCLUDE_DIR)
if(PUGIXML_FOUND AND NOT TARGET Pugixml::pugixml)

37
cmake/Modules/FindTELEORBIT.cmake
View File

@ -15,8 +15,13 @@
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_TELEORBIT teleorbit)
pkg_check_modules(PC_TELEORBIT teleorbit QUIET)
find_path(TELEORBIT_INCLUDE_DIRS
NAMES teleorbit/api.h
@ -25,6 +30,7 @@ find_path(TELEORBIT_INCLUDE_DIRS
PATHS ${CMAKE_INSTALL_PREFIX}/include
/usr/local/include
/usr/include
/opt/local/include
${TELEORBIT_ROOT}/include
$ENV{TELEORBIT_ROOT}/include
)
@ -39,6 +45,7 @@ find_library(TELEORBIT_LIBRARIES
/usr/local/lib64
/usr/lib
/usr/lib64
/opt/local/lib
${TELEORBIT_ROOT}/lib
$ENV{TELEORBIT_ROOT}/lib
${TELEORBIT_ROOT}/lib64
@ -48,6 +55,34 @@ find_library(TELEORBIT_LIBRARIES
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(TELEORBIT DEFAULT_MSG TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)
if(PC_TELEORBIT_VERSION)
set(TELEORBIT_VERSION ${PC_TELEORBIT_VERSION})
endif()
if(NOT TELEORBIT_VERSION)
set(OLD_PACKAGE_VERSION ${PACKAGE_VERSION})
unset(PACKAGE_VERSION)
list(GET TELEORBIT_LIBRARIES 0 FIRST_DIR)
get_filename_component(TELEORBIT_LIBRARIES_DIR ${FIRST_DIR} DIRECTORY)
if(EXISTS ${TELEORBIT_LIBRARIES_DIR}/cmake/teleorbit/TeleorbitConfigVersion.cmake)
include(${TELEORBIT_LIBRARIES_DIR}/cmake/teleorbit/TeleorbitConfigVersion.cmake)
endif()
if(PACKAGE_VERSION)
set(TELEORBIT_VERSION ${PACKAGE_VERSION})
endif()
set(PACKAGE_VERSION ${OLD_PACKAGE_VERSION})
endif()
if(TELEORBIT_FOUND AND TELEORBIT_VERSION)
set_package_properties(TELEORBIT PROPERTIES
DESCRIPTION "The Teleorbit's Flexiband GNU Radio block (found: v${TELEORBIT_VERSION})"
)
else()
set_package_properties(TELEORBIT PROPERTIES
DESCRIPTION "The Teleorbit's Flexiband GNU Radio block."
)
endif()
if(TELEORBIT_FOUND AND NOT TARGET Gnuradio::teleorbit)
add_library(Gnuradio::teleorbit SHARED IMPORTED)
set_target_properties(Gnuradio::teleorbit PROPERTIES

22
cmake/Modules/FindUHD.cmake
View File

@ -23,6 +23,11 @@
########################################################################
# Find the library for the USRP Hardware Driver
########################################################################
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_UHD uhd)
@ -81,6 +86,8 @@ if(PC_UHD_VERSION)
set(UHD_VERSION ${PC_UHD_VERSION})
endif()
if(NOT PC_UHD_VERSION)
set(OLD_PACKAGE_VERSION ${PACKAGE_VERSION})
unset(PACKAGE_VERSION)
list(GET UHD_LIBRARIES 0 FIRST_DIR)
get_filename_component(UHD_LIBRARIES_DIR ${FIRST_DIR} DIRECTORY)
if(EXISTS ${UHD_LIBRARIES_DIR}/cmake/uhd/UHDConfigVersion.cmake)
@ -89,6 +96,21 @@ if(NOT PC_UHD_VERSION)
if(PACKAGE_VERSION)
set(UHD_VERSION ${PACKAGE_VERSION})
endif()
set(PACKAGE_VERSION ${OLD_PACKAGE_VERSION})
endif()
set_package_properties(UHD PROPERTIES
URL "https://www.ettus.com/sdr-software/detail/usrp-hardware-driver"
)
if(UHD_FOUND AND UHD_VERSION)
set_package_properties(UHD PROPERTIES
DESCRIPTION "USRP Hardware Driver (found: v${UHD_VERSION})"
)
else()
set_package_properties(UHD PROPERTIES
DESCRIPTION "USRP Hardware Driver"
)
endif()
if(UHD_FOUND AND NOT TARGET Uhd::uhd)

21
cmake/Modules/FindVOLK.cmake
View File

@ -23,7 +23,11 @@
########################################################################
# Find VOLK (Vector-Optimized Library of Kernels)
########################################################################
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_VOLK volk QUIET)
@ -84,6 +88,8 @@ if(PC_VOLK_VERSION)
endif()
if(NOT VOLK_VERSION)
set(OLD_PACKAGE_VERSION ${PACKAGE_VERSION})
unset(PACKAGE_VERSION)
list(GET VOLK_LIBRARIES 0 FIRST_DIR)
get_filename_component(VOLK_LIB_DIR ${FIRST_DIR} DIRECTORY)
if(EXISTS ${VOLK_LIB_DIR}/cmake/volk/VolkConfigVersion.cmake)
@ -92,6 +98,21 @@ if(NOT VOLK_VERSION)
if(PACKAGE_VERSION)
set(VOLK_VERSION ${PACKAGE_VERSION})
endif()
set(PACKAGE_VERSION ${OLD_PACKAGE_VERSION})
endif()
set_package_properties(VOLK PROPERTIES
URL "http://libvolk.org"
)
if(VOLK_FOUND AND VOLK_VERSION)
set_package_properties(VOLK PROPERTIES
DESCRIPTION "Vector-Optimized Library of Kernels (found: v${VOLK_VERSION})"
)
else()
set_package_properties(VOLK PROPERTIES
DESCRIPTION "Vector-Optimized Library of Kernels"
)
endif()
mark_as_advanced(VOLK_LIBRARIES VOLK_INCLUDE_DIRS VOLK_VERSION)

17
cmake/Modules/FindVOLKGNSSSDR.cmake
View File

@ -24,7 +24,11 @@
########################################################################
# Find VOLK (Vector-Optimized Library of Kernels) GNSS-SDR library
########################################################################
if(NOT COMMAND feature_summary)
include(FeatureSummary)
endif()
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
include(FindPkgConfig)
pkg_check_modules(PC_VOLK_GNSSSDR volk_gnsssdr)
@ -58,6 +62,19 @@ include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(VOLKGNSSSDR DEFAULT_MSG VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
mark_as_advanced(VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
if(PC_VOLK_GNSSSDR_VERSION)
set(VOLKGNSSSDR_VERSION ${PC_VOLK_GNSSSDR_VERSION})
endif()
if(VOLKGNSSSDR_FOUND AND VOLKGNSSSDR_VERSION)
set_package_properties(VOLKGNSSSDR PROPERTIES
DESCRIPTION "Vector-Optimized Library of Kernels for GNSS-SDR (found: v${VOLKGNSSSDR_VERSION})."
)
else()
set_package_properties(VOLKGNSSSDR PROPERTIES
DESCRIPTION "Vector-Optimized Library of Kernels for GNSS-SDR."
)
endif()
if(VOLKGNSSSDR_FOUND AND NOT TARGET Volkgnsssdr::volkgnsssdr)
add_library(Volkgnsssdr::volkgnsssdr SHARED IMPORTED)

55
cmake/Modules/TestForSSE.cmake
View File

@ -1,55 +0,0 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
# GNSS-SDR is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# GNSS-SDR is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
###############################################################################
# Test for availability of SSE
#
# - Anthony Arnold
###############################################################################
function(test_for_sse h_file result_var name)
if(NOT DEFINED ${result_var})
execute_process(COMMAND echo "#include <${h_file}>"
COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -c -x c++ -
RESULT_VARIABLE COMPILE_RESULT
OUTPUT_QUIET ERROR_QUIET)
set(detected 0)
if(COMPILE_RESULT EQUAL 0)
message(STATUS "Detected ${name}")
set(detected 1)
endif()
set(${result_var} ${detected} CACHE INTERNAL "${name} Available")
endif()
endfunction()
message(STATUS "Testing for SIMD extensions")
enable_language(C)
test_for_sse("ammintrin.h" SSE4A_AVAILABLE "SSE4A")
test_for_sse("nmmintrin.h" SSE4_2_AVAILABLE "SSE4.2")
test_for_sse("smmintrin.h" SSE4_1_AVAILABLE "SSE4.1")
test_for_sse("tmmintrin.h" SSSE3_AVAILABLE "SSSE3")
test_for_sse("pmmintrin.h" SSE3_AVAILABLE "SSE3")
test_for_sse("emmintrin.h" SSE2_AVAILABLE "SSE2")
test_for_sse("xmmintrin.h" SSE_AVAILABLE "SSE1")
test_for_sse("mmintrin.h" MMX_AVAILABLE "MMX")
test_for_sse("wmmintrin.h" AES_AVAILABLE "AES")
test_for_sse("immintrin.h" AVX_AVAILABLE "AVX")
file(REMOVE "${CMAKE_CURRENT_BINARY_DIR}/-.o")

1
docs/changelog
View File

@ -56,6 +56,7 @@
### Improvements in Reliability
- Included the Guidelines Support Library. General improvement of memory management, replacement of raw pointers by containers or smart pointers.
- Applied clang-tidy checks and fixes related to High Integrity C++: performance-move-const-arg, modernize-use-auto, modernize-use-equals-default, modernize-use-equals-delete, modernize-use-noexcept, modernize-use-nullptr, cert-dcl21-cpp, misc-new-delete-overloads, cert-dcl58-cpp, cert-err52-cpp, cert-err60-cpp.

102
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
View File

@ -77,6 +77,57 @@ rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
*/
class rtklib_pvt_gs : public gr::sync_block
{
public:
~rtklib_pvt_gs(); //!< Default destructor
/*!
* \brief Get latest set of GPS ephemeris from PVT block
*/
std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
/*!
* \brief Get latest set of GPS almanac from PVT block
*/
std::map<int, Gps_Almanac> get_gps_almanac_map() const;
/*!
* \brief Get latest set of Galileo ephemeris from PVT block
*/
std::map<int, Galileo_Ephemeris> get_galileo_ephemeris_map() const;
/*!
* \brief Get latest set of Galileo almanac from PVT block
*/
std::map<int, Galileo_Almanac> get_galileo_almanac_map() const;
/*!
* \brief Get latest set of BeiDou DNAV ephemeris from PVT block
*/
std::map<int, Beidou_Dnav_Ephemeris> get_beidou_dnav_ephemeris_map() const;
/*!
* \brief Get latest set of BeiDou DNAV almanac from PVT block
*/
std::map<int, Beidou_Dnav_Almanac> get_beidou_dnav_almanac_map() const;
/*!
* \brief Clear all ephemeris information and the almanacs for GPS and Galileo
*/
void clear_ephemeris();
/*!
* \brief Get the latest Position WGS84 [deg], Ground Velocity, Course over Ground, and UTC Time, if available
*/
bool get_latest_PVT(double* longitude_deg,
double* latitude_deg,
double* height_m,
double* ground_speed_kmh,
double* course_over_ground_deg,
time_t* UTC_time) const;
int work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items); //!< PVT Signal Processing
private:
friend rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
@ -169,57 +220,6 @@ private:
bool d_show_local_time_zone;
std::string d_local_time_str;
boost::posix_time::time_duration d_utc_diff_time;
public:
~rtklib_pvt_gs(); //!< Default destructor
/*!
* \brief Get latest set of GPS ephemeris from PVT block
*/
std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
/*!
* \brief Get latest set of GPS almanac from PVT block
*/
std::map<int, Gps_Almanac> get_gps_almanac_map() const;
/*!
* \brief Get latest set of Galileo ephemeris from PVT block
*/
std::map<int, Galileo_Ephemeris> get_galileo_ephemeris_map() const;
/*!
* \brief Get latest set of Galileo almanac from PVT block
*/
std::map<int, Galileo_Almanac> get_galileo_almanac_map() const;
/*!
* \brief Get latest set of BeiDou DNAV ephemeris from PVT block
*/
std::map<int, Beidou_Dnav_Ephemeris> get_beidou_dnav_ephemeris_map() const;
/*!
* \brief Get latest set of BeiDou DNAV almanac from PVT block
*/
std::map<int, Beidou_Dnav_Almanac> get_beidou_dnav_almanac_map() const;
/*!
* \brief Clear all ephemeris information and the almanacs for GPS and Galileo
*/
void clear_ephemeris();
/*!
* \brief Get the latest Position WGS84 [deg], Ground Velocity, Course over Ground, and UTC Time, if available
*/
bool get_latest_PVT(double* longitude_deg,
double* latitude_deg,
double* height_m,
double* ground_speed_kmh,
double* course_over_ground_deg,
time_t* UTC_time) const;
int work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items); //!< PVT Signal Processing
};
#endif

12
src/algorithms/PVT/libs/geojson_printer.h
View File

@ -47,18 +47,18 @@ class Pvt_Solution;
*/
class GeoJSON_Printer
{
private:
std::ofstream geojson_file;
bool first_pos;
std::string filename_;
std::string geojson_base_path;
public:
GeoJSON_Printer(const std::string& base_path = ".");
~GeoJSON_Printer();
bool set_headers(const std::string& filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values);
bool close_file();
private:
std::ofstream geojson_file;
bool first_pos;
std::string filename_;
std::string geojson_base_path;
};
#endif

14
src/algorithms/PVT/libs/gpx_printer.h
View File

@ -47,19 +47,19 @@ class Rtklib_Solver;
*/
class Gpx_Printer
{
private:
std::ofstream gpx_file;
bool positions_printed;
std::string gpx_filename;
std::string indent;
std::string gpx_base_path;
public:
Gpx_Printer(const std::string& base_path = ".");
~Gpx_Printer();
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 close_file();
private:
std::ofstream gpx_file;
bool positions_printed;
std::string gpx_filename;
std::string indent;
std::string gpx_base_path;
};
#endif

16
src/algorithms/PVT/libs/hybrid_ls_pvt.h
View File

@ -48,14 +48,6 @@
*/
class Hybrid_Ls_Pvt : public Ls_Pvt
{
private:
int count_valid_position;
bool d_flag_dump_enabled;
std::string d_dump_filename;
std::ofstream d_dump_file;
int d_nchannels; // Number of available channels for positioning
double d_galileo_current_time;
public:
Hybrid_Ls_Pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file);
~Hybrid_Ls_Pvt();
@ -75,6 +67,14 @@ public:
Gps_CNAV_Iono gps_cnav_iono;
Gps_CNAV_Utc_Model gps_cnav_utc_model;
private:
int count_valid_position;
bool d_flag_dump_enabled;
std::string d_dump_filename;
std::ofstream d_dump_file;
int d_nchannels; // Number of available channels for positioning
double d_galileo_current_time;
};
#endif

14
src/algorithms/PVT/libs/kml_printer.h
View File

@ -46,6 +46,13 @@ class Rtklib_Solver;
*/
class Kml_Printer
{
public:
Kml_Printer(const std::string& base_path = std::string("."));
~Kml_Printer();
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 close_file();
private:
std::ofstream kml_file;
std::ofstream tmp_file;
@ -55,13 +62,6 @@ private:
std::string tmp_file_str;
unsigned int point_id;
std::string indent;
public:
Kml_Printer(const std::string& base_path = std::string("."));
~Kml_Printer();
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 close_file();
};
#endif

12
src/algorithms/PVT/libs/ls_pvt.h
View File

@ -41,12 +41,6 @@
*/
class Ls_Pvt : public Pvt_Solution
{
private:
/*!
* \brief Computes the Lorentz inner product between two vectors
*/
double lorentz(const arma::vec& x, const arma::vec& y);
public:
Ls_Pvt();
@ -59,6 +53,12 @@ public:
* \brief Computes the Weighted Least Squares position solution
*/
arma::vec leastSquarePos(const arma::mat& satpos, const arma::vec& obs, const arma::vec& w_vec);
private:
/*!
* \brief Computes the Lorentz inner product between two vectors
*/
double lorentz(const arma::vec& x, const arma::vec& y);
};
#endif

2
src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc
View File

@ -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_context}
Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_context}
{
for (const auto& address : addresses)
{

2
src/algorithms/PVT/libs/monitor_pvt_udp_sink.h
View File

@ -45,7 +45,7 @@ using b_io_context = boost::asio::io_service;
class Monitor_Pvt_Udp_Sink
{
public:
Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t &port, bool protobuf_enabled);
Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t &port, bool protobuf_enabled);
bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt);
private:

6
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -283,7 +283,7 @@ bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<Rtklib_Solver>& pvt_dat
}
char Nmea_Printer::checkSum(std::string sentence)
char Nmea_Printer::checkSum(const std::string& sentence)
{
char check = 0;
// iterate over the string, XOR each byte with the total sum:
@ -441,7 +441,7 @@ std::string Nmea_Printer::get_GPGSA()
// GSA-GNSS DOP and Active Satellites
std::stringstream sentence_str;
unsigned char buff[1024] = {0};
outnmea_gsa(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat);
outnmea_gsa(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat.data());
sentence_str << buff;
return sentence_str.str();
}
@ -454,7 +454,7 @@ std::string Nmea_Printer::get_GPGSV()
// Notice that NMEA 2.1 only supports 12 channels
std::stringstream sentence_str;
unsigned char buff[1024] = {0};
outnmea_gsv(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat);
outnmea_gsv(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat.data());
sentence_str << buff;
return sentence_str.str();
}

2
src/algorithms/PVT/libs/nmea_printer.h
View File

@ -83,7 +83,7 @@ private:
std::string get_UTC_NMEA_time(boost::posix_time::ptime d_position_UTC_time);
std::string longitude_to_hm(double longitude);
std::string latitude_to_hm(double lat);
char checkSum(std::string sentence);
char checkSum(const std::string& sentence);
bool print_avg_pos;
bool d_flag_nmea_output_file;
};

125
src/algorithms/PVT/libs/pvt_solution.h
View File

@ -44,32 +44,6 @@
*/
class Pvt_Solution
{
private:
double d_rx_dt_s; // RX time offset [s]
double d_latitude_d; // RX position Latitude WGS84 [deg]
double d_longitude_d; // RX position Longitude WGS84 [deg]
double d_height_m; // RX position height WGS84 [m]
double d_speed_over_ground_m_s; // RX speed over ground [m/s]
double d_course_over_ground_d; // RX course over ground [deg]
double d_avg_latitude_d; // Averaged latitude in degrees
double d_avg_longitude_d; // Averaged longitude in degrees
double d_avg_height_m; // Averaged height [m]
bool b_valid_position;
std::deque<double> d_hist_latitude_d;
std::deque<double> d_hist_longitude_d;
std::deque<double> d_hist_height_m;
bool d_flag_averaging;
int d_averaging_depth; // Length of averaging window
arma::vec d_rx_pos;
boost::posix_time::ptime d_position_UTC_time;
int d_valid_observations;
public:
Pvt_Solution();
@ -111,46 +85,73 @@ public:
arma::vec rotateSatellite(double traveltime, const arma::vec &X_sat);
/*!
* \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
* coordinates (d_latitude_d, d_longitude_d, d_height_m) on a selected reference ellipsoid.
*
* \param[in] X [m] Cartesian coordinate
* \param[in] Y [m] Cartesian coordinate
* \param[in] Z [m] Cartesian coordinate
* \param[in] elipsoid_selection. Choices of Reference Ellipsoid for Geographical Coordinates:
* 0 - International Ellipsoid 1924.
* 1 - International Ellipsoid 1967.
* 2 - World Geodetic System 1972.
* 3 - Geodetic Reference System 1980.
* 4 - World Geodetic System 1984.
*
*/
* \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
* coordinates (d_latitude_d, d_longitude_d, d_height_m) on a selected reference ellipsoid.
*
* \param[in] X [m] Cartesian coordinate
* \param[in] Y [m] Cartesian coordinate
* \param[in] Z [m] Cartesian coordinate
* \param[in] elipsoid_selection. Choices of Reference Ellipsoid for Geographical Coordinates:
* 0 - International Ellipsoid 1924.
* 1 - International Ellipsoid 1967.
* 2 - World Geodetic System 1972.
* 3 - Geodetic Reference System 1980.
* 4 - World Geodetic System 1984.
*
*/
int cart2geo(double X, double Y, double Z, int elipsoid_selection);
/*!
* \brief Tropospheric correction
*
* \param[in] sinel - sin of elevation angle of satellite
* \param[in] hsta_km - height of station in km
* \param[in] p_mb - atmospheric pressure in mb at height hp_km
* \param[in] t_kel - surface temperature in degrees Kelvin at height htkel_km
* \param[in] hum - humidity in % at height hhum_km
* \param[in] hp_km - height of pressure measurement in km
* \param[in] htkel_km - height of temperature measurement in km
* \param[in] hhum_km - height of humidity measurement in km
*
* \param[out] ddr_m - range correction (meters)
*
*
* Reference:
* Goad, C.C. & Goodman, L. (1974) A Modified Hopfield Tropospheric
* Refraction Correction Model. Paper presented at the
* American Geophysical Union Annual Fall Meeting, San
* Francisco, December 12-17
*
* Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre
*/
* \brief Tropospheric correction
*
* \param[in] sinel - sin of elevation angle of satellite
* \param[in] hsta_km - height of station in km
* \param[in] p_mb - atmospheric pressure in mb at height hp_km
* \param[in] t_kel - surface temperature in degrees Kelvin at height htkel_km
* \param[in] hum - humidity in % at height hhum_km
* \param[in] hp_km - height of pressure measurement in km
* \param[in] htkel_km - height of temperature measurement in km
* \param[in] hhum_km - height of humidity measurement in km
*
* \param[out] ddr_m - range correction (meters)
*
*
* Reference:
* Goad, C.C. & Goodman, L. (1974) A Modified Hopfield Tropospheric
* Refraction Correction Model. Paper presented at the
* American Geophysical Union Annual Fall Meeting, San
* Francisco, December 12-17
*
* Translated to C++ by Carles Fernandez from a Matlab implementation by Kai Borre
*/
int tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km);
private:
double d_rx_dt_s; // RX time offset [s]
double d_latitude_d; // RX position Latitude WGS84 [deg]
double d_longitude_d; // RX position Longitude WGS84 [deg]
double d_height_m; // RX position height WGS84 [m]
double d_speed_over_ground_m_s; // RX speed over ground [m/s]
double d_course_over_ground_d; // RX course over ground [deg]
double d_avg_latitude_d; // Averaged latitude in degrees
double d_avg_longitude_d; // Averaged longitude in degrees
double d_avg_height_m; // Averaged height [m]
bool b_valid_position;
std::deque<double> d_hist_latitude_d;
std::deque<double> d_hist_longitude_d;
std::deque<double> d_hist_height_m;
bool d_flag_averaging;
int d_averaging_depth; // Length of averaging window
arma::vec d_rx_pos;
boost::posix_time::ptime d_position_UTC_time;
int d_valid_observations;
};
#endif

28
src/algorithms/PVT/libs/rtcm.cc
View File

@ -140,7 +140,7 @@ bool Rtcm::is_server_running() const
std::string Rtcm::add_CRC(const std::string& message_without_crc) const
{
// ****** Computes Qualcomm CRC-24Q ******
boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_RTCM;
boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false> CRC_RTCM;
// 1) Converts the string to a vector of uint8_t:
boost::dynamic_bitset<uint8_t> frame_bits(message_without_crc);
std::vector<uint8_t> bytes;
@ -159,7 +159,7 @@ std::string Rtcm::add_CRC(const std::string& message_without_crc) const
bool Rtcm::check_CRC(const std::string& message) const
{
boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_RTCM_CHECK;
boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false> CRC_RTCM_CHECK;
// Convert message to binary
std::string message_bin = Rtcm::binary_data_to_bin(message);
// Check CRC
@ -2419,7 +2419,7 @@ std::string Rtcm::get_MSM_1_content_sat_data(const std::map<int32_t, Gnss_Synchr
if (it == pos.end())
{
pos.push_back(65 - gnss_synchro_iter->second.PRN);
observables_vector.push_back(*gnss_synchro_iter);
observables_vector.emplace_back(*gnss_synchro_iter);
}
}
@ -2448,7 +2448,7 @@ std::string Rtcm::get_MSM_1_content_signal_data(const std::map<int32_t, Gnss_Syn
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -2556,7 +2556,7 @@ std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -2670,7 +2670,7 @@ std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -2786,7 +2786,7 @@ std::string Rtcm::get_MSM_4_content_sat_data(const std::map<int32_t, Gnss_Synchr
if (it == pos.end())
{
pos.push_back(65 - gnss_synchro_iter->second.PRN);
observables_vector.push_back(*gnss_synchro_iter);
observables_vector.emplace_back(*gnss_synchro_iter);
}
}
@ -2827,7 +2827,7 @@ std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -2947,7 +2947,7 @@ std::string Rtcm::get_MSM_5_content_sat_data(const std::map<int32_t, Gnss_Synchr
if (it == pos.end())
{
pos.push_back(65 - gnss_synchro_iter->second.PRN);
observables_vector.push_back(*gnss_synchro_iter);
observables_vector.emplace_back(*gnss_synchro_iter);
}
}
@ -2993,7 +2993,7 @@ std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -3114,7 +3114,7 @@ std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -3234,7 +3234,7 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV,
map_iter != observables.cend();
map_iter++)
{
observables_vector.push_back(*map_iter);
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
@ -3685,7 +3685,7 @@ uint32_t Rtcm::msm_extended_lock_time_indicator(uint32_t lock_time_period_s)
if( 16777216 <= lock_time_period_s && lock_time_period_s < 33554432 ) return (640 + (lock_time_period_s - 16777216) / 524288 );
if( 33554432 <= lock_time_period_s && lock_time_period_s < 67108864 ) return (672 + (lock_time_period_s - 33554432) / 1048576);
if( 67108864 <= lock_time_period_s ) return (704 );
return 1023; // will never happen
return 1023; // will never happen
}
// clang-format on
@ -5330,7 +5330,7 @@ int32_t Rtcm::set_DF398(const Gnss_Synchro& gnss_synchro)
}
else
{
rr_mod_ms = static_cast<uint32_t>(std::floor(rough_range_m / meters_to_miliseconds / TWO_N10) + 0.5) & 0x3FFu;
rr_mod_ms = static_cast<uint32_t>(std::floor(rough_range_m / meters_to_miliseconds / TWO_N10) + 0.5) & 0x3FFU;
}
DF398 = std::bitset<10>(rr_mod_ms);
return 0;

190
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -64,6 +64,7 @@
#include <matio.h>
#include <exception>
#include <utility>
#include <vector>
Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk)
@ -172,34 +173,34 @@ bool Rtklib_Solver::save_matfile()
return false;
}
auto *TOW_at_current_symbol_ms = new uint32_t[num_epoch];
auto *week = new uint32_t[num_epoch];
auto *RX_time = new double[num_epoch];
auto *user_clk_offset = new double[num_epoch];
auto *pos_x = new double[num_epoch];
auto *pos_y = new double[num_epoch];
auto *pos_z = new double[num_epoch];
auto *vel_x = new double[num_epoch];
auto *vel_y = new double[num_epoch];
auto *vel_z = new double[num_epoch];
auto *cov_xx = new double[num_epoch];
auto *cov_yy = new double[num_epoch];
auto *cov_zz = new double[num_epoch];
auto *cov_xy = new double[num_epoch];
auto *cov_yz = new double[num_epoch];
auto *cov_zx = new double[num_epoch];
auto *latitude = new double[num_epoch];
auto *longitude = new double[num_epoch];
auto *height = new double[num_epoch];
auto *valid_sats = new uint8_t[num_epoch];
auto *solution_status = new uint8_t[num_epoch];
auto *solution_type = new uint8_t[num_epoch];
auto *AR_ratio_factor = new float[num_epoch];
auto *AR_ratio_threshold = new float[num_epoch];
auto *gdop = new double[num_epoch];
auto *pdop = new double[num_epoch];
auto *hdop = new double[num_epoch];
auto *vdop = new double[num_epoch];
auto TOW_at_current_symbol_ms = std::vector<uint32_t>(num_epoch);
auto week = std::vector<uint32_t>(num_epoch);
auto RX_time = std::vector<double>(num_epoch);
auto user_clk_offset = std::vector<double>(num_epoch);
auto pos_x = std::vector<double>(num_epoch);
auto pos_y = std::vector<double>(num_epoch);
auto pos_z = std::vector<double>(num_epoch);
auto vel_x = std::vector<double>(num_epoch);
auto vel_y = std::vector<double>(num_epoch);
auto vel_z = std::vector<double>(num_epoch);
auto cov_xx = std::vector<double>(num_epoch);
auto cov_yy = std::vector<double>(num_epoch);
auto cov_zz = std::vector<double>(num_epoch);
auto cov_xy = std::vector<double>(num_epoch);
auto cov_yz = std::vector<double>(num_epoch);
auto cov_zx = std::vector<double>(num_epoch);
auto latitude = std::vector<double>(num_epoch);
auto longitude = std::vector<double>(num_epoch);
auto height = std::vector<double>(num_epoch);
auto valid_sats = std::vector<uint8_t>(num_epoch);
auto solution_status = std::vector<uint8_t>(num_epoch);
auto solution_type = std::vector<uint8_t>(num_epoch);
auto AR_ratio_factor = std::vector<float>(num_epoch);
auto AR_ratio_threshold = std::vector<float>(num_epoch);
auto gdop = std::vector<double>(num_epoch);
auto pdop = std::vector<double>(num_epoch);
auto hdop = std::vector<double>(num_epoch);
auto vdop = std::vector<double>(num_epoch);
try
{
@ -242,35 +243,6 @@ bool Rtklib_Solver::save_matfile()
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
delete[] TOW_at_current_symbol_ms;
delete[] week;
delete[] RX_time;
delete[] user_clk_offset;
delete[] pos_x;
delete[] pos_y;
delete[] pos_z;
delete[] vel_x;
delete[] vel_y;
delete[] vel_z;
delete[] cov_xx;
delete[] cov_yy;
delete[] cov_zz;
delete[] cov_xy;
delete[] cov_yz;
delete[] cov_zx;
delete[] latitude;
delete[] longitude;
delete[] height;
delete[] valid_sats;
delete[] solution_status;
delete[] solution_type;
delete[] AR_ratio_factor;
delete[] AR_ratio_threshold;
delete[] gdop;
delete[] pdop;
delete[] hdop;
delete[] vdop;
return false;
}
@ -284,149 +256,120 @@ bool Rtklib_Solver::save_matfile()
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("TOW_at_current_symbol_ms", MAT_C_UINT32, MAT_T_UINT32, 2, dims, TOW_at_current_symbol_ms, 0);
matvar = Mat_VarCreate("TOW_at_current_symbol_ms", MAT_C_UINT32, MAT_T_UINT32, 2, dims, TOW_at_current_symbol_ms.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("week", MAT_C_UINT32, MAT_T_UINT32, 2, dims, week, 0);
matvar = Mat_VarCreate("week", MAT_C_UINT32, MAT_T_UINT32, 2, dims, week.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("RX_time", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, RX_time, 0);
matvar = Mat_VarCreate("RX_time", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, RX_time.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("user_clk_offset", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, user_clk_offset, 0);
matvar = Mat_VarCreate("user_clk_offset", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, user_clk_offset.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pos_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_x, 0);
matvar = Mat_VarCreate("pos_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_x.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pos_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_y, 0);
matvar = Mat_VarCreate("pos_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_y.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pos_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_z, 0);
matvar = Mat_VarCreate("pos_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pos_z.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vel_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_x, 0);
matvar = Mat_VarCreate("vel_x", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_x.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vel_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_y, 0);
matvar = Mat_VarCreate("vel_y", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_y.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vel_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_z, 0);
matvar = Mat_VarCreate("vel_z", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vel_z.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_xx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_xx, 0);
matvar = Mat_VarCreate("cov_xx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_xx.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_yy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_yy, 0);
matvar = Mat_VarCreate("cov_yy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_yy.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_zz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_zz, 0);
matvar = Mat_VarCreate("cov_zz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_zz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_xy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_xy, 0);
matvar = Mat_VarCreate("cov_xy", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_xy.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_yz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_yz, 0);
matvar = Mat_VarCreate("cov_yz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_yz.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("cov_zx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_zx, 0);
matvar = Mat_VarCreate("cov_zx", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, cov_zx.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("latitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, latitude, 0);
matvar = Mat_VarCreate("latitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, latitude.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("longitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, longitude, 0);
matvar = Mat_VarCreate("longitude", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, longitude.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("height", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, height, 0);
matvar = Mat_VarCreate("height", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, height.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("valid_sats", MAT_C_UINT8, MAT_T_UINT8, 2, dims, valid_sats, 0);
matvar = Mat_VarCreate("valid_sats", MAT_C_UINT8, MAT_T_UINT8, 2, dims, valid_sats.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("solution_status", MAT_C_UINT8, MAT_T_UINT8, 2, dims, solution_status, 0);
matvar = Mat_VarCreate("solution_status", MAT_C_UINT8, MAT_T_UINT8, 2, dims, solution_status.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("solution_type", MAT_C_UINT8, MAT_T_UINT8, 2, dims, solution_type, 0);
matvar = Mat_VarCreate("solution_type", MAT_C_UINT8, MAT_T_UINT8, 2, dims, solution_type.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("AR_ratio_factor", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, AR_ratio_factor, 0);
matvar = Mat_VarCreate("AR_ratio_factor", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, AR_ratio_factor.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("AR_ratio_threshold", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, AR_ratio_threshold, 0);
matvar = Mat_VarCreate("AR_ratio_threshold", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, AR_ratio_threshold.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("gdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, gdop, 0);
matvar = Mat_VarCreate("gdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, gdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("pdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pdop, 0);
matvar = Mat_VarCreate("pdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, pdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("hdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, hdop, 0);
matvar = Mat_VarCreate("hdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, hdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("vdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vdop, 0);
matvar = Mat_VarCreate("vdop", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, vdop.data(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
delete[] TOW_at_current_symbol_ms;
delete[] week;
delete[] RX_time;
delete[] user_clk_offset;
delete[] pos_x;
delete[] pos_y;
delete[] pos_z;
delete[] vel_x;
delete[] vel_y;
delete[] vel_z;
delete[] cov_xx;
delete[] cov_yy;
delete[] cov_zz;
delete[] cov_xy;
delete[] cov_yz;
delete[] cov_zx;
delete[] latitude;
delete[] longitude;
delete[] height;
delete[] valid_sats;
delete[] solution_status;
delete[] solution_type;
delete[] AR_ratio_factor;
delete[] AR_ratio_threshold;
delete[] gdop;
delete[] pdop;
delete[] hdop;
delete[] vdop;
return true;
}
@ -507,9 +450,9 @@ 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
obsd_t obs_data[MAXOBS];
eph_t eph_data[MAXOBS];
geph_t geph_data[MAXOBS];
std::array<obsd_t, MAXOBS> obs_data;
std::array<eph_t, MAXOBS> eph_data;
std::array<geph_t, MAXOBS> geph_data;
// Workaround for NAV/CNAV clash problem
bool gps_dual_band = false;
@ -894,8 +837,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
int result = 0;
int sat = 0;
nav_t nav_data;
nav_data.eph = eph_data;
nav_data.geph = geph_data;
nav_data.eph = eph_data.data();
nav_data.geph = geph_data.data();
nav_data.n = valid_obs;
nav_data.ng = glo_valid_obs;
@ -915,7 +858,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
}
result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
result = rtkpos(&rtk_, obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
if (result == 0)
{
@ -976,7 +919,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
//compute Ground speed and COG
// compute Ground speed and COG
double ground_speed_ms = 0.0;
double pos[3];
double enuv[3];
@ -1015,9 +958,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
<< " [deg], Height= " << this->get_height() << " [m]"
<< " RX time offset= " << this->get_time_offset_s() << " [s]";
// PVT MONITOR
// ######## PVT MONITOR #########
// TOW
monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
// WEEK
@ -1067,7 +1008,6 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
monitor_pvt.hdop = dop_[2];
monitor_pvt.vdop = dop_[3];
// ######## LOG FILE #########
if (d_flag_dump_enabled == true)
{

27
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -84,22 +84,10 @@
/*!
* \brief This class implements a simple PVT Least Squares solution
* \brief This class implements a PVT solution based on RTKLIB
*/
class Rtklib_Solver : public Pvt_Solution
{
private:
rtk_t rtk_;
std::string d_dump_filename;
std::ofstream d_dump_file;
bool save_matfile();
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
int d_nchannels; // Number of available channels for positioning
std::array<double, 4> dop_;
Monitor_Pvt monitor_pvt;
public:
Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t& rtk);
~Rtklib_Solver();
@ -107,7 +95,7 @@ public:
bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
sol_t pvt_sol;
ssat_t pvt_ssat[MAXSAT];
std::array<ssat_t, MAXSAT> pvt_ssat;
double get_hdop() const;
double get_vdop() const;
double get_pdop() const;
@ -139,6 +127,17 @@ public:
std::map<int, Beidou_Dnav_Almanac> beidou_dnav_almanac_map;
int count_valid_position;
private:
rtk_t rtk_;
std::string d_dump_filename;
std::ofstream d_dump_file;
bool save_matfile();
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
int d_nchannels; // Number of available channels for positioning
std::array<double, 4> dop_;
Monitor_Pvt monitor_pvt;
};
#endif

2
src/algorithms/PVT/libs/serdes_monitor_pvt.h
View File

@ -50,6 +50,7 @@ public:
GOOGLE_PROTOBUF_VERIFY_VERSION;
monitor_.New();
}
~Serdes_Monitor_Pvt()
{
// google::protobuf::ShutdownProtobufLibrary();
@ -94,7 +95,6 @@ public:
return data;
}
inline Monitor_Pvt readProtobuffer(const gnss_sdr::MonitorPvt& mon) //!< Deserialization
{
Monitor_Pvt monitor;

25
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
View File

@ -39,6 +39,8 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
#include <memory>
BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
@ -90,7 +92,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
vector_length_ *= 2;
}
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -123,7 +125,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -135,10 +137,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
}
BeidouB1iPcpsAcquisition::~BeidouB1iPcpsAcquisition()
{
delete[] code_;
}
BeidouB1iPcpsAcquisition::~BeidouB1iPcpsAcquisition() = default;
void BeidouB1iPcpsAcquisition::stop_acquisition()
@ -204,18 +203,17 @@ void BeidouB1iPcpsAcquisition::init()
void BeidouB1iPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
beidou_b1i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
beidou_b1i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
for (uint32_t i = 0; i < sampled_ms_; i++)
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}
@ -331,6 +329,7 @@ gr::basic_block_sptr BeidouB1iPcpsAcquisition::get_right_block()
return acquisition_;
}
void BeidouB1iPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);

11
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
View File

@ -42,7 +42,9 @@
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -100,15 +102,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -159,7 +160,6 @@ public:
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
@ -183,12 +183,11 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
uint32_t in_streams_;
uint32_t out_streams_;
float calculate_threshold(float pfa);
};

28
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
View File

@ -37,7 +37,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
using google::LogMessage;
@ -66,7 +66,10 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
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_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_;
@ -88,7 +91,7 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
vector_length_ *= 2;
}
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -121,7 +124,7 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -133,16 +136,14 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
}
BeidouB3iPcpsAcquisition::~BeidouB3iPcpsAcquisition()
{
delete[] code_;
}
BeidouB3iPcpsAcquisition::~BeidouB3iPcpsAcquisition() = default;
void BeidouB3iPcpsAcquisition::stop_acquisition()
{
}
void BeidouB3iPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
@ -201,18 +202,17 @@ void BeidouB3iPcpsAcquisition::init()
void BeidouB3iPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
beidou_b3i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
beidou_b3i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

11
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h
View File

@ -41,7 +41,9 @@
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -99,15 +101,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -158,7 +159,6 @@ public:
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
@ -182,12 +182,11 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

25
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
View File

@ -36,6 +36,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
@ -86,7 +87,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
int samples_per_ms = code_length_ / 4;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -110,7 +111,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -122,10 +123,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
}
GalileoE1Pcps8msAmbiguousAcquisition::~GalileoE1Pcps8msAmbiguousAcquisition()
{
delete[] code_;
}
GalileoE1Pcps8msAmbiguousAcquisition::~GalileoE1Pcps8msAmbiguousAcquisition() = default;
void GalileoE1Pcps8msAmbiguousAcquisition::stop_acquisition()
@ -216,20 +214,20 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_cc_->set_local_code(code_);
delete[] code;
acquisition_cc_->set_local_code(code_.data());
}
}
@ -242,6 +240,7 @@ void GalileoE1Pcps8msAmbiguousAcquisition::reset()
}
}
float GalileoE1Pcps8msAmbiguousAcquisition::calculate_threshold(float pfa)
{
unsigned int frequency_bins = 0;

4
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
View File

@ -36,7 +36,9 @@
#include "galileo_pcps_8ms_acquisition_cc.h"
#include "gnss_synchro.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -165,7 +167,7 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

33
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -37,6 +37,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
@ -126,7 +127,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
vector_length_ *= 2;
}
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -154,7 +155,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -166,16 +167,14 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
}
GalileoE1PcpsAmbiguousAcquisition::~GalileoE1PcpsAmbiguousAcquisition()
{
delete[] code_;
}
GalileoE1PcpsAmbiguousAcquisition::~GalileoE1PcpsAmbiguousAcquisition() = default;
void GalileoE1PcpsAmbiguousAcquisition::stop_acquisition()
{
}
void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
@ -242,45 +241,47 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
gsl::span<std::complex<float>> code_span(code.get(), code_length_);
if (acquire_pilot_ == true)
{
//set local signal generator to Galileo E1 pilot component (1C)
char pilot_signal[3] = "1C";
std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
if (acq_parameters_.use_automatic_resampler)
{
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
galileo_e1_code_gen_complex_sampled(code_span, pilot_signal,
cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
}
else
{
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
galileo_e1_code_gen_complex_sampled(code_span, pilot_signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
}
}
else
{
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
if (acq_parameters_.use_automatic_resampler)
{
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
galileo_e1_code_gen_complex_sampled(code_span, Signal_,
cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
}
else
{
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
galileo_e1_code_gen_complex_sampled(code_span, Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
}
}
gsl::span<gr_complex> code__span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{
memcpy(&(code_[i * code_length_]), code, sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code__span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

11
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
View File

@ -39,7 +39,9 @@
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -98,13 +100,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -153,10 +156,8 @@ public:
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
Acq_Conf acq_parameters_;
@ -181,7 +182,7 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

38
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
View File

@ -40,9 +40,9 @@
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
@ -108,11 +108,12 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// compute all the GALILEO E1 PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
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 fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true)); // Direct FFT
std::vector<std::complex<float>> code(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()));
d_all_fft_codes_ = new uint32_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
d_all_fft_codes_ = std::vector<uint32_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
int32_t tmp, tmp2, local_code, fft_data;
for (uint32_t PRN = 1; PRN <= GALILEO_E1_NUMBER_OF_CODES; PRN++)
@ -122,14 +123,14 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
if (acquire_pilot_ == true)
{
//set local signal generator to Galileo E1 pilot component (1C)
char pilot_signal[3] = "1C";
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), pilot_signal,
cboc, PRN, fs_in, 0, false);
}
else
{
char data_signal[3] = "1B";
galileo_e1_code_gen_complex_sampled(code, data_signal,
std::array<char, 3> data_signal = {{'1', 'B', '\0'}};
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), data_signal,
cboc, PRN, fs_in, 0, false);
}
@ -144,7 +145,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
@ -173,7 +174,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
}
}
acq_parameters.all_fft_codes = d_all_fft_codes_;
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
@ -188,17 +189,12 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
doppler_step_ = 0;
gnss_synchro_ = nullptr;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
// temporary buffers that we can release
volk_gnsssdr_free(fft_codes_padded);
}
GalileoE1PcpsAmbiguousAcquisitionFpga::~GalileoE1PcpsAmbiguousAcquisitionFpga()
{
delete[] d_all_fft_codes_;
}
GalileoE1PcpsAmbiguousAcquisitionFpga::~GalileoE1PcpsAmbiguousAcquisitionFpga() = default;
void GalileoE1PcpsAmbiguousAcquisitionFpga::stop_acquisition()

9
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
View File

@ -37,7 +37,9 @@
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
@ -97,8 +99,8 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
@ -165,8 +167,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
uint32_t* d_all_fft_codes_; // memory that contains all the code ffts
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_ */

26
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
View File

@ -86,8 +86,8 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
int samples_per_ms = code_length_ / 4;
code_data_ = new gr_complex[vector_length_];
code_pilot_ = new gr_complex[vector_length_];
code_data_ = std::vector<std::complex<float>>(vector_length_);
code_pilot_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -111,7 +111,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -123,11 +123,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
}
GalileoE1PcpsCccwsrAmbiguousAcquisition::~GalileoE1PcpsCccwsrAmbiguousAcquisition()
{
delete[] code_data_;
delete[] code_pilot_;
}
GalileoE1PcpsCccwsrAmbiguousAcquisition::~GalileoE1PcpsCccwsrAmbiguousAcquisition() = default;
void GalileoE1PcpsCccwsrAmbiguousAcquisition::stop_acquisition()
@ -168,6 +164,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_doppler_step(unsigned int dopp
}
}
void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro)
{
@ -203,19 +200,17 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
char signal[3];
std::array<char, 3> signal = {{'1', 'B', '\0'}};
strcpy(signal, "1B");
galileo_e1_code_gen_complex_sampled(code_data_, signal,
galileo_e1_code_gen_complex_sampled(gsl::span<gr_complex>(code_data_.data(), vector_length_), signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
strcpy(signal, "1C");
std::array<char, 3> signal_C = {{'1', 'C', '\0'}};
galileo_e1_code_gen_complex_sampled(code_pilot_, signal,
galileo_e1_code_gen_complex_sampled(gsl::span<gr_complex>(code_pilot_.data(), vector_length_), signal_C,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
acquisition_cc_->set_local_code(code_data_, code_pilot_);
acquisition_cc_->set_local_code(code_data_.data(), code_pilot_.data());
}
}
@ -228,6 +223,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::reset()
}
}
void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_state(int state)
{
acquisition_cc_->set_state(state);

12
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
View File

@ -36,7 +36,9 @@
#include "gnss_synchro.h"
#include "pcps_cccwsr_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -94,13 +96,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of CCCWSR algorithm
*/
@ -153,7 +156,6 @@ private:
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
//unsigned int satellite_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
@ -164,8 +166,8 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_data_;
std::complex<float>* code_pilot_;
std::vector<std::complex<float>> code_data_;
std::vector<std::complex<float>> code_pilot_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

28
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
View File

@ -36,6 +36,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition(
@ -114,7 +115,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
dump_filename_ = configuration_->property(role + ".dump_filename",
default_dump_filename);
code_ = new gr_complex[code_length_];
code_ = std::vector<std::complex<float>>(code_length_);
LOG(INFO) << "Vector Length: " << vector_length_
<< ", Samples per ms: " << samples_per_ms
<< ", Folding factor: " << folding_factor_
@ -144,7 +145,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -156,10 +157,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
}
GalileoE1PcpsQuickSyncAmbiguousAcquisition::~GalileoE1PcpsQuickSyncAmbiguousAcquisition()
{
delete[] code_;
}
GalileoE1PcpsQuickSyncAmbiguousAcquisition::~GalileoE1PcpsQuickSyncAmbiguousAcquisition() = default;
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::stop_acquisition()
@ -250,23 +248,20 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < (sampled_ms_ / (folding_factor_ * 4)); i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
// memcpy(code_, code,sizeof(gr_complex)*code_length_);
acquisition_cc_->set_local_code(code_);
delete[] code;
code = nullptr;
acquisition_cc_->set_local_code(code_.data());
}
}
@ -279,6 +274,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
}
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_state(int state)
{
if (item_type_ == "gr_complex")

4
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
View File

@ -36,7 +36,9 @@
#include "gnss_synchro.h"
#include "pcps_quicksync_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -169,7 +171,7 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

26
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
View File

@ -36,6 +36,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
@ -89,7 +90,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
int samples_per_ms = code_length_ / 4;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -114,7 +115,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -126,10 +127,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
}
GalileoE1PcpsTongAmbiguousAcquisition::~GalileoE1PcpsTongAmbiguousAcquisition()
{
delete[] code_;
}
GalileoE1PcpsTongAmbiguousAcquisition::~GalileoE1PcpsTongAmbiguousAcquisition() = default;
void GalileoE1PcpsTongAmbiguousAcquisition::stop_acquisition()
@ -220,20 +218,19 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_local_code()
bool cboc = configuration_->property(
"Acquisition" + std::to_string(channel_) + ".cboc", false);
auto* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
std::array<char, 3> Signal_;
std::memcpy(Signal_.data(), gnss_synchro_->Signal, 3);
galileo_e1_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), Signal_,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_cc_->set_local_code(code_);
delete[] code;
acquisition_cc_->set_local_code(code_.data());
}
}
@ -246,6 +243,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::reset()
}
}
void GalileoE1PcpsTongAmbiguousAcquisition::set_state(int state)
{
acquisition_cc_->set_state(state);

4
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
View File

@ -36,7 +36,9 @@
#include "gnss_synchro.h"
#include "pcps_tong_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -168,7 +170,7 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

47
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
View File

@ -42,6 +42,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
@ -93,8 +94,8 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
vector_length_ = code_length_ * sampled_ms_;
codeI_ = new gr_complex[vector_length_];
codeQ_ = new gr_complex[vector_length_];
codeI_ = std::vector<std::complex<float>>(vector_length_);
codeQ_ = std::vector<std::complex<float>>(vector_length_);
both_signal_components = false;
std::string sig_ = configuration_->property("Channel.signal", std::string("5X"));
@ -119,7 +120,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -131,11 +132,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
}
GalileoE5aNoncoherentIQAcquisitionCaf::~GalileoE5aNoncoherentIQAcquisitionCaf()
{
delete[] codeI_;
delete[] codeQ_;
}
GalileoE5aNoncoherentIQAcquisitionCaf::~GalileoE5aNoncoherentIQAcquisitionCaf() = default;
void GalileoE5aNoncoherentIQAcquisitionCaf::stop_acquisition()
@ -223,55 +220,51 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
{
if (item_type_ == "gr_complex")
{
auto* codeI = new std::complex<float>[code_length_];
auto* codeQ = new std::complex<float>[code_length_];
std::vector<std::complex<float>> codeI(code_length_);
std::vector<std::complex<float>> codeQ(code_length_);
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{
char a[3];
strcpy(a, "5I");
galileo_e5_a_code_gen_complex_sampled(codeI, a,
std::array<char, 3> a = {{'5', 'I', '\0'}};
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(codeI.data(), code_length_), a,
gnss_synchro_->PRN, fs_in_, 0);
strcpy(a, "5Q");
galileo_e5_a_code_gen_complex_sampled(codeQ, a,
std::array<char, 3> b = {{'5', 'Q', '\0'}};
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(codeQ.data(), code_length_), b,
gnss_synchro_->PRN, fs_in_, 0);
}
else
{
galileo_e5_a_code_gen_complex_sampled(codeI, gnss_synchro_->Signal,
std::array<char, 3> signal_type_ = {{'5', 'X', '\0'}};
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(codeI.data(), code_length_), signal_type_,
gnss_synchro_->PRN, fs_in_, 0);
}
// WARNING: 3ms are coherently integrated. Secondary sequence (1,1,1)
// is generated, and modulated in the 'block'.
gsl::span<gr_complex> codeQ_span(codeQ_.data(), vector_length_);
gsl::span<gr_complex> codeI_span(codeI_.data(), vector_length_);
if (Zero_padding == 0) // if no zero_padding
{
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(codeI_[i * code_length_]), codeI,
sizeof(gr_complex) * code_length_);
std::copy_n(codeI.data(), code_length_, codeI_span.subspan(i * code_length_, code_length_).data());
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{
memcpy(&(codeQ_[i * code_length_]), codeQ,
sizeof(gr_complex) * code_length_);
std::copy_n(codeQ.data(), code_length_, codeQ_span.subspan(i * code_length_, code_length_).data());
}
}
}
else
{
// 1ms code + 1ms zero padding
memcpy(&(codeI_[0]), codeI,
sizeof(gr_complex) * code_length_);
std::copy_n(codeI.data(), code_length_, codeI_.data());
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{
memcpy(&(codeQ_[0]), codeQ,
sizeof(gr_complex) * code_length_);
std::copy_n(codeQ.data(), code_length_, codeQ_.data());
}
}
acquisition_cc_->set_local_code(codeI_, codeQ_);
delete[] codeI;
delete[] codeQ;
acquisition_cc_->set_local_code(codeI_.data(), codeQ_.data());
}
}

11
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h
View File

@ -41,7 +41,9 @@
#include "channel_fsm.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf_cc.h"
#include "gnss_synchro.h"
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -95,13 +97,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -171,8 +174,8 @@ private:
std::string dump_filename_;
int Zero_padding;
int CAF_window_hz_;
std::complex<float>* codeI_;
std::complex<float>* codeQ_;
std::vector<std::complex<float>> codeI_;
std::vector<std::complex<float>> codeQ_;
bool both_signal_components;
Gnss_Synchro* gnss_synchro_;
std::string role_;

33
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@ -37,6 +37,7 @@
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
#include <algorithm>
GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
@ -123,7 +124,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
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_;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -152,7 +153,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -164,10 +165,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
}
GalileoE5aPcpsAcquisition::~GalileoE5aPcpsAcquisition()
{
delete[] code_;
}
GalileoE5aPcpsAcquisition::~GalileoE5aPcpsAcquisition() = default;
void GalileoE5aPcpsAcquisition::stop_acquisition()
@ -235,38 +233,39 @@ void GalileoE5aPcpsAcquisition::init()
void GalileoE5aPcpsAcquisition::set_local_code()
{
auto* code = new gr_complex[code_length_];
char signal_[3];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
std::array<char, 3> signal_;
signal_[0] = '5';
signal_[2] = '\0';
if (acq_iq_)
{
strcpy(signal_, "5X");
signal_[1] = 'X';
}
else if (acq_pilot_)
{
strcpy(signal_, "5Q");
signal_[1] = 'Q';
}
else
{
strcpy(signal_, "5I");
signal_[1] = 'I';
}
if (acq_parameters_.use_automatic_resampler)
{
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
galileo_e5_a_code_gen_complex_sampled(gsl::span<gr_complex>(code.get(), code_length_), signal_, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
}
else
{
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
galileo_e5_a_code_gen_complex_sampled(gsl::span<gr_complex>(code.get(), code_length_), signal_, gnss_synchro_->PRN, fs_in_, 0);
}
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(code_ + (i * code_length_), code, sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

25
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
View File

@ -35,7 +35,9 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -86,13 +88,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -143,29 +146,23 @@ public:
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
float calculate_threshold(float pfa);
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
Acq_Conf acq_parameters_;
size_t item_size_;
std::string item_type_;
std::string dump_filename_;
std::string role_;
bool bit_transition_flag_;
bool dump_;
bool acq_pilot_;
bool use_CFAR_;
bool blocking_;
bool acq_iq_;
unsigned int vector_length_;
unsigned int code_length_;
unsigned int channel_;
@ -176,18 +173,10 @@ private:
unsigned int max_dwells_;
unsigned int in_streams_;
unsigned int out_streams_;
int64_t fs_in_;
float threshold_;
/*
std::complex<float>* codeI_;
std::complex<float>* codeQ_;
*/
gr_complex* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
};
#endif /* GALILEO_E5A_PCPS_ACQUISITION_H_ */

39
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@ -40,9 +40,9 @@
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for strcpy, memcpy
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
@ -109,32 +109,34 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
// compute all the GALILEO E5 PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
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 fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true)); // Direct FFT
std::vector<std::complex<float>> code(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()));
d_all_fft_codes_ = new uint32_t[(nsamples_total * GALILEO_E5A_NUMBER_OF_CODES)]; // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = std::vector<uint32_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
int32_t tmp, tmp2, local_code, fft_data;
for (uint32_t PRN = 1; PRN <= GALILEO_E5A_NUMBER_OF_CODES; PRN++)
{
char signal_[3];
std::array<char, 3> signal_;
signal_[0] = '5';
signal_[2] = '\0';
if (acq_iq_)
{
strcpy(signal_, "5X");
signal_[1] = 'X';
}
else if (acq_pilot_)
{
strcpy(signal_, "5Q");
signal_[1] = 'Q';
}
else
{
strcpy(signal_, "5I");
signal_[1] = 'I';
}
galileo_e5_a_code_gen_complex_sampled(code, signal_, PRN, fs_in, 0);
galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), signal_, PRN, fs_in, 0);
for (uint32_t s = code_length; s < 2 * code_length; s++)
{
@ -147,7 +149,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
@ -175,7 +177,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
}
}
acq_parameters.all_fft_codes = d_all_fft_codes_;
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
// reference for the FPGA FFT-IFFT attenuation factor
acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 13);
@ -190,17 +192,12 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
doppler_step_ = 0;
gnss_synchro_ = nullptr;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
// temporary buffers that we can release
volk_gnsssdr_free(fft_codes_padded);
}
GalileoE5aPcpsAcquisitionFpga::~GalileoE5aPcpsAcquisitionFpga()
{
delete[] d_all_fft_codes_;
}
GalileoE5aPcpsAcquisitionFpga::~GalileoE5aPcpsAcquisitionFpga() = default;
void GalileoE5aPcpsAcquisitionFpga::stop_acquisition()

13
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@ -39,7 +39,9 @@
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
@ -99,8 +101,8 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
@ -167,24 +169,19 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
std::string item_type_;
std::string dump_filename_;
std::string role_;
bool acq_pilot_;
bool acq_iq_;
uint32_t channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
uint32_t doppler_max_;
uint32_t doppler_step_;
unsigned int in_streams_;
unsigned int out_streams_;
Gnss_Synchro* gnss_synchro_;
uint32_t* d_all_fft_codes_; // memory that contains all the code ffts
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H_ */

22
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@ -39,6 +39,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
@ -93,7 +94,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
vector_length_ *= 2;
}
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -125,7 +126,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -137,16 +138,14 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
}
GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition()
{
delete[] code_;
}
GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition() = default;
void GlonassL1CaPcpsAcquisition::stop_acquisition()
{
}
void GlonassL1CaPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
@ -206,18 +205,17 @@ void GlonassL1CaPcpsAcquisition::init()
void GlonassL1CaPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
glonass_l1_ca_code_gen_complex_sampled(code, /* gnss_synchro_->PRN,*/ fs_in_, 0);
glonass_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), /* gnss_synchro_->PRN,*/ fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

11
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
View File

@ -39,7 +39,9 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -86,6 +88,7 @@ public:
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
/*!
* \brief Set acquisition channel unique ID
*/
@ -96,13 +99,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -172,12 +176,11 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

21
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
View File

@ -38,6 +38,7 @@
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
@ -92,7 +93,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
vector_length_ *= 2;
}
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -124,7 +125,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -136,10 +137,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
}
GlonassL2CaPcpsAcquisition::~GlonassL2CaPcpsAcquisition()
{
delete[] code_;
}
GlonassL2CaPcpsAcquisition::~GlonassL2CaPcpsAcquisition() = default;
void GlonassL2CaPcpsAcquisition::stop_acquisition()
@ -206,18 +204,17 @@ void GlonassL2CaPcpsAcquisition::init()
void GlonassL2CaPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
glonass_l2_ca_code_gen_complex_sampled(code, /* gnss_synchro_->PRN,*/ fs_in_, 0);
glonass_l2_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), /* gnss_synchro_->PRN,*/ fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

10
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h
View File

@ -38,7 +38,9 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -96,13 +98,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -172,12 +175,11 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

25
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -41,6 +41,8 @@
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
#include <gsl/gsl>
GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
@ -121,7 +123,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L1_CA_CODE_PERIOD * 1000.0);
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_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -147,7 +149,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -159,16 +161,14 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
}
GpsL1CaPcpsAcquisition::~GpsL1CaPcpsAcquisition()
{
delete[] code_;
}
GpsL1CaPcpsAcquisition::~GpsL1CaPcpsAcquisition() = default;
void GpsL1CaPcpsAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
@ -226,24 +226,23 @@ void GpsL1CaPcpsAcquisition::init()
void GpsL1CaPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
if (acq_parameters_.use_automatic_resampler)
{
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
}
else
{
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
}
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}

12
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -43,7 +43,9 @@
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -102,13 +104,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -157,10 +160,8 @@ public:
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
@ -184,12 +185,11 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

13
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
View File

@ -80,7 +80,7 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
//--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
acq_parameters.samples_per_ms = vector_length_;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -97,7 +97,7 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -109,10 +109,7 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
}
GpsL1CaPcpsAcquisitionFineDoppler::~GpsL1CaPcpsAcquisitionFineDoppler()
{
delete[] code_;
}
GpsL1CaPcpsAcquisitionFineDoppler::~GpsL1CaPcpsAcquisitionFineDoppler() = default;
void GpsL1CaPcpsAcquisitionFineDoppler::stop_acquisition()
@ -163,8 +160,8 @@ void GpsL1CaPcpsAcquisitionFineDoppler::init()
void GpsL1CaPcpsAcquisitionFineDoppler::set_local_code()
{
gps_l1_ca_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code_.data(), vector_length_), gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_.data());
}

9
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h
View File

@ -37,7 +37,9 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fine_doppler_cc.h"
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -95,13 +97,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -161,7 +164,7 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

33
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -43,9 +43,9 @@
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#define NUM_PRNs 32
@ -103,17 +103,17 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true));
// allocate memory to compute all the PRNs and compute all the possible codes
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
std::vector<std::complex<float>> code(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()));
d_all_fft_codes_ = new uint32_t[(nsamples_total * NUM_PRNs)]; // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
float max;
int32_t tmp, tmp2, local_code, fft_data;
// temporary maxima search
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), PRN, fs_in, 0); // generate PRN code
for (uint32_t s = code_length; s < 2 * code_length; s++)
{
@ -126,7 +126,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
@ -154,8 +154,8 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
}
}
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
// acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
// reference for the FPGA FFT-IFFT attenuation factor
acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 10);
@ -169,18 +169,13 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
// temporary buffers that we can release
volk_gnsssdr_free(fft_codes_padded);
}
GpsL1CaPcpsAcquisitionFpga::~GpsL1CaPcpsAcquisitionFpga()
{
delete[] d_all_fft_codes_;
}
GpsL1CaPcpsAcquisitionFpga::~GpsL1CaPcpsAcquisitionFpga() = default;
void GpsL1CaPcpsAcquisitionFpga::stop_acquisition()

6
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -41,7 +41,9 @@
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <string> // for string
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
@ -167,7 +169,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
uint32_t* d_all_fft_codes_; // memory that contains all the code ffts
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_ */

13
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
View File

@ -70,7 +70,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
//--- Find number of samples per spreading code -------------------------
vector_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
code_ = new gr_complex[vector_length_];
code_ = std::make_shared<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -89,7 +89,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -101,10 +101,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
}
GpsL1CaPcpsAssistedAcquisition::~GpsL1CaPcpsAssistedAcquisition()
{
delete[] code_;
}
GpsL1CaPcpsAssistedAcquisition::~GpsL1CaPcpsAssistedAcquisition() = default;
void GpsL1CaPcpsAssistedAcquisition::stop_acquisition()
@ -154,8 +151,8 @@ void GpsL1CaPcpsAssistedAcquisition::init()
void GpsL1CaPcpsAssistedAcquisition::set_local_code()
{
gps_l1_ca_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_);
gps_l1_ca_code_gen_complex_sampled(gsl::span<gr_complex>(code_.get(), vector_length_), gnss_synchro_->PRN, fs_in_, 0);
acquisition_cc_->set_local_code(code_.get());
}
void GpsL1CaPcpsAssistedAcquisition::reset()

10
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h
View File

@ -37,7 +37,9 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_assisted_acquisition_cc.h"
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -95,13 +97,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -147,7 +150,6 @@ private:
size_t item_size_;
std::string item_type_;
unsigned int vector_length_;
//unsigned int satellite_;
unsigned int channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
float threshold_;
@ -159,7 +161,7 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::shared_ptr<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

28
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
View File

@ -36,6 +36,7 @@
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
@ -59,7 +60,10 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false);
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);
bit_transition_flag_ = configuration_->property("Acquisition.bit_transition_flag", false);
@ -81,7 +85,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
vector_length_ = code_length_ * sampled_ms_;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -105,7 +109,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -117,16 +121,14 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
}
GpsL1CaPcpsOpenClAcquisition::~GpsL1CaPcpsOpenClAcquisition()
{
delete[] code_;
}
GpsL1CaPcpsOpenClAcquisition::~GpsL1CaPcpsOpenClAcquisition() = default;
void GpsL1CaPcpsOpenClAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsOpenClAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
@ -207,19 +209,17 @@ void GpsL1CaPcpsOpenClAcquisition::set_local_code()
{
if (item_type_ == "gr_complex")
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_cc_->set_local_code(code_);
delete[] code;
acquisition_cc_->set_local_code(code_.data());
}
}

16
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h
View File

@ -36,7 +36,9 @@
#include "gnss_synchro.h"
#include "pcps_opencl_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -94,13 +96,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -144,6 +147,12 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
inline bool opencl_ready() const
{
bool ready = this->acquisition_cc_->opencl_ready();
return ready;
}
private:
ConfigurationInterface* configuration_;
pcps_opencl_acquisition_cc_sptr acquisition_cc_;
@ -163,12 +172,11 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

24
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
View File

@ -37,6 +37,7 @@
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
@ -104,7 +105,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
int samples_per_ms = round(code_length_);
code_ = new gr_complex[code_length_]();
code_ = std::vector<std::complex<float>>(code_length_);
/*Object relevant information for debugging*/
LOG(INFO) << "Implementation: " << this->implementation()
<< ", Vector Length: " << vector_length_
@ -137,7 +138,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -149,16 +150,14 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
}
GpsL1CaPcpsQuickSyncAcquisition::~GpsL1CaPcpsQuickSyncAcquisition()
{
delete[] code_;
}
GpsL1CaPcpsQuickSyncAcquisition::~GpsL1CaPcpsQuickSyncAcquisition() = default;
void GpsL1CaPcpsQuickSyncAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
@ -236,20 +235,17 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_local_code()
{
if (item_type_ == "gr_complex")
{
auto* code = new std::complex<float>[code_length_]();
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < (sampled_ms_ / folding_factor_); i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
//memcpy(code_, code,sizeof(gr_complex)*code_length_);
acquisition_cc_->set_local_code(code_);
delete[] code;
acquisition_cc_->set_local_code(code_.data());
}
}

10
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h
View File

@ -38,7 +38,9 @@
#include "gnss_synchro.h"
#include "pcps_quicksync_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -96,13 +98,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -170,12 +173,11 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

24
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc
View File

@ -36,6 +36,7 @@
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
@ -75,7 +76,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
vector_length_ = code_length_ * sampled_ms_;
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "gr_complex")
{
@ -99,7 +100,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -111,16 +112,14 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
}
GpsL1CaPcpsTongAcquisition::~GpsL1CaPcpsTongAcquisition()
{
delete[] code_;
}
GpsL1CaPcpsTongAcquisition::~GpsL1CaPcpsTongAcquisition() = default;
void GpsL1CaPcpsTongAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsTongAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
@ -193,23 +192,22 @@ void GpsL1CaPcpsTongAcquisition::init()
//set_local_code();
}
void GpsL1CaPcpsTongAcquisition::set_local_code()
{
if (item_type_ == "gr_complex")
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<std::complex<float>>(code, code_length_), gnss_synchro_->PRN, fs_in_, 0);
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_cc_->set_local_code(code_);
delete[] code;
acquisition_cc_->set_local_code(code_.data());
}
}

10
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h
View File

@ -37,7 +37,9 @@
#include "gnss_synchro.h"
#include "pcps_tong_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -95,13 +97,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_cc_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of TONG algorithm
*/
@ -169,12 +172,11 @@ private:
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};

26
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@ -39,6 +39,7 @@
#include "gps_l2c_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
@ -126,7 +127,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L2_M_PERIOD * 1000.0);
vector_length_ = acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
if (item_type_ == "cshort")
{
@ -151,7 +152,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
num_codes_ = acq_parameters_.sampled_ms / acq_parameters_.ms_per_code;
if (in_streams_ > 1)
{
@ -164,10 +165,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
}
GpsL2MPcpsAcquisition::~GpsL2MPcpsAcquisition()
{
delete[] code_;
}
GpsL2MPcpsAcquisition::~GpsL2MPcpsAcquisition() = default;
void GpsL2MPcpsAcquisition::stop_acquisition()
@ -239,27 +237,24 @@ void GpsL2MPcpsAcquisition::init()
void GpsL2MPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
if (acq_parameters_.use_automatic_resampler)
{
gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs);
gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, acq_parameters_.resampled_fs);
}
else
{
gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, fs_in_);
}
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < num_codes_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}
@ -268,6 +263,7 @@ void GpsL2MPcpsAcquisition::reset()
acquisition_->set_active(true);
}
void GpsL2MPcpsAcquisition::set_state(int state)
{
acquisition_->set_state(state);

12
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
View File

@ -40,7 +40,9 @@
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -99,13 +101,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -154,10 +157,8 @@ public:
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
@ -180,13 +181,12 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
unsigned int num_codes_;
float calculate_threshold(float pfa);
};

36
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -42,9 +42,9 @@
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#define NUM_PRNs 32
#define QUANT_BITS_LOCAL_CODE 16
@ -102,24 +102,24 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
// compute all the GPS L2C PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
auto* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
auto fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true)); // Direct FFT
// allocate memory to compute all the PRNs and compute all the possible codes
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
std::vector<std::complex<float>> code(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()));
//d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = new uint32_t[(nsamples_total * NUM_PRNs)]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
int32_t tmp, tmp2, local_code, fft_data;
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l2c_m_code_gen_complex_sampled(code, PRN, fs_in_);
gps_l2c_m_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.data(), nsamples_total), PRN, fs_in_);
// fill in zero padding
for (unsigned int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
max = 0; // initialize maximum value
@ -149,28 +149,22 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
}
}
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
threshold_ = 0.0;
// temporary buffers that we can release
volk_gnsssdr_free(fft_codes_padded);
}
GpsL2MPcpsAcquisitionFpga::~GpsL2MPcpsAcquisitionFpga()
{
delete[] d_all_fft_codes_;
}
GpsL2MPcpsAcquisitionFpga::~GpsL2MPcpsAcquisitionFpga() = default;
void GpsL2MPcpsAcquisitionFpga::stop_acquisition()

11
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@ -39,7 +39,9 @@
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory> // for weak_ptr
#include <string> // for string
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
@ -98,8 +100,8 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
@ -168,10 +170,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
uint32_t* d_all_fft_codes_; // memory that contains all the code ffts
//float calculate_threshold(float pfa);
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H_ */

27
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@ -39,6 +39,7 @@
#include "gps_l5_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <algorithm>
GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
@ -133,7 +134,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
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);
code_ = new gr_complex[vector_length_];
code_ = std::vector<std::complex<float>>(vector_length_);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
@ -147,7 +148,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -159,10 +160,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
}
GpsL5iPcpsAcquisition::~GpsL5iPcpsAcquisition()
{
delete[] code_;
}
GpsL5iPcpsAcquisition::~GpsL5iPcpsAcquisition() = default;
void GpsL5iPcpsAcquisition::stop_acquisition()
@ -230,28 +228,27 @@ void GpsL5iPcpsAcquisition::init()
acquisition_->init();
}
void GpsL5iPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
std::unique_ptr<std::complex<float>> code{new std::complex<float>[code_length_]};
if (acq_parameters_.use_automatic_resampler)
{
gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs);
gps_l5i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, acq_parameters_.resampled_fs);
}
else
{
gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
gps_l5i_code_gen_complex_sampled(gsl::span<std::complex<float>>(code.get(), code_length_), gnss_synchro_->PRN, fs_in_);
}
gsl::span<gr_complex> code_span(code_.data(), vector_length_);
for (unsigned int i = 0; i < num_codes_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
std::copy_n(code.get(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
}
acquisition_->set_local_code(code_);
delete[] code;
acquisition_->set_local_code(code_.data());
}
@ -260,6 +257,7 @@ void GpsL5iPcpsAcquisition::reset()
acquisition_->set_active(true);
}
void GpsL5iPcpsAcquisition::set_state(int state)
{
acquisition_->set_state(state);
@ -359,6 +357,7 @@ gr::basic_block_sptr GpsL5iPcpsAcquisition::get_right_block()
return acquisition_;
}
void GpsL5iPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);

17
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h
View File

@ -31,8 +31,8 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_H_
#define GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_H_
#ifndef GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_H_
#define GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_H_
#include "channel_fsm.h"
#include "complex_byte_to_float_x2.h"
@ -40,7 +40,9 @@
#include "pcps_acquisition.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <memory>
#include <string>
#include <vector>
class ConfigurationInterface;
@ -99,13 +101,14 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
acquisition_->set_channel_fsm(channel_fsm);
}
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
@ -154,7 +157,6 @@ public:
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
@ -179,14 +181,13 @@ private:
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
std::vector<std::complex<float>> code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int num_codes_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_H_ */
#endif /* GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_H_ */

30
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -43,9 +43,9 @@
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#include <algorithm> // for copy_n
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#define NUM_PRNs 32
@ -108,17 +108,17 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
// compute all the GPS L5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto* code = new gr_complex[nsamples_total];
auto fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true)); // Direct FFT
std::vector<std::complex<float>> code(nsamples_total);
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 uint32_t[(nsamples_total * NUM_PRNs)]; // memory containing all the possible fft codes for PRN 0 to 32
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * NUM_PRNs); // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
int32_t tmp, tmp2, local_code, fft_data;
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l5i_code_gen_complex_sampled(code, PRN, fs_in);
gps_l5i_code_gen_complex_sampled(gsl::span<gr_complex>(code.data(), nsamples_total), PRN, fs_in);
for (uint32_t s = code_length; s < 2 * code_length; s++)
{
@ -130,7 +130,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
// fill in zero padding
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
@ -158,7 +158,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
}
}
acq_parameters.all_fft_codes = d_all_fft_codes_;
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
// reference for the FPGA FFT-IFFT attenuation factor
acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 13);
@ -173,18 +173,12 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
doppler_step_ = 0;
gnss_synchro_ = nullptr;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
// temporary buffers that we can release
volk_gnsssdr_free(fft_codes_padded);
}
GpsL5iPcpsAcquisitionFpga::~GpsL5iPcpsAcquisitionFpga()
{
//delete[] code_;
delete[] d_all_fft_codes_;
}
GpsL5iPcpsAcquisitionFpga::~GpsL5iPcpsAcquisitionFpga() = default;
void GpsL5iPcpsAcquisitionFpga::stop_acquisition()

10
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -40,7 +40,9 @@
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
@ -99,8 +101,8 @@ public:
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
{
channel_fsm_ = channel_fsm;
@ -167,9 +169,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
uint32_t* d_all_fft_codes_; // memory that contains all the code ffts
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
float calculate_threshold(float pfa);
};

21
src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
View File

@ -49,16 +49,6 @@ if(OPENCL_FOUND)
set(ACQ_GR_BLOCKS_HEADERS ${ACQ_GR_BLOCKS_HEADERS} pcps_opencl_acquisition_cc.h)
endif()
if(OPENCL_FOUND)
include_directories(${OPENCL_INCLUDE_DIRS})
if(OS_IS_MACOSX)
set(OPT_LIBRARIES ${OPT_LIBRARIES} "-framework OpenCL")
else()
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${OPENCL_LIBRARIES})
endif()
endif()
list(SORT ACQ_GR_BLOCKS_HEADERS)
list(SORT ACQ_GR_BLOCKS_SOURCES)
@ -78,19 +68,19 @@ endif()
target_link_libraries(acquisition_gr_blocks
PUBLIC
algorithms_libs
Gnuradio::runtime
Gnuradio::fft
Volk::volk
channel_libs
acquisition_libs
core_system_parameters
${OPT_LIBRARIES}
PRIVATE
Gflags::gflags
Glog::glog
Matio::matio
Volkgnsssdr::volkgnsssdr
algorithms_libs
)
target_include_directories(acquisition_gr_blocks
@ -101,7 +91,11 @@ target_include_directories(acquisition_gr_blocks
)
if(OPENCL_FOUND)
target_include_directories(acquisition_gr_blocks PUBLIC ${OPENCL_INCLUDE_DIRS})
target_link_libraries(acquisition_gr_blocks PUBLIC OpenCL::OpenCL)
target_include_directories(acquisition_gr_blocks
PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs/opencl
)
endif()
if(ENABLE_CLANG_TIDY)
@ -116,4 +110,5 @@ endif()
set_property(TARGET acquisition_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/algorithms/libs/opencl>
)

7
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
View File

@ -145,10 +145,10 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
}
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
// For dumping samples into a file
d_dump = dump;
@ -210,9 +210,6 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::~galileo_e5a_noncoherentIQ_acquisi
}
}
delete d_fft_if;
delete d_ifft;
try
{
if (d_dump)

167
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
View File

@ -44,6 +44,7 @@
#include <gnuradio/fft/fft.h>
#include <gnuradio/gr_complex.h>
#include <fstream>
#include <memory>
#include <string>
#include <utility>
@ -51,8 +52,8 @@ class galileo_e5a_noncoherentIQ_acquisition_caf_cc;
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_make_acquisition_caf_cc(unsigned int sampled_ms,
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
@ -71,88 +72,6 @@ galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(unsigned int sampled_ms,
*/
class galileo_e5a_noncoherentIQ_acquisition_caf_cc : public gr::block
{
private:
friend galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_);
galileo_e5a_noncoherentIQ_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_);
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset);
float estimate_input_power(gr_complex* in);
std::weak_ptr<ChannelFsm> d_channel_fsm;
int64_t d_fs_in;
int d_samples_per_ms;
int d_sampled_ms;
int d_samples_per_code;
unsigned int d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
unsigned int d_doppler_max;
unsigned int d_doppler_step;
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_code_I_A;
gr_complex* d_fft_code_I_B;
gr_complex* d_fft_code_Q_A;
gr_complex* d_fft_code_Q_B;
gr_complex* d_inbuffer;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitudeIA;
float* d_magnitudeIB;
float* d_magnitudeQA;
float* d_magnitudeQB;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;
std::ofstream d_dump_file;
bool d_active;
int d_state;
bool d_dump;
bool d_both_signal_components;
// bool d_CAF_filter;
int d_CAF_window_hz;
float* d_CAF_vector;
float* d_CAF_vector_I;
float* d_CAF_vector_Q;
// double* d_CAF_vector;
// double* d_CAF_vector_I;
// double* d_CAF_vector_Q;
unsigned int d_channel;
std::string d_dump_filename;
unsigned int d_buffer_count;
unsigned int d_gr_stream_buffer;
public:
/*!
* \brief Default destructor.
@ -256,5 +175,85 @@ public:
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_);
galileo_e5a_noncoherentIQ_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_);
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset);
float estimate_input_power(gr_complex* in);
std::weak_ptr<ChannelFsm> d_channel_fsm;
int64_t d_fs_in;
int d_samples_per_ms;
int d_sampled_ms;
int d_samples_per_code;
unsigned int d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
unsigned int d_doppler_max;
unsigned int d_doppler_step;
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_code_I_A;
gr_complex* d_fft_code_I_B;
gr_complex* d_fft_code_Q_A;
gr_complex* d_fft_code_Q_B;
gr_complex* d_inbuffer;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitudeIA;
float* d_magnitudeIB;
float* d_magnitudeQA;
float* d_magnitudeQB;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;
std::ofstream d_dump_file;
bool d_active;
int d_state;
bool d_dump;
bool d_both_signal_components;
int d_CAF_window_hz;
float* d_CAF_vector;
float* d_CAF_vector_I;
float* d_CAF_vector_Q;
unsigned int d_channel;
std::string d_dump_filename;
unsigned int d_buffer_count;
unsigned int d_gr_stream_buffer;
};
#endif /* GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_CC_H_ */

7
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc
View File

@ -87,10 +87,10 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
// For dumping samples into a file
d_dump = dump;
@ -123,9 +123,6 @@ galileo_pcps_8ms_acquisition_cc::~galileo_pcps_8ms_acquisition_cc()
volk_gnsssdr_free(d_fft_code_B);
volk_gnsssdr_free(d_magnitude);
delete d_ifft;
delete d_fft_if;
try
{
if (d_dump)

123
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h
View File

@ -38,6 +38,7 @@
#include <gnuradio/fft/fft.h>
#include <gnuradio/gr_complex.h>
#include <fstream>
#include <memory>
#include <string>
#include <utility>
@ -61,67 +62,6 @@ galileo_pcps_8ms_make_acquisition_cc(uint32_t sampled_ms,
*/
class galileo_pcps_8ms_acquisition_cc : public gr::block
{
private:
friend galileo_pcps_8ms_acquisition_cc_sptr
galileo_pcps_8ms_make_acquisition_cc(
uint32_t sampled_ms,
uint32_t max_dwells,
uint32_t doppler_max,
int64_t fs_in,
int32_t samples_per_ms,
int32_t samples_per_code,
bool dump,
std::string dump_filename);
galileo_pcps_8ms_acquisition_cc(
uint32_t sampled_ms,
uint32_t max_dwells,
uint32_t doppler_max,
int64_t fs_in,
int32_t samples_per_ms,
int32_t samples_per_code,
bool dump,
std::string dump_filename);
void calculate_magnitudes(
gr_complex* fft_begin,
int32_t doppler_shift,
int32_t doppler_offset);
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_samples_per_code;
uint32_t d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
uint32_t d_doppler_max;
uint32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_max_dwells;
uint32_t d_well_count;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_code_A;
gr_complex* d_fft_code_B;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
bool d_active;
int32_t d_state;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
public:
/*!
* \brief Default destructor.
@ -225,6 +165,67 @@ public:
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend galileo_pcps_8ms_acquisition_cc_sptr
galileo_pcps_8ms_make_acquisition_cc(
uint32_t sampled_ms,
uint32_t max_dwells,
uint32_t doppler_max,
int64_t fs_in,
int32_t samples_per_ms,
int32_t samples_per_code,
bool dump,
std::string dump_filename);
galileo_pcps_8ms_acquisition_cc(
uint32_t sampled_ms,
uint32_t max_dwells,
uint32_t doppler_max,
int64_t fs_in,
int32_t samples_per_ms,
int32_t samples_per_code,
bool dump,
std::string dump_filename);
void calculate_magnitudes(
gr_complex* fft_begin,
int32_t doppler_shift,
int32_t doppler_offset);
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_samples_per_code;
uint32_t d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
uint32_t d_doppler_max;
uint32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_max_dwells;
uint32_t d_well_count;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_code_A;
gr_complex* d_fft_code_B;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
bool d_active;
int32_t d_state;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
};
#endif /* GNSS_SDR_PCPS_8MS_ACQUISITION_CC_H_*/

142
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -134,30 +134,22 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
acq_parameters.max_dwells = 1; // Activation of acq_parameters.bit_transition_flag invalidates the value of acq_parameters.max_dwells
}
d_tmp_buffer = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_input_signal = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_tmp_buffer = std::vector<float>(d_fft_size);
d_fft_codes = std::vector<std::complex<float>>(d_fft_size);
d_input_signal = std::vector<std::complex<float>>(d_fft_size);
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
d_gnss_synchro = nullptr;
d_grid_doppler_wipeoffs = nullptr;
d_grid_doppler_wipeoffs_step_two = nullptr;
d_magnitude_grid = nullptr;
d_worker_active = false;
d_data_buffer = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_consumed_samples * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_data_buffer = std::vector<std::complex<float>>(d_consumed_samples);
if (d_cshort)
{
d_data_buffer_sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_consumed_samples * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
}
else
{
d_data_buffer_sc = nullptr;
d_data_buffer_sc = std::vector<lv_16sc_t>(d_consumed_samples);
}
grid_ = arma::fmat();
narrow_grid_ = arma::fmat();
@ -213,38 +205,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
}
pcps_acquisition::~pcps_acquisition()
{
if (d_num_doppler_bins > 0)
{
for (uint32_t i = 0; i < d_num_doppler_bins; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
volk_gnsssdr_free(d_magnitude_grid[i]);
}
delete[] d_grid_doppler_wipeoffs;
delete[] d_magnitude_grid;
}
if (acq_parameters.make_2_steps)
{
for (uint32_t i = 0; i < d_num_doppler_bins_step2; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs_step_two[i]);
}
delete[] d_grid_doppler_wipeoffs_step_two;
}
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
volk_gnsssdr_free(d_tmp_buffer);
volk_gnsssdr_free(d_input_signal);
delete d_ifft;
delete d_fft_if;
volk_gnsssdr_free(d_data_buffer);
if (d_cshort)
{
volk_gnsssdr_free(d_data_buffer_sc);
}
}
pcps_acquisition::~pcps_acquisition() = default;
void pcps_acquisition::set_resampler_latency(uint32_t latency_samples)
@ -288,7 +249,7 @@ void pcps_acquisition::set_local_code(std::complex<float>* code)
}
d_fft_if->execute(); // We need the FFT of local code
volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
volk_32fc_conjugate_32fc(d_fft_codes.data(), d_fft_if->get_outbuf(), d_fft_size);
}
@ -311,7 +272,7 @@ bool pcps_acquisition::is_fdma()
}
void pcps_acquisition::update_local_carrier(gr_complex* carrier_vector, int32_t correlator_length_samples, float freq)
void pcps_acquisition::update_local_carrier(gsl::span<gr_complex> carrier_vector, float freq)
{
float phase_step_rad;
if (acq_parameters.use_automatic_resampler)
@ -324,7 +285,7 @@ void pcps_acquisition::update_local_carrier(gr_complex* carrier_vector, int32_t
}
float _phase[1];
_phase[0] = 0.0;
volk_gnsssdr_s32f_sincos_32fc(carrier_vector, -phase_step_rad, _phase, correlator_length_samples);
volk_gnsssdr_s32f_sincos_32fc(carrier_vector.data(), -phase_step_rad, _phase, carrier_vector.length());
}
@ -344,27 +305,18 @@ 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)));
// Create the carrier Doppler wipeoff signals
if (d_grid_doppler_wipeoffs == nullptr)
if (d_grid_doppler_wipeoffs.empty())
{
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
d_grid_doppler_wipeoffs = std::vector<std::vector<std::complex<float>>>(d_num_doppler_bins, std::vector<std::complex<float>>(d_fft_size));
}
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.empty()))
{
d_grid_doppler_wipeoffs_step_two = new gr_complex*[d_num_doppler_bins_step2];
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{
d_grid_doppler_wipeoffs_step_two[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
}
d_grid_doppler_wipeoffs_step_two = std::vector<std::vector<std::complex<float>>>(d_num_doppler_bins_step2, std::vector<std::complex<float>>(d_fft_size));
}
if (d_magnitude_grid == nullptr)
if (d_magnitude_grid.empty())
{
d_magnitude_grid = new float*[d_num_doppler_bins];
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude_grid[doppler_index] = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
}
d_magnitude_grid = std::vector<std::vector<float>>(d_num_doppler_bins, std::vector<float>(d_fft_size));
}
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
@ -374,7 +326,7 @@ void pcps_acquisition::init()
d_magnitude_grid[doppler_index][k] = 0.0;
}
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_old_freq + doppler);
update_local_carrier(gsl::span<gr_complex>(d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size), d_old_freq + doppler);
}
d_worker_active = false;
@ -393,7 +345,7 @@ void pcps_acquisition::update_grid_doppler_wipeoffs()
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_old_freq + doppler);
update_local_carrier(gsl::span<gr_complex>(d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size), d_old_freq + doppler);
}
}
@ -403,7 +355,7 @@ void pcps_acquisition::update_grid_doppler_wipeoffs_step2()
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{
float doppler = (static_cast<float>(doppler_index) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2;
update_local_carrier(d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size, d_doppler_center_step_two + doppler);
update_local_carrier(gsl::span<gr_complex>(d_grid_doppler_wipeoffs_step_two[doppler_index].data(), d_fft_size), d_doppler_center_step_two + doppler);
}
}
@ -450,7 +402,7 @@ void pcps_acquisition::send_positive_acquisition()
if (!d_channel_fsm.expired())
{
//the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
// the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
d_channel_fsm.lock()->Event_valid_acquisition();
}
else
@ -510,11 +462,11 @@ void pcps_acquisition::dump_results(int32_t effective_fft_size)
dims[0] = static_cast<size_t>(1);
dims[1] = static_cast<size_t>(1);
matvar = Mat_VarCreate("doppler_max", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &acq_parameters.doppler_max, 0);
matvar = Mat_VarCreate("doppler_max", MAT_C_INT32, MAT_T_INT32, 1, dims, &acq_parameters.doppler_max, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("doppler_step", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_doppler_step, 0);
matvar = Mat_VarCreate("doppler_step", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_doppler_step, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
@ -552,7 +504,7 @@ void pcps_acquisition::dump_results(int32_t effective_fft_size)
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("num_dwells", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_num_noncoherent_integrations_counter, 0);
matvar = Mat_VarCreate("num_dwells", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_num_noncoherent_integrations_counter, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
@ -592,7 +544,7 @@ float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t&
// Find the correlation peak and the carrier frequency
for (uint32_t i = 0; i < num_doppler_bins; i++)
{
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i], d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i].data(), d_fft_size);
if (d_magnitude_grid[i][tmp_intex_t] > grid_maximum)
{
grid_maximum = d_magnitude_grid[i][tmp_intex_t];
@ -629,7 +581,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
// Find the correlation peak and the carrier frequency
for (uint32_t i = 0; i < num_doppler_bins; i++)
{
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i], d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i].data(), d_fft_size);
if (d_magnitude_grid[i][tmp_intex_t] > firstPeak)
{
firstPeak = d_magnitude_grid[i][tmp_intex_t];
@ -663,7 +615,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
}
int32_t idx = excludeRangeIndex1;
memcpy(d_tmp_buffer, d_magnitude_grid[index_doppler], d_fft_size);
memcpy(d_tmp_buffer.data(), d_magnitude_grid[index_doppler].data(), d_fft_size);
do
{
d_tmp_buffer[idx] = 0.0;
@ -676,7 +628,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
while (idx != excludeRangeIndex2);
// Find the second highest correlation peak in the same freq. bin ---
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_tmp_buffer, d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_tmp_buffer.data(), d_fft_size);
float secondPeak = d_tmp_buffer[tmp_intex_t];
// Compute the test statistics and compare to the threshold
@ -694,9 +646,9 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
int32_t effective_fft_size = (acq_parameters.bit_transition_flag ? d_fft_size / 2 : d_fft_size);
if (d_cshort)
{
volk_gnsssdr_16ic_convert_32fc(d_data_buffer, d_data_buffer_sc, d_consumed_samples);
volk_gnsssdr_16ic_convert_32fc(d_data_buffer.data(), d_data_buffer_sc.data(), d_consumed_samples);
}
memcpy(d_input_signal, d_data_buffer, d_consumed_samples * sizeof(gr_complex));
memcpy(d_input_signal.data(), d_data_buffer.data(), d_consumed_samples * sizeof(gr_complex));
if (d_fft_size > d_consumed_samples)
{
for (uint32_t i = d_consumed_samples; i < d_fft_size; i++)
@ -704,7 +656,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
d_input_signal[i] = gr_complex(0.0, 0.0);
}
}
const gr_complex* in = d_input_signal; // Get the input samples pointer
const gr_complex* in = d_input_signal.data(); // Get the input samples pointer
d_input_power = 0.0;
d_mag = 0.0;
@ -722,8 +674,8 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
if (d_use_CFAR_algorithm_flag or acq_parameters.bit_transition_flag)
{
// Compute the input signal power estimation
volk_32fc_magnitude_squared_32f(d_tmp_buffer, in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_tmp_buffer, d_fft_size);
volk_32fc_magnitude_squared_32f(d_tmp_buffer.data(), in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_tmp_buffer.data(), d_fft_size);
d_input_power /= static_cast<float>(d_fft_size);
}
@ -733,14 +685,14 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
// Remove Doppler
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size);
// Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
d_fft_if->execute();
// Multiply carrier wiped--off, Fourier transformed incoming signal with the local FFT'd code reference
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes.data(), d_fft_size);
// Compute the inverse FFT
d_ifft->execute();
@ -749,17 +701,17 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
size_t offset = (acq_parameters.bit_transition_flag ? effective_fft_size : 0);
if (d_num_noncoherent_integrations_counter == 1)
{
volk_32fc_magnitude_squared_32f(d_magnitude_grid[doppler_index], d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude_grid[doppler_index].data(), d_ifft->get_outbuf() + offset, effective_fft_size);
}
else
{
volk_32fc_magnitude_squared_32f(d_tmp_buffer, d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
volk_32fc_magnitude_squared_32f(d_tmp_buffer.data(), d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index].data(), d_magnitude_grid[doppler_index].data(), d_tmp_buffer.data(), effective_fft_size);
}
// Record results to file if required
if (d_dump and d_channel == d_dump_channel)
{
memcpy(grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
memcpy(grid_.colptr(doppler_index), d_magnitude_grid[doppler_index].data(), sizeof(float) * effective_fft_size);
}
}
@ -774,7 +726,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
}
if (acq_parameters.use_automatic_resampler)
{
//take into account the acquisition resampler ratio
// take into account the acquisition resampler ratio
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code)) * acq_parameters.resampler_ratio;
d_gnss_synchro->Acq_delay_samples -= static_cast<double>(acq_parameters.resampler_latency_samples); //account the resampler filter latency
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
@ -791,7 +743,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
{
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size);
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs_step_two[doppler_index].data(), d_fft_size);
// Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
@ -799,7 +751,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
// Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd code reference using SIMD operations with VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes.data(), d_fft_size);
// compute the inverse FFT
d_ifft->execute();
@ -807,17 +759,17 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
size_t offset = (acq_parameters.bit_transition_flag ? effective_fft_size : 0);
if (d_num_noncoherent_integrations_counter == 1)
{
volk_32fc_magnitude_squared_32f(d_magnitude_grid[doppler_index], d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude_grid[doppler_index].data(), d_ifft->get_outbuf() + offset, effective_fft_size);
}
else
{
volk_32fc_magnitude_squared_32f(d_tmp_buffer, d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
volk_32fc_magnitude_squared_32f(d_tmp_buffer.data(), d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index].data(), d_magnitude_grid[doppler_index].data(), d_tmp_buffer.data(), effective_fft_size);
}
// Record results to file if required
if (d_dump and d_channel == d_dump_channel)
{
memcpy(narrow_grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
memcpy(narrow_grid_.colptr(doppler_index), d_magnitude_grid[doppler_index].data(), sizeof(float) * effective_fft_size);
}
}
// Compute the test statistic
@ -832,7 +784,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
if (acq_parameters.use_automatic_resampler)
{
//take into account the acquisition resampler ratio
// take into account the acquisition resampler ratio
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code)) * acq_parameters.resampler_ratio;
d_gnss_synchro->Acq_delay_samples -= static_cast<double>(acq_parameters.resampler_latency_samples); //account the resampler filter latency
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);

139
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -61,17 +61,25 @@
#include <gnuradio/thread/thread.h> // for scoped_lock
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <volk/volk_complex.h> // for lv_16sc_t
#include <complex>
#include <cstdint>
#include <memory>
#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;
using pcps_acquisition_sptr = boost::shared_ptr<pcps_acquisition>;
pcps_acquisition_sptr
pcps_make_acquisition(const Acq_Conf& conf_);
pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition.
@ -81,75 +89,6 @@ pcps_make_acquisition(const Acq_Conf& conf_);
*/
class pcps_acquisition : public gr::block
{
private:
friend pcps_acquisition_sptr
pcps_make_acquisition(const Acq_Conf& conf_);
pcps_acquisition(const Acq_Conf& conf_);
void update_local_carrier(gr_complex* carrier_vector, int32_t correlator_length_samples, float freq);
void update_grid_doppler_wipeoffs();
void update_grid_doppler_wipeoffs_step2();
bool is_fdma();
void acquisition_core(uint64_t samp_count);
void send_negative_acquisition();
void send_positive_acquisition();
void dump_results(int32_t effective_fft_size);
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
float max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, float input_power, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
bool start();
Acq_Conf acq_parameters;
bool d_active;
bool d_worker_active;
bool d_cshort;
bool d_step_two;
bool d_use_CFAR_algorithm_flag;
int32_t d_positive_acq;
float d_threshold;
float d_mag;
float d_input_power;
float d_test_statistics;
float* d_magnitude;
float** d_magnitude_grid;
float* d_tmp_buffer;
gr_complex* d_input_signal;
uint32_t d_samplesPerChip;
int64_t d_old_freq;
int32_t d_state;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
uint32_t d_doppler_step;
float d_doppler_center_step_two;
uint32_t d_num_noncoherent_integrations_counter;
uint32_t d_fft_size;
uint32_t d_consumed_samples;
uint32_t d_num_doppler_bins;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
gr_complex** d_grid_doppler_wipeoffs_step_two;
gr_complex* d_fft_codes;
gr_complex* d_data_buffer;
lv_16sc_t* d_data_buffer_sc;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
Gnss_Synchro* d_gnss_synchro;
arma::fmat grid_;
arma::fmat narrow_grid_;
uint32_t d_num_doppler_bins_step2;
int64_t d_dump_number;
uint32_t d_dump_channel;
uint32_t d_buffer_count;
bool d_dump;
std::string d_dump_filename;
public:
~pcps_acquisition();
@ -249,7 +188,6 @@ public:
d_doppler_step = doppler_step;
}
void set_resampler_latency(uint32_t latency_samples);
/*!
@ -258,6 +196,63 @@ public:
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_);
pcps_acquisition(const Acq_Conf& conf_);
bool d_active;
bool d_worker_active;
bool d_cshort;
bool d_step_two;
bool d_use_CFAR_algorithm_flag;
bool d_dump;
int32_t d_state;
int32_t d_positive_acq;
uint32_t d_channel;
uint32_t d_samplesPerChip;
uint32_t d_doppler_step;
uint32_t d_num_noncoherent_integrations_counter;
uint32_t d_fft_size;
uint32_t d_consumed_samples;
uint32_t d_num_doppler_bins;
uint32_t d_num_doppler_bins_step2;
uint32_t d_dump_channel;
uint32_t d_buffer_count;
uint64_t d_sample_counter;
int64_t d_dump_number;
int64_t d_old_freq;
float d_threshold;
float d_mag;
float d_input_power;
float d_test_statistics;
float d_doppler_center_step_two;
std::string d_dump_filename;
std::vector<std::vector<float>> d_magnitude_grid;
std::vector<float> d_tmp_buffer;
std::vector<std::complex<float>> d_input_signal;
std::vector<std::vector<std::complex<float>>> d_grid_doppler_wipeoffs;
std::vector<std::vector<std::complex<float>>> d_grid_doppler_wipeoffs_step_two;
std::vector<std::complex<float>> d_fft_codes;
std::vector<std::complex<float>> d_data_buffer;
std::vector<lv_16sc_t> d_data_buffer_sc;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
std::weak_ptr<ChannelFsm> d_channel_fsm;
Acq_Conf acq_parameters;
Gnss_Synchro* d_gnss_synchro;
arma::fmat grid_;
arma::fmat narrow_grid_;
void update_local_carrier(gsl::span<gr_complex> carrier_vector, float freq);
void update_grid_doppler_wipeoffs();
void update_grid_doppler_wipeoffs_step2();
void acquisition_core(uint64_t samp_count);
void send_negative_acquisition();
void send_positive_acquisition();
void dump_results(int32_t effective_fft_size);
bool is_fdma();
bool start();
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
float max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, float input_power, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
};
#endif /* GNSS_SDR_PCPS_ACQUISITION_H_*/

57
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -93,10 +93,10 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
d_10_ms_buffer = static_cast<gr_complex *>(volk_gnsssdr_malloc(50 * d_samples_per_ms * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
// Direct FFT
d_fft_if = new gr::fft::fft_complex(d_fft_size, true);
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
// Inverse FFT
d_ifft = new gr::fft::fft_complex(d_fft_size, false);
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
// For dumping samples into a file
d_dump = conf_.dump;
@ -138,8 +138,6 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
d_threshold = 0;
d_num_doppler_points = 0;
d_doppler_step = 0;
d_grid_data = nullptr;
d_grid_doppler_wipeoffs = nullptr;
d_gnss_synchro = nullptr;
d_code_phase = 0;
d_doppler_freq = 0;
@ -168,6 +166,7 @@ unsigned int pcps_acquisition_fine_doppler_cc::nextPowerOf2(unsigned int n)
return n;
}
void pcps_acquisition_fine_doppler_cc::set_doppler_step(unsigned int doppler_step)
{
d_doppler_step = doppler_step;
@ -175,11 +174,7 @@ void pcps_acquisition_fine_doppler_cc::set_doppler_step(unsigned int doppler_ste
d_num_doppler_points = floor(std::abs(2 * d_config_doppler_max) / d_doppler_step);
d_grid_data = new float *[d_num_doppler_points];
for (int i = 0; i < d_num_doppler_points; i++)
{
d_grid_data[i] = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
}
d_grid_data = std::vector<std::vector<float>>(d_num_doppler_points, std::vector<float>(d_fft_size));
if (d_dump)
{
@ -190,27 +185,12 @@ void pcps_acquisition_fine_doppler_cc::set_doppler_step(unsigned int doppler_ste
}
void pcps_acquisition_fine_doppler_cc::free_grid_memory()
{
for (int i = 0; i < d_num_doppler_points; i++)
{
volk_gnsssdr_free(d_grid_data[i]);
delete[] d_grid_doppler_wipeoffs[i];
}
delete d_grid_data;
delete d_grid_doppler_wipeoffs;
}
pcps_acquisition_fine_doppler_cc::~pcps_acquisition_fine_doppler_cc()
{
volk_gnsssdr_free(d_carrier);
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
volk_gnsssdr_free(d_10_ms_buffer);
delete d_ifft;
delete d_fft_if;
free_grid_memory();
}
@ -266,17 +246,16 @@ void pcps_acquisition_fine_doppler_cc::update_carrier_wipeoff()
// create the carrier Doppler wipeoff signals
int doppler_hz;
float phase_step_rad;
d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_points];
d_grid_doppler_wipeoffs = std::vector<std::vector<std::complex<float>>>(d_num_doppler_points, std::vector<std::complex<float>>(d_fft_size));
for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{
doppler_hz = d_doppler_step * doppler_index - d_config_doppler_max;
// doppler search steps
// compute the carrier doppler wipe-off signal and store it
phase_step_rad = static_cast<float>(GPS_TWO_PI) * doppler_hz / static_cast<float>(d_fs_in);
d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size];
float _phase[1];
_phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index].data(), -phase_step_rad, _phase, d_fft_size);
}
}
@ -294,7 +273,7 @@ double pcps_acquisition_fine_doppler_cc::compute_CAF()
//--- Find the correlation peak and the carrier frequency --------------
for (int i = 0; i < d_num_doppler_points; i++)
{
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i], d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i].data(), d_fft_size);
if (d_grid_data[i][tmp_intex_t] > firstPeak)
{
firstPeak = d_grid_data[i][tmp_intex_t];
@ -305,7 +284,7 @@ double pcps_acquisition_fine_doppler_cc::compute_CAF()
// Record results to file if required
if (d_dump and d_channel == d_dump_channel)
{
memcpy(grid_.colptr(i), d_grid_data[i], sizeof(float) * d_fft_size);
memcpy(grid_.colptr(i), d_grid_data[i].data(), sizeof(float) * d_fft_size);
}
}
@ -337,7 +316,7 @@ double pcps_acquisition_fine_doppler_cc::compute_CAF()
while (idx != excludeRangeIndex2);
//--- Find the second highest correlation peak in the same freq. bin ---
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[index_doppler], d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[index_doppler].data(), d_fft_size);
float secondPeak = d_grid_data[index_doppler][tmp_intex_t];
// 5- Compute the test statistics and compare to the threshold
@ -383,7 +362,7 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
{
// doppler search steps
// Perform the carrier wipe-off
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
@ -399,7 +378,7 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
// save the grid matrix delay file
volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
//accumulate grid values
volk_32f_x2_add_32f(d_grid_data[doppler_index], d_grid_data[doppler_index], p_tmp_vector, d_fft_size);
volk_32f_x2_add_32f(d_grid_data[doppler_index].data(), d_grid_data[doppler_index].data(), p_tmp_vector, d_fft_size);
}
volk_gnsssdr_free(p_tmp_vector);
@ -423,14 +402,14 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler()
int signal_samples = prn_replicas * d_fft_size;
//int fft_size_extended = nextPowerOf2(signal_samples * zero_padding_factor);
int fft_size_extended = signal_samples * zero_padding_factor;
auto *fft_operator = new gr::fft::fft_complex(fft_size_extended, true);
auto fft_operator = std::make_shared<gr::fft::fft_complex>(fft_size_extended, true);
//zero padding the entire vector
std::fill_n(fft_operator->get_inbuf(), fft_size_extended, gr_complex(0.0, 0.0));
//1. generate local code aligned with the acquisition code phase estimation
auto *code_replica = static_cast<gr_complex *>(volk_gnsssdr_malloc(signal_samples * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
gps_l1_ca_code_gen_complex_sampled(code_replica, d_gnss_synchro->PRN, d_fs_in, 0);
gps_l1_ca_code_gen_complex_sampled(gsl::span<gr_complex>(code_replica, signal_samples * sizeof(gr_complex)), d_gnss_synchro->PRN, d_fs_in, 0);
int shift_index = static_cast<int>(d_gnss_synchro->Acq_delay_samples);
@ -460,9 +439,7 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler()
//case even
int counter = 0;
auto *fftFreqBins = new float[fft_size_extended];
std::fill_n(fftFreqBins, fft_size_extended, 0.0);
auto fftFreqBins = std::vector<float>(fft_size_extended);
for (int k = 0; k < (fft_size_extended / 2); k++)
{
@ -489,10 +466,8 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler()
}
// free memory!!
delete fft_operator;
volk_gnsssdr_free(code_replica);
volk_gnsssdr_free(p_tmp_vector);
delete[] fftFreqBins;
return d_fft_size;
}
@ -705,11 +680,11 @@ void pcps_acquisition_fine_doppler_cc::dump_results(int effective_fft_size)
dims[0] = static_cast<size_t>(1);
dims[1] = static_cast<size_t>(1);
matvar = Mat_VarCreate("doppler_max", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_config_doppler_max, 0);
matvar = Mat_VarCreate("doppler_max", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_config_doppler_max, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("doppler_step", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_doppler_step, 0);
matvar = Mat_VarCreate("doppler_step", MAT_C_INT32, MAT_T_INT32, 1, dims, &d_doppler_step, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);

137
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
View File

@ -58,15 +58,16 @@
#include <gnuradio/gr_complex.h>
#include <cstdint>
#include <fstream>
#include <memory>
#include <string>
#include <utility>
#include <vector>
class 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_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition.
@ -74,63 +75,6 @@ pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
*/
class pcps_acquisition_fine_doppler_cc : public gr::block
{
private:
friend pcps_acquisition_fine_doppler_cc_sptr
pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
pcps_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
int compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
int estimate_Doppler();
float estimate_input_power(gr_vector_const_void_star& input_items);
double compute_CAF();
void reset_grid();
void update_carrier_wipeoff();
void free_grid_memory();
bool start();
Acq_Conf acq_parameters;
int64_t d_fs_in;
int d_samples_per_ms;
int d_max_dwells;
int d_gnuradio_forecast_samples;
float d_threshold;
std::string d_satellite_str;
int d_config_doppler_max;
int d_num_doppler_points;
int d_doppler_step;
unsigned int d_fft_size;
uint64_t d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
gr_complex* d_10_ms_buffer;
float* d_magnitude;
float** d_grid_data;
gr_complex** d_grid_doppler_wipeoffs;
gr::fft::fft_complex* d_fft_if;
gr::fft::fft_complex* d_ifft;
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_test_statistics;
int d_positive_acq;
int d_state;
bool d_active;
int d_well_count;
int d_n_samples_in_buffer;
bool d_dump;
unsigned int d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
arma::fmat grid_;
int64_t d_dump_number;
unsigned int d_dump_channel;
public:
/*!
* \brief Default destructor.
@ -220,20 +164,11 @@ public:
void set_doppler_step(unsigned int doppler_step);
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
void set_state(int state);
/*!
* \brief Obtains the next power of 2 greater or equal to the input parameter
@ -242,6 +177,64 @@ public:
unsigned int nextPowerOf2(unsigned int n);
void dump_results(int effective_fft_size);
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend pcps_acquisition_fine_doppler_cc_sptr
pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
pcps_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
int compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
int estimate_Doppler();
float estimate_input_power(gr_vector_const_void_star& input_items);
double compute_CAF();
void reset_grid();
void update_carrier_wipeoff();
bool start();
Acq_Conf acq_parameters;
int64_t d_fs_in;
int d_samples_per_ms;
int d_max_dwells;
int d_gnuradio_forecast_samples;
float d_threshold;
std::string d_satellite_str;
int d_config_doppler_max;
int d_num_doppler_points;
int d_doppler_step;
unsigned int d_fft_size;
uint64_t d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
gr_complex* d_10_ms_buffer;
float* d_magnitude;
std::vector<std::vector<float>> d_grid_data;
std::vector<std::vector<std::complex<float>>> d_grid_doppler_wipeoffs;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_test_statistics;
int d_positive_acq;
int d_state;
bool d_active;
int d_well_count;
int d_n_samples_in_buffer;
bool d_dump;
unsigned int d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
arma::fmat grid_;
int64_t d_dump_number;
unsigned int d_dump_channel;
};
#endif /* pcps_acquisition_fine_doppler_cc*/

3
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@ -34,7 +34,6 @@
#include "pcps_acquisition_fpga.h"
#include "gnss_synchro.h"
//#include <boost/chrono.hpp>
#include <glog/logging.h>
#include <cmath> // for ceil
#include <iostream> // for operator<<
@ -87,6 +86,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_)
pcps_acquisition_fpga::~pcps_acquisition_fpga() = default;
void pcps_acquisition_fpga::set_local_code()
{
acquisition_fpga->set_local_code(d_gnss_synchro->PRN);
@ -243,6 +243,7 @@ void pcps_acquisition_fpga::send_negative_acquisition()
}
}
void pcps_acquisition_fpga::acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, int32_t doppler_min)
{
uint32_t indext = 0U;

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