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

.github/workflows/main.yml

@@ -0,0 +1,126 @@
+name: Simple CI
+
+on: [push, pull_request]
+
+jobs:
+  build-ubuntu:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install-dependencies
+      run: sudo apt-get update && sudo apt-get install ninja-build libboost-dev libboost-date-time-dev libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev libboost-serialization-dev liblog4cpp5-dev gnuradio-dev gr-osmosdr libpugixml-dev libpcap-dev libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev libgnutls-openssl-dev libmatio-dev googletest protobuf-compiler libprotobuf-dev python3-mako python3-six
+    - name: configure
+      run: cd build && cmake -GNinja ..
+    - name: build
+      run: cd build && ninja
+    - name: check
+      run: cd build && ninja check && ../install/volk_gnsssdr_profile && ../install/run_tests
+    - name: default position_test
+      run: cd build && cmake -DENABLE_SYSTEM_TESTING_EXTRA=ON .. && ninja && ../install/position_test
+
+
+  build-macos:
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install-dependencies
+      run: brew install ninja pkg-config hdf5 armadillo lapack gflags glog gnuradio libmatio log4cpp pugixml protobuf && pip3 install mako && pip3 install six
+    - name: configure
+      run: cd build && cmake -GNinja ..
+    - name: build
+      run: cd build && ninja
+    - name: check
+      run: cd build && ninja check && ../install/volk_gnsssdr_profile && ../install/run_tests
+    - name: default position_test
+      run: cd build && cmake -DENABLE_SYSTEM_TESTING_EXTRA=ON .. && ninja && ../install/position_test
+
+
+  clang-format:
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install-dependencies
+      run: brew install llvm && ln -s /usr/local/opt/llvm/bin/clang-format /usr/local/bin
+    - name: run clang-format
+      run: find . -iname \*.h -o -iname \*.c -o -iname \*.cpp -o -iname \*.hpp | xargs clang-format -style=file -i
+    - name: check
+      run: git diff > clang_format.patch && echo -e "if \n [ -s clang_format.patch ] \nthen \n echo "clang-format not applied:"; echo ""; more clang_format.patch; exit 1 \nfi \n" > detect && chmod +x ./detect && ./detect
+
+
+  clang-tidy:
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install-dependencies
+      run: brew install llvm pkg-config hdf5 armadillo lapack gflags glog gnuradio libmatio log4cpp pugixml protobuf && ln -s /usr/local/opt/llvm/bin/clang-tidy /usr/local/bin && ln -s /usr/local/Cellar/llvm/9.*/bin/clang-apply-replacements /usr/local/bin && cp /usr/local/Cellar/llvm/9.*/share/clang/run-clang-tidy.py /usr/local/bin && pip3 install mako && pip3 install six
+    - name: Prepare run
+      run: cd build && cmake .. && make volk_gnsssdr_module gtest-1.10.0 core_monitor pvt_libs
+    - name: run clang-tidy
+      run: cd build && run-clang-tidy.py -fix
+    - name: check
+      run: git diff > clang_tidy.patch && echo -e "if \n [ -s clang_tidy.patch ] \nthen \n echo "clang_tidy not applied:"; echo ""; more clang_tidy.patch; exit 1 \nfi \n" > detect && chmod +x ./detect && ./detect
+
+
+  volk-gnsssdr-windows:
+    runs-on: windows-latest
+    steps:
+    - uses: actions/checkout@v1
+    - uses: actions/setup-python@v1
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install mako six
+    - name: configure
+      shell: powershell
+      run: cd build; cmake -G "Visual Studio 16 2019" ..\src\algorithms\libs\volk_gnsssdr_module\volk_gnsssdr
+    - name: build
+      run: cmake --build build --config Release
+    - name: test
+      shell: powershell
+      run: cd build; ctest -C Release
+
+
+  volk-gnsssdr-ubuntu:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install-dependencies
+      run: sudo apt-get install build-essential python3-mako python3-six cmake
+    - name: configure
+      run: cd build && cmake ../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr
+    - name: build
+      run: cd build && make -j2
+    - name: install
+      run: cd build && sudo make install && sudo ldconfig
+    - name: test
+      run: volk_gnsssdr_profile
+
+
+  volk-gnsssdr-macos:
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install-dependencies
+      run: pip3 install mako && pip3 install six
+    - name: configure
+      run: cd build && cmake ../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr
+    - name: build
+      run: cd build && make -j2 && sudo make install
+    - name: test
+      run: cd build && ctest -C Release --exclude-regex volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc
+
+
+  volk-gnsssdr-macos-xcode:
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v1
+    - name: install-dependencies
+      run: pip3 install mako && pip3 install six
+    - name: configure
+      run: cd build && cmake -GXcode ../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr
+    - name: build
+      run: cd build && xcodebuild -configuration Release
+    - name: install
+      run: cd build && sudo xcodebuild -configuration Release -target install
+    - name: test
+      run: cd build && ctest -C Release --exclude-regex volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc

.gitignore

@@ -14,3 +14,6 @@ cmake-build-debug/
 /install
 .DS_Store
 .pydevproject
+.vscode/
+.vs/
+Testing/

CMakeLists.txt

@@ -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...3.15)
+cmake_minimum_required(VERSION 2.8.12...3.16)
 project(gnss-sdr CXX C)
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/Modules)
 
@@ -410,7 +410,7 @@ set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
 set(GNSSSDR_GPSTK_LOCAL_VERSION "2.12")
 set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.17")
 set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.10")
-set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.10.1")
+set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.11.1")
 
 if(CMAKE_VERSION VERSION_LESS "3.0.2")
     set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1")  # Fix for CentOS 7
@@ -645,7 +645,7 @@ if(NOT (GNURADIO_VERSION VERSION_LESS 3.8) AND LOG4CPP_READY_FOR_CXX17)
             TYPE OPTIONAL
         )
         if(${FILESYSTEM_FOUND})
-            if(CMAKE_VERSION VERSION_LESS 3.12)
+            if(CMAKE_VERSION VERSION_LESS 3.13)
                 set(CMAKE_CXX_STANDARD 17)
             else()
                 set(CMAKE_CXX_STANDARD 20)
@@ -1092,9 +1092,17 @@ if(NOT GFLAGS_FOUND)
     message(STATUS " gflags library has not been found.")
     message(STATUS " gflags v${GNSSSDR_GFLAGS_LOCAL_VERSION} will be downloaded and built automatically")
     message(STATUS " when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'.")
-    set(GFLAGS_BUILD_COMMAND ${CMAKE_MAKE_PROGRAM})
+    set(GFLAGS_BUILD_COMMAND ${CMAKE_COMMAND} "--build" "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}" "--config" "${CMAKE_BUILD_TYPE}")
+    if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
+        set(GFLAGS_BUILD_COMMAND ${CMAKE_COMMAND} "--build" "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}" "--config" $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>)
+    else()
+        set(GFLAGS_BUILD_CONFIG -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE})
+    endif()
     if(CMAKE_GENERATOR STREQUAL Xcode)
-        set(GFLAGS_BUILD_COMMAND "xcodebuild" "-configuration" "${CMAKE_BUILD_TYPE}")
+        set(GFLAGS_BUILD_COMMAND "xcodebuild" "-configuration" $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>)
+    endif()
+    if(CMAKE_TOOLCHAIN_FILE)
+        set(GFLAGS_TOOLCHAIN_FILE -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE})
     endif()
 
     if(CMAKE_VERSION VERSION_LESS 3.2)
@@ -1104,40 +1112,43 @@ if(NOT GFLAGS_FOUND)
             GIT_TAG v${GNSSSDR_GFLAGS_LOCAL_VERSION}
             SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/gflags/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}
             BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}
-            CMAKE_ARGS -DBUILD_SHARED_LIBS=ON -DBUILD_STATIC_LIBS=ON -DBUILD_gflags_nothreads_LIB=OFF -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+            CMAKE_ARGS -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON -DBUILD_gflags_LIB=ON -DBUILD_gflags_nothreads_LIB=OFF -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} ${GFLAGS_BUILD_CONFIG} ${GFLAGS_TOOLCHAIN_FILE}
             BUILD_COMMAND ${GFLAGS_BUILD_COMMAND}
             UPDATE_COMMAND ""
             PATCH_COMMAND ""
             INSTALL_COMMAND ""
         )
     else()
+        set(GFLAGS_BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX})
+        if(CMAKE_BUILD_TYPE STREQUAL Debug)  # Workaround for Ninja generator
+            set(GFLAGS_BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags_debug${CMAKE_STATIC_LIBRARY_SUFFIX})
+        endif()
+        if((CMAKE_VERSION VERSION_GREATER 3.12.0) AND NOT (CMAKE_GENERATOR STREQUAL Xcode))
+            set(PARALLEL_BUILD "--parallel 2")
+        endif()
         ExternalProject_Add(gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}
             PREFIX ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}
             GIT_REPOSITORY git://github.com/gflags/gflags.git
             GIT_TAG v${GNSSSDR_GFLAGS_LOCAL_VERSION}
             SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/gflags/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}
             BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}
-            CMAKE_ARGS -DBUILD_SHARED_LIBS=ON -DBUILD_STATIC_LIBS=ON -DBUILD_gflags_nothreads_LIB=OFF -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+            CMAKE_ARGS -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON -DBUILD_gflags_LIB=ON -DBUILD_gflags_nothreads_LIB=ON -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} ${GFLAGS_BUILD_CONFIG} ${GFLAGS_TOOLCHAIN_FILE}
-            BUILD_COMMAND ${GFLAGS_BUILD_COMMAND}
+            BUILD_COMMAND ${GFLAGS_BUILD_COMMAND} ${PARALLEL_BUILD}
-            BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX}
+            BUILD_BYPRODUCTS ${GFLAGS_BUILD_BYPRODUCTS}
             UPDATE_COMMAND ""
             PATCH_COMMAND ""
             INSTALL_COMMAND ""
         )
     endif()
+    # Note: -DBUILD_gflags_nothreads_LIB=ON is required as a workaround to a bug in gflags 2.2.2. This is fixed in gflags master branch
 
     set(GFlags_INCLUDE_DIRS
         ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/include CACHE PATH "Local Gflags headers"
     )
-    if((CMAKE_BUILD_TYPE MATCHES Debug) AND (CMAKE_VERSION VERSION_GREATER "3.0.2"))
+
-        set(GFLAGS_DEBUG_POSTFIX "_debug")
+    if(CMAKE_VERSION VERSION_LESS "3.0.2")
-    endif()
-    set(GFlags_LIBS
-        "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${GFLAGS_DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}"
-    )
-    if(CMAKE_GENERATOR STREQUAL Xcode)
         set(GFlags_LIBS
-            "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_BUILD_TYPE}/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${GFLAGS_DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}"
+            ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX}
         )
     endif()
 
@@ -1147,11 +1158,30 @@ if(NOT GFLAGS_FOUND)
         add_dependencies(Gflags::gflags gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION})
         set_target_properties(Gflags::gflags PROPERTIES
             IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GFlags_LIBS}"
+            IMPORTED_CONFIGURATIONS "Debug;Release;RelWithDebInfo;MinSizeRel"
-            INCLUDE_DIRECTORIES "${GFlags_INCLUDE_DIRS}"
+            IMPORTED_LOCATION_DEBUG ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags_debug${CMAKE_STATIC_LIBRARY_SUFFIX}
-            INTERFACE_INCLUDE_DIRECTORIES "${GFlags_INCLUDE_DIRS}"
+            IMPORTED_LOCATION_RELEASE ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX}
-            INTERFACE_LINK_LIBRARIES "${GFlags_LIBS}"
+            IMPORTED_LOCATION_RELWITHDEBINFO ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX}
+            IMPORTED_LOCATION_MINSIZEREL ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX}
+            INTERFACE_INCLUDE_DIRECTORIES ${GFlags_INCLUDE_DIRS}
+            INTERFACE_LINK_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags$<$<CONFIG:Debug>:_debug>${CMAKE_STATIC_LIBRARY_SUFFIX}
         )
+        if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
+            if(MSVC)
+                set(MSVC_POSTFIX _static)
+            endif()
+            set_target_properties(Gflags::gflags PROPERTIES
+                IMPORTED_LOCATION_DEBUG ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/Debug/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${MSVC_POSTFIX}_debug${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_RELEASE ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/Release/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${MSVC_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_RELWITHDEBINFO ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${MSVC_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_MINSIZEREL ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${MSVC_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}
+                INTERFACE_LINK_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}gflags${MSVC_POSTFIX}$<$<CONFIG:Debug>:_debug>${CMAKE_STATIC_LIBRARY_SUFFIX}
+            )
+        endif()
+    endif()
+
+    if(MSVC)
+        target_link_libraries(Gflags::gflags INTERFACE shlwapi.lib)
     endif()
 
     set(LOCAL_GFLAGS TRUE CACHE STRING "GFlags downloaded and built automatically" FORCE)
@@ -1187,19 +1217,22 @@ if(NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
         set(GFLAGS_PREFIX_PATH ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION})
     endif()
     set(TARGET_GFLAGS gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION})
-    set(GLOG_MAKE_PROGRAM ${CMAKE_MAKE_PROGRAM})
+    set(GLOG_MAKE_PROGRAM ${CMAKE_COMMAND} "--build" "${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}" "--config" "${CMAKE_BUILD_TYPE}")
-    set(GLOG_BUILD_BYPRODUCTS
+    if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
-        ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}
+       set(GLOG_MAKE_PROGRAM ${CMAKE_COMMAND} "--build" "${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}" "--config" $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>)
-    )
+    else()
-    if(CMAKE_GENERATOR STREQUAL Xcode)
+       set(GLOG_BUILD_CONFIG -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE})
-        set(GLOG_MAKE_PROGRAM "xcodebuild" "-configuration" "${CMAKE_BUILD_TYPE}")
     endif()
-    if(CMAKE_BUILD_TYPE MATCHES Debug)
+    if(CMAKE_GENERATOR STREQUAL Xcode)
-        set(GLOG_DEBUG_POSTFIX "d")
+        set(GLOG_MAKE_PROGRAM "xcodebuild" "-configuration" $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>)
+    endif()
+    if(CMAKE_TOOLCHAIN_FILE)
+        set(GLOG_TOOLCHAIN_FILE -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE})
     endif()
 
     if(CMAKE_VERSION VERSION_LESS 3.2)
         if(CMAKE_VERSION VERSION_LESS 3.0)
+            set(GLOG_MAKE_PROGRAM ${CMAKE_MAKE_PROGRAM})
             set(GFLAGS_LIBRARIES_TO_LINK ${GFlags_LIBS})
             if(${LOCAL_GFLAGS})
                 set(GFLAGS_LIBRARY_DIR_TO_LINK ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib)
@@ -1227,7 +1260,7 @@ aclocal
 automake --add-missing
 autoreconf -vfi
 cd ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
-${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure"
+${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/configure --enable-shared=no"
             )
 
             file(COPY ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/tmp/configure_with_gflags
@@ -1314,15 +1347,12 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
                 GIT_TAG v${GNSSSDR_GLOG_LOCAL_VERSION}
                 SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
                 BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
-                CMAKE_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_PREFIX_PATH=${GFLAGS_PREFIX_PATH}
+                CMAKE_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} -DCMAKE_PREFIX_PATH=${GFLAGS_PREFIX_PATH} ${GLOG_BUILD_CONFIG} ${GLOG_TOOLCHAIN_FILE}
-                BUILD_COMMAND "${GLOG_MAKE_PROGRAM}"
+                BUILD_COMMAND ${GLOG_MAKE_PROGRAM}
                 UPDATE_COMMAND ""
                 PATCH_COMMAND ""
                 INSTALL_COMMAND ""
             )
-            set(GLOG_LIBRARIES
-                ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}glog${GLOG_DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}
-            )
             set(GLOG_INCLUDE_DIRS
                 ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/src
                 ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
@@ -1330,6 +1360,17 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
             )
         endif()
     else()  # CMake > 3.2
+        set(GLOG_BUILD_BYPRODUCTS
+            ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}
+        )
+        if(CMAKE_BUILD_TYPE STREQUAL Debug)  # Workaround for Ninja generator
+            set(GLOG_BUILD_BYPRODUCTS
+                ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}glogd${CMAKE_STATIC_LIBRARY_SUFFIX}
+            )
+        endif()
+        if((CMAKE_VERSION VERSION_GREATER 3.12.0) AND NOT (CMAKE_GENERATOR STREQUAL Xcode))
+            set(PARALLEL_BUILD "--parallel 2")
+        endif()
         ExternalProject_Add(glog-${GNSSSDR_GLOG_LOCAL_VERSION}
             DEPENDS ${TARGET_GFLAGS}
             PREFIX ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
@@ -1337,29 +1378,21 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
             GIT_TAG v${GNSSSDR_GLOG_LOCAL_VERSION}
             SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
             BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
-            CMAKE_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_PREFIX_PATH=${GFLAGS_PREFIX_PATH}
+            CMAKE_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} -DCMAKE_PREFIX_PATH=${GFLAGS_PREFIX_PATH} ${GLOG_BUILD_CONFIG} ${GLOG_TOOLCHAIN_FILE}
-            BUILD_COMMAND "${GLOG_MAKE_PROGRAM}"
+            BUILD_COMMAND ${GLOG_MAKE_PROGRAM} ${PARALLEL_BUILD}
             BUILD_BYPRODUCTS ${GLOG_BUILD_BYPRODUCTS}
             UPDATE_COMMAND ""
             PATCH_COMMAND ""
             INSTALL_COMMAND ""
         )
-        set(GLOG_LIBRARIES
-            ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}glog${GLOG_DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}
-        )
         set(GLOG_INCLUDE_DIRS
             ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/src
             ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}
             ${GFlags_INCLUDE_DIRS}
         )
     endif()
-    add_dependencies(glog-${GNSSSDR_GLOG_LOCAL_VERSION} Gflags::gflags)
 
-    if(CMAKE_GENERATOR STREQUAL Xcode)
+    add_dependencies(glog-${GNSSSDR_GLOG_LOCAL_VERSION} Gflags::gflags)
-        set(GLOG_LIBRARIES
-            ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/${CMAKE_BUILD_TYPE}/${CMAKE_FIND_LIBRARY_PREFIXES}glog${GLOG_DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}
-        )
-    endif()
 
     # Create Glog::glog target
     if(NOT TARGET Glog::glog)
@@ -1367,13 +1400,35 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
         file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION})
         add_library(Glog::glog STATIC IMPORTED)
         add_dependencies(Glog::glog glog-${GNSSSDR_GLOG_LOCAL_VERSION})
-        set_target_properties(Glog::glog PROPERTIES
+        if(CMAKE_VERSION VERSION_LESS 3.0)
-            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+            set_target_properties(Glog::glog PROPERTIES
-            IMPORTED_LOCATION "${GLOG_LIBRARIES}"
+                IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            INCLUDE_DIRECTORIES "${GLOG_INCLUDE_DIRS}"
+                IMPORTED_LOCATION "${GLOG_LIBRARIES}"
-            INTERFACE_INCLUDE_DIRECTORIES "${GLOG_INCLUDE_DIRS}"
+                INCLUDE_DIRECTORIES "${GLOG_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${GLOG_LIBRARIES}"
+                INTERFACE_INCLUDE_DIRECTORIES "${GLOG_INCLUDE_DIRS}"
-        )
+                INTERFACE_LINK_LIBRARIES "${GLOG_LIBRARIES}"
+            )
+        else()
+            set_target_properties(Glog::glog PROPERTIES
+                IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+                IMPORTED_CONFIGURATIONS "Debug;Release;RelWithDebInfo;MinSizeRel"
+                IMPORTED_LOCATION_DEBUG ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}glogd${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_RELEASE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_RELWITHDEBINFO ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_MINSIZEREL ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}
+                INTERFACE_INCLUDE_DIRECTORIES "${GLOG_INCLUDE_DIRS}"
+                INTERFACE_LINK_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}glog$<$<CONFIG:Debug>:d>${CMAKE_STATIC_LIBRARY_SUFFIX}
+            )
+            if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
+                set_target_properties(Glog::glog PROPERTIES
+                    IMPORTED_LOCATION_DEBUG ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/Debug/${CMAKE_FIND_LIBRARY_PREFIXES}glogd${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    IMPORTED_LOCATION_RELEASE ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/Release/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    IMPORTED_LOCATION_RELWITHDEBINFO ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    IMPORTED_LOCATION_MINSIZEREL ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    INTERFACE_LINK_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}glog$<$<CONFIG:Debug>:d>${CMAKE_STATIC_LIBRARY_SUFFIX}
+                )
+            endif()
+        endif()
     endif()
 
     set(LOCAL_GLOG TRUE CACHE STRING "Glog downloaded and built automatically" FORCE)
@@ -1470,7 +1525,7 @@ if(ARMADILLO_FOUND)
     if(${ARMADILLO_VERSION_STRING} VERSION_LESS ${GNSSSDR_ARMADILLO_MIN_VERSION})
         set(ARMADILLO_FOUND FALSE)
         set(ENABLE_OWN_ARMADILLO ON)
-        message(STATUS " Armadillo > v${GNSSSDR_ARMADILLO_MIN_VERSION} has not been found.")
+        message(STATUS " Armadillo >= v${GNSSSDR_ARMADILLO_MIN_VERSION} has not been found.")
     else()
         if(NOT ENABLE_OWN_ARMADILLO)
             add_library(Armadillo::armadillo SHARED IMPORTED)
@@ -1495,7 +1550,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
     #############################################
     # Check if GFORTRAN is found in the system
     #############################################
-    if(NOT OS_IS_MACOSX)
+    if(NOT OS_IS_MACOSX AND NOT MSVC)
         find_package(GFORTRAN)
         set_package_properties(GFORTRAN PROPERTIES
             PURPOSE "Required by Armadillo."
@@ -1518,6 +1573,16 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
     #############################################
     # Download and build Armadillo
     #############################################
+    if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
+        set(ARMADILLO_BUILD_COMMAND ${CMAKE_COMMAND} "--build" "${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}" "--config" $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>)
+    else()
+        set(ARMADILLO_BUILD_COMMAND ${CMAKE_COMMAND} "--build" "${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}" "--config" "${CMAKE_BUILD_TYPE}")
+        set(ARMADILLO_BUILD_CONFIG -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE})
+    endif()
+    if(CMAKE_TOOLCHAIN_FILE)
+        set(ARMADILLO_TOOLCHAIN_FILE -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE})
+    endif()
+
     if(CMAKE_VERSION VERSION_LESS 3.2)
         ExternalProject_Add(armadillo-${armadillo_RELEASE}
             PREFIX ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}
@@ -1525,20 +1590,23 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
             GIT_TAG ${armadillo_BRANCH}
             SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}
             BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}
-            CMAKE_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS=-std=c++11
+            CMAKE_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS=-std=c++11 ${ARMADILLO_BUILD_CONFIG} ${ARMADILLO_TOOLCHAIN_FILE}
-            BUILD_COMMAND ${CMAKE_MAKE_PROGRAM}
+            BUILD_COMMAND ${ARMADILLO_BUILD_COMMAND}
             UPDATE_COMMAND ""
             INSTALL_COMMAND ""
         )
     else()
+        if(CMAKE_VERSION VERSION_GREATER 3.12.0)
+            set(PARALLEL_BUILD "--parallel 2")
+        endif()
         ExternalProject_Add(armadillo-${armadillo_RELEASE}
             PREFIX ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}
             GIT_REPOSITORY https://gitlab.com/conradsnicta/armadillo-code.git
             GIT_TAG ${armadillo_BRANCH}
             SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}
             BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}
-            CMAKE_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS=-std=c++11
+            CMAKE_ARGS -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS=-std=c++11 ${ARMADILLO_BUILD_CONFIG} ${ARMADILLO_TOOLCHAIN_FILE}
-            BUILD_COMMAND ${CMAKE_MAKE_PROGRAM}
+            BUILD_COMMAND ${ARMADILLO_BUILD_COMMAND} ${PARALLEL_BUILD}
             BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/armadillo-${armadillo_RELEASE}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
             UPDATE_COMMAND ""
             INSTALL_COMMAND ""
@@ -1550,7 +1618,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
     if(NOT GFORTRAN)
         set(GFORTRAN "")
     endif()
-    set(ARMADILLO_LIBRARIES ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} ${GFORTRAN} ${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX})
+    set(ARMADILLO_STATIC_LIBRARY ${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX})
     set(LOCAL_ARMADILLO TRUE CACHE STRING "Armadillo downloaded and built automatically" FORCE)
     set(ARMADILLO_VERSION_STRING ${armadillo_RELEASE})
     file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include)
@@ -1558,10 +1626,23 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
     add_dependencies(Armadillo::armadillo armadillo-${armadillo_RELEASE})
     set_target_properties(Armadillo::armadillo PROPERTIES
         IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-        IMPORTED_LOCATION "${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}"
+        IMPORTED_CONFIGURATIONS "Debug;Release;RelWithDebInfo;MinSizeRel"
-        INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include"
+        IMPORTED_LOCATION_DEBUG ${ARMADILLO_STATIC_LIBRARY}
-        INTERFACE_LINK_LIBRARIES "${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}"
+        IMPORTED_LOCATION_RELEASE ${ARMADILLO_STATIC_LIBRARY}
+        IMPORTED_LOCATION_RELWITHDEBINFO ${ARMADILLO_STATIC_LIBRARY}
+        IMPORTED_LOCATION_MINSIZEREL ${ARMADILLO_STATIC_LIBRARY}
+        INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include
+        INTERFACE_LINK_LIBRARIES ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} ${GFORTRAN} ${ARMADILLO_STATIC_LIBRARY}
     )
+    if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
+        set_target_properties(Armadillo::armadillo PROPERTIES
+            IMPORTED_LOCATION_DEBUG ${binary_dir}/Debug/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
+            IMPORTED_LOCATION_RELEASE ${binary_dir}/Release/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
+            IMPORTED_LOCATION_RELWITHDEBINFO ${binary_dir}/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
+            IMPORTED_LOCATION_MINSIZEREL ${binary_dir}/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
+            INTERFACE_LINK_LIBRARIES ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} ${GFORTRAN} ${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
+        )
+    endif()
     set_package_properties(Armadillo PROPERTIES
         DESCRIPTION "C++ library for linear algebra and scientific computing"
         PURPOSE "Armadillo ${GNSSSDR_ARMADILLO_LOCAL_VERSION} will be downloaded and built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'."
@@ -1838,16 +1919,22 @@ set_package_properties(PUGIXML PROPERTIES
 )
 if(NOT PUGIXML_FOUND)
     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(PUGIXML_COMPILER -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER})
-    set(TOOLCHAIN_ARG "")
+    set(PUGIXML_CMAKE_FLAGS "")
     if(DEFINED ENV{OECORE_TARGET_SYSROOT})
         set(PUGIXML_COMPILER "")
-        set(TOOLCHAIN_ARG "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_CURRENT_SOURCE_DIR}/cmake/Toolchains/oe-sdk_cross.cmake")
+        set(PUGIXML_CMAKE_FLAGS "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_CURRENT_SOURCE_DIR}/cmake/Toolchains/oe-sdk_cross.cmake")
     else()
         if(CMAKE_TOOLCHAIN_FILE)
-            set(TOOLCHAIN_ARG "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
+            set(PUGIXML_CMAKE_FLAGS "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
         endif()
     endif()
+    if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
+        set(PUGIXML_BUILD_COMMAND ${CMAKE_COMMAND} "--build" "${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}" "--config" $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>)
+    else()
+        set(PUGIXML_BUILD_COMMAND ${CMAKE_COMMAND} "--build" "${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}" "--config" "${CMAKE_BUILD_TYPE}")
+        set(PUGIXML_BUILD_CONFIG -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE})
+    endif()
     if(CMAKE_VERSION VERSION_LESS 3.2)
         ExternalProject_Add(pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
             PREFIX ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
@@ -1855,36 +1942,56 @@ if(NOT PUGIXML_FOUND)
             GIT_TAG v${GNSSSDR_PUGIXML_LOCAL_VERSION}
             SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
             BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
-            CMAKE_ARGS ${PUGIXML_COMPILER} ${TOOLCHAIN_ARG}
+            CMAKE_ARGS ${PUGIXML_COMPILER} ${PUGIXML_CMAKE_FLAGS} ${PUGIXML_BUILD_CONFIG}
             UPDATE_COMMAND ""
             PATCH_COMMAND ""
+            BUILD_COMMAND ${PUGIXML_BUILD_COMMAND}
             INSTALL_COMMAND ""
         )
     else()
+        if(CMAKE_VERSION VERSION_GREATER 3.12.0)
+            set(PARALLEL_BUILD "--parallel 2")
+        endif()
         ExternalProject_Add(pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
             PREFIX ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
             GIT_REPOSITORY https://github.com/zeux/pugixml
             GIT_TAG v${GNSSSDR_PUGIXML_LOCAL_VERSION}
             SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
             BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
-            CMAKE_ARGS ${PUGIXML_COMPILER} ${TOOLCHAIN_ARG}
+            CMAKE_ARGS ${PUGIXML_COMPILER} ${PUGIXML_CMAKE_FLAGS} ${PUGIXML_BUILD_CONFIG}
             UPDATE_COMMAND ""
             PATCH_COMMAND ""
+            BUILD_COMMAND ${PUGIXML_BUILD_COMMAND} ${PARALLEL_BUILD}
             BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}
             INSTALL_COMMAND ""
         )
     endif()
 
+    set(PUGIXML_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX})
+
     if(NOT TARGET Pugixml::pugixml)
         file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/src)
         add_library(Pugixml::pugixml STATIC IMPORTED)
         add_dependencies(Pugixml::pugixml pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION})
         set_target_properties(Pugixml::pugixml PROPERTIES
             IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}"
+            IMPORTED_CONFIGURATIONS "Debug;Release;RelWithDebInfo;MinSizeRel"
-            INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/src"
+            IMPORTED_LOCATION_DEBUG ${PUGIXML_LIBRARIES}
-            INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}"
+            IMPORTED_LOCATION_RELEASE ${PUGIXML_LIBRARIES}
+            IMPORTED_LOCATION_RELWITHDEBINFO ${PUGIXML_LIBRARIES}
+            IMPORTED_LOCATION_MINSIZEREL ${PUGIXML_LIBRARIES}
+            INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/src
+            INTERFACE_LINK_LIBRARIES ${PUGIXML_LIBRARIES}
         )
+        if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
+            set_target_properties(Pugixml::pugixml PROPERTIES
+                IMPORTED_LOCATION_DEBUG ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/Debug/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_RELEASE ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/Release/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_RELWITHDEBINFO ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_MINSIZEREL ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}
+                INTERFACE_LINK_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}
+            )
+        endif()
     endif()
 
     set_package_properties(PUGIXML PROPERTIES

README.md

@@ -67,14 +67,16 @@ $ sudo apt-get install build-essential cmake git pkg-config libboost-dev libboos
        libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev \
        libboost-serialization-dev liblog4cpp5-dev libuhd-dev gnuradio-dev gr-osmosdr \
        libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev \
-       libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev libpugixml-dev \
+       libgnutls-openssl-dev libpcap-dev libmatio-dev libpugixml-dev libgtest-dev \
-       libgtest-dev libprotobuf-dev protobuf-compiler
+       libprotobuf-dev protobuf-compiler python3-mako python3-six
 ~~~~~~
 
 Please note that the required files from `libgtest-dev` were moved to `googletest` in Debian 9 "stretch" and Ubuntu 18.04 "bionic", and moved back again to `libgtest-dev` in Debian 10 "buster" and Ubuntu 18.10 "cosmic" (and above).
 
 **Note for Ubuntu 14.04 LTS "trusty" users:** you will need to build from source and install GNU Radio manually, as explained below, since GNSS-SDR requires `gnuradio-dev` >= 3.7.3, and Ubuntu 14.04 came with 3.7.2. Install all the packages above BUT EXCEPT `libuhd-dev`, `gnuradio-dev` and `gr-osmosdr` (and remove them if they are already installed in your machine), and install those dependencies using PyBOMBS. The same applies to `libmatio-dev`: Ubuntu 14.04 came with 1.5.2 and the minimum required version is 1.5.3. Please do not install the `libmatio-dev` package and install `libtool`, `automake` and `libhdf5-dev` instead. A recent version of the library will be downloaded and built automatically if CMake does not find it installed.
 
+In distributions older than Ubuntu 16.04 or Debian 9, `python3-mako` and `python3-six` must be replaced by `python-mako` and `python-six`.
+
 **Note for Debian 8 "jessie" users:** please see the note about `libmatio-dev` above. Install `libtool`, `automake` and `libhdf5-dev` instead.
 
 Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@@ -119,7 +121,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel cmake git boost-devel
        boost-date-time boost-system boost-filesystem boost-thread boost-chrono \
        boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \
        blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \
-       glog-devel openssl-devel libpcap-devel python-mako python-six \
+       glog-devel openssl-devel libpcap-devel python3-mako python3-six \
        pugixml-devel protobuf-devel protobuf-compiler
 ~~~~~~
 
@@ -135,7 +137,7 @@ zypper install cmake git gcc-c++ boost-devel libboost_atomic-devel \
        libboost_system-devel libboost_filesystem-devel libboost_chrono-devel \
        libboost_thread-devel libboost_serialization-devel log4cpp-devel \
        gnuradio-devel pugixml-devel libpcap-devel armadillo-devel libtool \
-       automake hdf5-devel openssl-devel python-Mako python-six protobuf-devel
+       automake hdf5-devel openssl-devel python3-Mako python3-six protobuf-devel
 ~~~~~~
 
 If you are using openSUSE Tumbleweed:
@@ -220,9 +222,9 @@ $ sudo apt-get install libblas-dev liblapack-dev       # For Debian/Ubuntu/Linux
 $ sudo yum install lapack-devel blas-devel             # For Fedora/CentOS/RHEL
 $ sudo zypper install lapack-devel blas-devel          # For OpenSUSE
 $ sudo pacman -S blas lapack                           # For Arch Linux
-$ wget https://sourceforge.net/projects/arma/files/armadillo-9.800.2.tar.xz
+$ wget https://sourceforge.net/projects/arma/files/armadillo-9.800.3.tar.xz
-$ tar xvfz armadillo-9.800.2.tar.xz
+$ tar xvfz armadillo-9.800.3.tar.xz
-$ cd armadillo-9.800.2
+$ cd armadillo-9.800.3
 $ cmake .
 $ make
 $ sudo make install
@@ -302,9 +304,9 @@ $ sudo apt-get install autoconf automake libtool curl make g++ unzip
 and then:
 
 ~~~~~~
-$ wget https://github.com/protocolbuffers/protobuf/releases/download/v3.10.1/protobuf-cpp-3.10.1.tar.gz
+$ wget https://github.com/protocolbuffers/protobuf/releases/download/v3.11.1/protobuf-cpp-3.11.1.tar.gz
-$ tar xvfz protobuf-cpp-3.10.1.tar.gz
+$ tar xvfz protobuf-cpp-3.11.1.tar.gz
-$ cd protobuf-3.10.1
+$ cd protobuf-3.11.1
 $ ./autogen.sh
 $ ./configure
 $ make
@@ -632,10 +634,11 @@ $ /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/inst
 
 The script explains what it will do, and then it pauses before doing it. There are more installation options [here](https://docs.brew.sh/Installation.html).
 
-Install pip:
+Install pip3:
 
 ~~~~~~
-$ sudo easy_install pip
+$ curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
+$ sudo python3 get-pip.py
 ~~~~~~
 
 Install the required dependencies:
@@ -654,8 +657,8 @@ $ brew install log4cpp
 $ brew install openssl
 $ brew install pugixml
 $ brew install protobuf
-$ pip install mako
+$ pip3 install mako
-$ pip install six
+$ pip3 install six
 ~~~~~~
 
 

cmake/Modules/FindFILESYSTEM.cmake

@@ -140,6 +140,9 @@ endif()
 if((CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang") AND NOT (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "11"))
     set(CMAKE_REQUIRED_FLAGS "-std=c++17")
 endif()
+if(MSVC AND NOT (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "18"))
+    set(CMAKE_REQUIRED_FLAGS "/std:c++17")
+endif()
 
 # Normalize and check the component list we were given
 set(want_components ${FILESYSTEM_FIND_COMPONENTS})

cmake/Modules/SetupPython.cmake

@@ -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.
 #
@@ -71,12 +71,13 @@ if(CMAKE_VERSION VERSION_LESS 3.12)
         gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
         gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
     else()
-        message(STATUS "PYTHON_EXECUTABLE not set - trying by default python2")
+        message(STATUS "PYTHON_EXECUTABLE not set - trying by default python3")
-        message(STATUS "Use -DPYTHON_EXECUTABLE=/path/to/python3 to build for python3.")
+        message(STATUS "Use -DPYTHON_EXECUTABLE=/path/to/python to build for python 2.7")
-        find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION})
+        set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6 3.7 3.8 3.9)
+        find_package(PythonInterp ${GNSSSDR_PYTHON_MIN3_VERSION})
         if(NOT PYTHONINTERP_FOUND)
-            message(STATUS "python2 not found - trying with python3")
+            message(STATUS "python3 not found - trying with python2.7")
-            find_package(PythonInterp ${GNSSSDR_PYTHON3_MIN_VERSION} REQUIRED)
+            find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION} REQUIRED)
         endif()
         gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
         gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)

cmake/cmake_uninstall.cmake.in

@@ -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.
 #
@@ -16,23 +16,32 @@
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 
 if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-  message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+    message(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
 endif()
 
 file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
 string(REGEX REPLACE "\n" ";" files "${files}")
 foreach(file ${files})
-  message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
+    message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
-  if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    if(EXISTS "$ENV{DESTDIR}${file}")
-    execute_process(
+        execute_process(
-      COMMAND @CMAKE_COMMAND@ -E remove \"$ENV{DESTDIR}${file}\"
+            COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}"
-      OUTPUT_VARIABLE rm_out
+            OUTPUT_VARIABLE rm_out
-      RESULT_VARIABLE rm_retval
+            RESULT_VARIABLE rm_retval
-    )
+        )
-    if(NOT "${rm_retval}" STREQUAL 0)
+        if(NOT "${rm_retval}" STREQUAL 0)
-      message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
+            message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+        endif()
+    elseif(IS_SYMLINK "$ENV{DESTDIR}${file}")
+        execute_process(
+            COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}"
+            OUTPUT_VARIABLE rm_out
+            RESULT_VARIABLE rm_retval
+        )
+        if(NOT "${rm_retval}" STREQUAL 0)
+            message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+        endif()
+    else()
+        message(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
     endif()
-  else()
-    message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
-  endif()
 endforeach()

docs/changelog

@@ -40,6 +40,7 @@
 - Fixed cpplint.py build/include_what_you_use, whitespace/tab, whitespace/blank_line errors.
 - clang-format can now be applied to the whole code tree without breaking compilation.
 - Added more check options to .clang-tidy file.
+- Default Python version is now >= 3.4. Python 2.7 still can be used in systems where Python 3 is not available (e.g., CentOS 7, Debian 8, Ubuntu 10.04).
 
 
 ### Improvements in Portability:
@@ -49,6 +50,7 @@
 - Fixed building in some ARM-based devices. Now Clang and ARMClang can be used for native building.
 - Added toolchain files for building gnss-sdr and the volk_gnsssdr library in several ARM processor architectures, including those in Raspberry Pi 3 and 4.
 - The software can now be built using Xcode (passing -GXcode to CMake) without previous manual installation of volk_gnsssdr.
+- Now the volk_gnsssdr library can be built on Microsoft Windows.
 
 
 ### Improvements in Reliability:
@@ -56,6 +58,7 @@
 - Decoding of navigation messages no longer rely on implementation defined behavior for shifting left a signed integer.
 - Removed usage of functions with insecure API (e.g., strcpy, sprintf).
 - New type alias volk_gnsssdr::vector allows both aligned memory allocation and automatic deallocation.
+- Fixed a memory leak in the generation of Galileo PRN codes.
 - Added clang-tidy checks clang-analyzer-security.*, clang-analyzer-optin.portability.UnixAPI clang-tidy checks. Fixed raised warnings.
 - Fixed cpplint.py runtime/printf and runtime/explicit errors.
 - All constructors callable with one argument are marked with the keyword explicit. See MISRA C++:2008, 12-1-3 - All constructors that are callable with a single argument of fundamental type shall be declared explicit.

src/algorithms/libs/galileo_e1_signal_processing.cc

@@ -172,12 +172,11 @@ void galileo_e1_code_gen_float_sampled(gsl::span<float> _dest, const std::array<
     galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn);  // generate Galileo E1 code, 1 sample per chip
 
     const uint32_t _codeLength = _samplesPerChip * GALILEO_E1_B_CODE_LENGTH_CHIPS;
-    std::unique_ptr<float> _signal_E1{new float[_codeLength]};
+    std::vector<float> _signal_E1(_codeLength);
-    gsl::span<float> _signal_E1_span(_signal_E1, _codeLength);
 
     if (_cboc == true)
         {
-            galileo_e1_gen_float(_signal_E1_span, primary_code_E1_chips, _Signal);  // generate cboc 12 samples per chip
+            galileo_e1_gen_float(_signal_E1, primary_code_E1_chips, _Signal);  // generate cboc 12 samples per chip
         }
     else
         {
@@ -186,33 +185,27 @@ void galileo_e1_code_gen_float_sampled(gsl::span<float> _dest, const std::array<
 
             for (uint32_t ii = 0; ii < _codeLength; ++ii)
                 {
-                    _signal_E1_span[ii] = static_cast<float>(_signal_E1_int[ii]);
+                    _signal_E1[ii] = static_cast<float>(_signal_E1_int[ii]);
                 }
         }
 
     if (_fs != _samplesPerChip * _codeFreqBasis)
         {
-            std::unique_ptr<float> _resampled_signal{new float[_samplesPerCode]};
+            std::vector<float> _resampled_signal(_samplesPerCode);
 
-            resampler(gsl::span<float>(_signal_E1, _codeLength), gsl::span<float>(_resampled_signal, _samplesPerCode), _samplesPerChip * _codeFreqBasis, _fs);  // resamples code to fs
+            resampler(_signal_E1, _resampled_signal, _samplesPerChip * _codeFreqBasis, _fs);  // resamples code to fs
 
             _signal_E1 = std::move(_resampled_signal);
         }
-    uint32_t size_signal_E1 = _codeLength;
+
-    if (_fs != _samplesPerChip * _codeFreqBasis)
-        {
-            size_signal_E1 = _samplesPerCode;
-        }
-    gsl::span<float> _signal_E1_span_aux(_signal_E1, size_signal_E1);
     if (_galileo_signal.rfind("1C") != std::string::npos && _galileo_signal.length() >= 2 && _secondary_flag)
         {
-            std::unique_ptr<float> _signal_E1C_secondary{new float[static_cast<int32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH) * _samplesPerCode]};
+            std::vector<float> _signal_E1C_secondary(static_cast<int32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH) * _samplesPerCode);
-            gsl::span<float> _signal_E1C_secondary_span(_signal_E1C_secondary, static_cast<int32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH) * _samplesPerCode);
             for (uint32_t i = 0; i < static_cast<uint32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH); i++)
                 {
-                    for (unsigned k = 0; k < _samplesPerCode; k++)
+                    for (uint32_t k = 0; k < _samplesPerCode; k++)
                         {
-                            _signal_E1C_secondary_span[i * _samplesPerCode + k] = _signal_E1_span_aux[k] * (GALILEO_E1_C_SECONDARY_CODE[i] == '0' ? 1.0F : -1.0F);
+                            _signal_E1C_secondary[i * _samplesPerCode + k] = _signal_E1[k] * (GALILEO_E1_C_SECONDARY_CODE[i] == '0' ? 1.0F : -1.0F);
                         }
                 }
 
@@ -220,14 +213,10 @@ void galileo_e1_code_gen_float_sampled(gsl::span<float> _dest, const std::array<
 
             _signal_E1 = std::move(_signal_E1C_secondary);
         }
-    if (_galileo_signal.rfind("1C") != std::string::npos && _galileo_signal.length() >= 2 && _secondary_flag)
+
-        {
-            size_signal_E1 = static_cast<int32_t>(GALILEO_E1_C_SECONDARY_CODE_LENGTH) * _samplesPerCode;
-        }
-    gsl::span<float> _signal_E1_span_aux2(_signal_E1, size_signal_E1);
     for (uint32_t i = 0; i < _samplesPerCode; i++)
         {
-            _dest[(i + delay) % _samplesPerCode] = _signal_E1_span_aux2[i];
+            _dest[(i + delay) % _samplesPerCode] = _signal_E1[i];
         }
 }
 

src/algorithms/libs/galileo_e5_signal_processing.cc

@@ -35,6 +35,7 @@
 #include <gnuradio/gr_complex.h>
 #include <memory>
 #include <utility>
+#include <vector>
 
 
 void galileo_e5_a_code_gen_complex_primary(gsl::span<std::complex<float>> _dest, int32_t _prn, const std::array<char, 3>& _Signal)
@@ -108,9 +109,8 @@ void galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest,
     const uint32_t _codeLength = GALILEO_E5A_CODE_LENGTH_CHIPS;
     const int32_t _codeFreqBasis = GALILEO_E5A_CODE_CHIP_RATE_CPS;
 
-    std::unique_ptr<std::complex<float>> _code{new std::complex<float>[_codeLength]};
+    std::vector<std::complex<float>> _code(_codeLength);
-    gsl::span<std::complex<float>> _code_span(_code, _codeLength);
+    galileo_e5_a_code_gen_complex_primary(_code, _prn, _Signal);
-    galileo_e5_a_code_gen_complex_primary(_code_span, _prn, _Signal);
 
     _samplesPerCode = static_cast<uint32_t>(static_cast<double>(_fs) / (static_cast<double>(_codeFreqBasis) / static_cast<double>(_codeLength)));
 
@@ -118,18 +118,13 @@ void galileo_e5_a_code_gen_complex_sampled(gsl::span<std::complex<float>> _dest,
 
     if (_fs != _codeFreqBasis)
         {
-            std::unique_ptr<std::complex<float>> _resampled_signal{new std::complex<float>[_samplesPerCode]};
+            std::vector<std::complex<float>> _resampled_signal(_samplesPerCode);
-            resampler(_code_span, gsl::span<std::complex<float>>(_resampled_signal, _samplesPerCode), _codeFreqBasis, _fs);  // resamples code to fs
+            resampler(_code, _resampled_signal, _codeFreqBasis, _fs);  // resamples code to fs
             _code = std::move(_resampled_signal);
         }
-    uint32_t size_code = _codeLength;
+
-    if (_fs != _codeFreqBasis)
-        {
-            size_code = _samplesPerCode;
-        }
-    gsl::span<std::complex<float>> _code_span_aux(_code, size_code);
     for (uint32_t i = 0; i < _samplesPerCode; i++)
         {
-            _dest[(i + delay) % _samplesPerCode] = _code_span_aux[i];
+            _dest[(i + delay) % _samplesPerCode] = _code[i];
         }
 }

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -161,7 +161,7 @@ geph_t eph_to_rtklib(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glona
     rtklib_sat.acc[2] = glonass_gnav_eph.d_AZn * 1000;                   /* satellite acceleration (ecef) (m/s^2) */
     rtklib_sat.taun = glonass_gnav_eph.d_tau_n;                          /* SV clock bias (s) */
     rtklib_sat.gamn = glonass_gnav_eph.d_gamma_n;                        /* SV relative freq bias */
-    rtklib_sat.age = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n);   /* delay between L1 and L2 (s) */
+    rtklib_sat.dtaun = static_cast<int>(glonass_gnav_eph.d_Delta_tau_n); /* delay between L1 and L2 (s) */
 
     // Time expressed in GPS Time but using RTKLib format
     glonass_gnav_eph.glot_to_gpst(glonass_gnav_eph.d_t_b, gnav_clock_model.d_tau_c, gnav_clock_model.d_tau_gps, &week, &sec);

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt

@@ -225,12 +225,11 @@ volk_python_check_module("python >= 2.7" sys "sys.version.split()[0] >= '2.7'" P
 volk_python_check_module("mako >= 0.4.2" mako "mako.__version__ >= '0.4.2'" MAKO_FOUND)
 volk_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
 
-
 if(NOT PYTHON_MIN_VER_FOUND)
     message(FATAL_ERROR "Python 2.7 or greater required to build VOLK_GNSSSDR")
 endif()
 
-#  Mako
+# Mako
 if(NOT MAKO_FOUND)
     message(FATAL_ERROR "Mako templates required to build VOLK_GNSSSDR")
 endif()
@@ -252,10 +251,7 @@ if(MSVC)
         unset(BOOST_REQUIRED_COMPONENTS) # empty components list for static link
     endif()
 endif()
-if(${FILESYSTEM_FOUND})
+if(NOT ${FILESYSTEM_FOUND})
-    set(Boost_LIBRARIES "")
-    set(Boost_INCLUDE_DIRS "")
-else()
     include(VolkBoost)
     if(NOT Boost_FOUND)
         message(FATAL_ERROR "VOLK-GNSSSDR requires Boost to build")
@@ -265,9 +261,9 @@ endif()
 # Orc
 option(ENABLE_ORC "Enable Orc" TRUE)
 if(ENABLE_ORC)
-  find_package(ORC)
+    find_package(ORC)
 else()
-  message(STATUS "Disabling use of ORC")
+    message(STATUS "Disabling use of ORC")
 endif()
 
 
@@ -279,8 +275,8 @@ if(DOXYGEN_FOUND)
     configure_file(
         ${PROJECT_SOURCE_DIR}/Doxyfile.in
         ${PROJECT_BINARY_DIR}/Doxyfile
-    @ONLY)
+        @ONLY
-
+    )
     add_custom_target(doc
         ${DOXYGEN_EXECUTABLE} ${PROJECT_BINARY_DIR}/Doxyfile
         WORKING_DIRECTORY ${PROJECT_BINARY_DIR}
@@ -313,9 +309,9 @@ install(
 ########################################################################
 # Install all headers in the include directories
 ########################################################################
-set(VOLK_RUNTIME_DIR   bin)
+set(VOLK_RUNTIME_DIR bin)
-set(VOLK_LIBRARY_DIR   lib${LIB_SUFFIX})
+set(VOLK_LIBRARY_DIR lib${LIB_SUFFIX})
-set(VOLK_INCLUDE_DIR   include)
+set(VOLK_INCLUDE_DIR include)
 
 install(
     DIRECTORY ${PROJECT_SOURCE_DIR}/kernels/volk_gnsssdr
@@ -352,16 +348,19 @@ if(APPLE)
     if(NOT CMAKE_INSTALL_NAME_DIR)
         set(CMAKE_INSTALL_NAME_DIR
             ${CMAKE_INSTALL_PREFIX}/${VOLK_LIBRARY_DIR} CACHE
-            PATH "Library Install Name Destination Directory" FORCE)
+            PATH "Library Install Name Destination Directory" FORCE
+        )
     endif()
     if(NOT CMAKE_INSTALL_RPATH)
         set(CMAKE_INSTALL_RPATH
             ${CMAKE_INSTALL_PREFIX}/${VOLK_LIBRARY_DIR} CACHE
-            PATH "Library Install RPath" FORCE)
+            PATH "Library Install RPath" FORCE
+        )
     endif()
     if(NOT CMAKE_BUILD_WITH_INSTALL_RPATH)
         set(CMAKE_BUILD_WITH_INSTALL_RPATH ON CACHE
-            BOOL "Do Build Using Library Install RPath" FORCE)
+            BOOL "Do Build Using Library Install RPath" FORCE
+        )
     endif()
 endif()
 
@@ -372,7 +371,8 @@ endif()
 configure_file(
     ${PROJECT_SOURCE_DIR}/cmake/cmake_uninstall.cmake.in
     ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
-@ONLY)
+    @ONLY
+)
 
 # Only add the target if there isn't one defined already
 if(NOT TARGET uninstall)
@@ -390,14 +390,16 @@ endif()
 ########################################################################
 
 configure_file(
-  ${CMAKE_SOURCE_DIR}/cmake/Modules/VolkGnsssdrConfig.cmake.in
+    ${CMAKE_SOURCE_DIR}/cmake/Modules/VolkGnsssdrConfig.cmake.in
-  ${CMAKE_BINARY_DIR}/cmake/Modules/VolkGnsssdrConfig.cmake
+    ${CMAKE_BINARY_DIR}/cmake/Modules/VolkGnsssdrConfig.cmake
-@ONLY)
+    @ONLY
+)
 
 configure_file(
-  ${PROJECT_SOURCE_DIR}/cmake/Modules/VolkGnsssdrConfigVersion.cmake.in
+    ${PROJECT_SOURCE_DIR}/cmake/Modules/VolkGnsssdrConfigVersion.cmake.in
-  ${PROJECT_BINARY_DIR}/cmake/Modules/VolkGnsssdrConfigVersion.cmake
+    ${PROJECT_BINARY_DIR}/cmake/Modules/VolkGnsssdrConfigVersion.cmake
-@ONLY)
+    @ONLY
+)
 
 
 ########################################################################
@@ -425,9 +427,9 @@ install(EXPORT VOLK_GNSSSDR-export FILE VolkGnsssdrTargets.cmake
 ########################################################################
 option(ENABLE_TESTING "Enable QA testing" ON)
 if(ENABLE_TESTING)
-  message(STATUS "QA Testing is enabled.")
+    message(STATUS "QA Testing is enabled.")
 else()
-  message(STATUS "QA Testing is disabled.")
+    message(STATUS "QA Testing is disabled.")
 endif()
 message(STATUS "  Modify using: -DENABLE_TESTING=ON/OFF")
 
@@ -437,24 +439,24 @@ message(STATUS "  Modify using: -DENABLE_TESTING=ON/OFF")
 ########################################################################
 option(ENABLE_PROFILING "Launch system profiler after build" OFF)
 if(ENABLE_PROFILING)
-  set(ENABLE_STATIC_LIBS ON)
+    set(ENABLE_STATIC_LIBS ON)
-  if(DEFINED VOLK_CONFIGPATH)
+    if(DEFINED VOLK_CONFIGPATH)
-    get_filename_component(VOLK_CONFIGPATH ${VOLK_CONFIGPATH} ABSOLUTE)
+        get_filename_component(VOLK_CONFIGPATH ${VOLK_CONFIGPATH} ABSOLUTE)
-    set(VOLK_CONFIGPATH "${VOLK_CONFIGPATH}/volk_gnsssdr")
+        set(VOLK_CONFIGPATH "${VOLK_CONFIGPATH}/volk_gnsssdr")
-    message(STATUS "System profiling is enabled, using path: ${VOLK_CONFIGPATH}")
+        message(STATUS "System profiling is enabled, using path: ${VOLK_CONFIGPATH}")
-  elseif(DEFINED ENV{VOLK_CONFIGPATH})
+    elseif(DEFINED ENV{VOLK_CONFIGPATH})
-    set(VOLK_CONFIGPATH "$ENV{VOLK_CONFIGPATH}/volk_gnsssdr")
+        set(VOLK_CONFIGPATH "$ENV{VOLK_CONFIGPATH}/volk_gnsssdr")
-    message(STATUS "System profiling is enabled, using env path: $ENV{VOLK_CONFIGPATH}")
+        message(STATUS "System profiling is enabled, using env path: $ENV{VOLK_CONFIGPATH}")
-  else()
+    else()
-    message(STATUS "System profiling is enabled with default paths.")
+        message(STATUS "System profiling is enabled with default paths.")
-    if(DEFINED ENV{HOME})
+        if(DEFINED ENV{HOME})
-        set(VOLK_CONFIGPATH "$ENV{HOME}/.volk_gnsssdr")
+            set(VOLK_CONFIGPATH "$ENV{HOME}/.volk_gnsssdr")
-    elseif(DEFINED ENV{APPDATA})
+        elseif(DEFINED ENV{APPDATA})
-        set(VOLK_CONFIGPATH "$ENV{APPDATA}/.volk_gnsssdr")
+            set(VOLK_CONFIGPATH "$ENV{APPDATA}/.volk_gnsssdr")
+        endif()
     endif()
-  endif()
 else()
-  message(STATUS "System profiling is disabled.")
+    message(STATUS "System profiling is disabled.")
 endif()
 message(STATUS "  Modify using: -DENABLE_PROFILING=ON/OFF")
 ########################################################################

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/README.md

@@ -45,7 +45,7 @@ First, make sure that the required dependencies are installed in your
 machine:
 
 ~~~~~~
-$ sudo apt-get install cmake python-mako python-six libboost-dev \
+$ sudo apt-get install cmake python3-mako python3-six libboost-dev \
   libboost-filesystem-dev libboost-system-dev
 ~~~~~~
 
@@ -97,6 +97,25 @@ of a GNSS baseband processor:
 usage.](./docs/images/VOLK_GNSSSDR_Usage_Example.png)
 
 
+### Building on Raspberry Pi and other ARM boards
+
+To build for these boards you need specify the correct CMake toolchain file for
+best performance.
+
+* Raspberry Pi 4 `arm_cortex_a72_hardfp_native.cmake`
+* Raspberry Pi 3 `arm_cortex_a53_hardfp_native.cmake`
+
+~~~~~~
+$ mkdir build && cd build
+$ cmake -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchains/arm_cortex_a72_hardfp_native.cmake ..
+$ make
+$ make test
+$ sudo make install
+$ volk_gnsssdr_profile
+~~~~~~
+
+
+### References
 
 If you use VOLK_GNSSSDR in your research and/or software, please cite
 the following paper:

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/CMakeLists.txt

@@ -20,21 +20,6 @@
 ########################################################################
 # Setup profiler
 ########################################################################
-if(MSVC)
-    include_directories(${PROJECT_SOURCE_DIR}/cmake/msvc)
-endif()
-
-include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_CURRENT_BINARY_DIR}
-    ${PROJECT_SOURCE_DIR}/include
-    ${PROJECT_BINARY_DIR}/include
-    ${PROJECT_SOURCE_DIR}/lib
-    ${PROJECT_BINARY_DIR}/lib
-    ${Boost_INCLUDE_DIRS}
-)
-
-
 if(ORC_FOUND)
     set(orc_lib ${ORC_LIBRARIES})
 else()
@@ -58,6 +43,29 @@ add_executable(volk_gnsssdr_profile
     ${CMAKE_CURRENT_SOURCE_DIR}/volk_gnsssdr_option_helpers.cc
 )
 
+if(MSVC)
+    target_include_directories(volk_gnsssdr_profile
+        PRIVATE $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/cmake/msvc>
+    )
+endif(MSVC)
+
+target_include_directories(volk_gnsssdr_profile
+    PRIVATE $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
+    PRIVATE $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+    PRIVATE $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/lib>
+    PRIVATE $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/lib>
+    PRIVATE ${CMAKE_CURRENT_BINARY_DIR}
+    PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+if(NOT ${FILESYSTEM_FOUND})
+    target_include_directories(volk_gnsssdr_profile
+        PUBLIC ${Boost_INCLUDE_DIRS}
+    )
+    target_link_libraries(volk_gnsssdr_profile PRIVATE ${Boost_LIBRARIES})
+endif()
+
+
 if(${FILESYSTEM_FOUND})
     add_definitions(-DHAS_STD_FILESYSTEM=1)
     if(${find_experimental})
@@ -67,9 +75,9 @@ if(${FILESYSTEM_FOUND})
 endif()
 
 if(ENABLE_STATIC_LIBS)
-    target_link_libraries(volk_gnsssdr_profile PUBLIC volk_gnsssdr_static ${Boost_LIBRARIES} ${orc_lib})
+    target_link_libraries(volk_gnsssdr_profile PUBLIC volk_gnsssdr_static ${orc_lib})
 else()
-    target_link_libraries(volk_gnsssdr_profile PUBLIC volk_gnsssdr ${Boost_LIBRARIES} ${orc_lib})
+    target_link_libraries(volk_gnsssdr_profile PUBLIC volk_gnsssdr ${orc_lib})
     add_dependencies(volk_gnsssdr_profile volk_gnsssdr)
 endif()
 
@@ -77,7 +85,8 @@ endif()
 if(ENABLE_STRIP)
     if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
         set_target_properties(volk_gnsssdr_profile
-            PROPERTIES LINK_FLAGS "-s")
+            PROPERTIES LINK_FLAGS "-s"
+        )
     endif()
 endif()
 
@@ -103,7 +112,8 @@ endif()
 if(ENABLE_STRIP)
     if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
         set_target_properties(volk_gnsssdr-config-info
-            PROPERTIES LINK_FLAGS "-s")
+            PROPERTIES LINK_FLAGS "-s"
+        )
     endif()
 endif()
 

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/volk_gnsssdr_profile.h

@@ -27,10 +27,9 @@
  * -------------------------------------------------------------------------
  */
 
-#include <cstdbool>  // for bool
+#include <iosfwd>  // for ofstream
-#include <iosfwd>    // for ofstream
+#include <string>  // for string
-#include <string>    // for string
+#include <vector>  // for vector
-#include <vector>    // for vector
 
 class volk_gnsssdr_test_results_t;
 

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindFILESYSTEM.cmake

@@ -139,6 +139,9 @@ endif()
 if((CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang") AND NOT (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "11"))
     set(CMAKE_REQUIRED_FLAGS "-std=c++17")
 endif()
+if(MSVC AND NOT (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "18"))
+    set(CMAKE_REQUIRED_FLAGS "/std:c++17")
+endif()
 
 # Normalize and check the component list we were given
 set(want_components ${FILESYSTEM_FIND_COMPONENTS})

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake

@@ -69,12 +69,13 @@ if(CMAKE_VERSION VERSION_LESS 3.12)
         message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
         find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
     else()
-        message(STATUS "PYTHON_EXECUTABLE not set - using default python2")
+        message(STATUS "PYTHON_EXECUTABLE not set - trying by default python3")
-        message(STATUS "Use -DPYTHON_EXECUTABLE=/path/to/python3 to build for python3.")
+        message(STATUS "Use -DPYTHON_EXECUTABLE=/path/to/python to build for python 2.7")
-        find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION})
+        set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6 3.7 3.8 3.9)
+        find_package(PythonInterp ${VOLK_PYTHON_MIN3_VERSION})
         if(NOT PYTHONINTERP_FOUND)
-            message(STATUS "python2 not found - using python3")
+            message(STATUS "python3 not found - trying with python2.7")
-            find_package(PythonInterp ${VOLK_PYTHON3_MIN_VERSION} REQUIRED)
+            find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
         endif()
     endif()
 else()

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/cmake_uninstall.cmake.in

@@ -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.
 #
@@ -15,25 +15,33 @@
 # 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 EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-  message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+    message(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
-endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+endif()
 
 file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
 string(REGEX REPLACE "\n" ";" files "${files}")
 foreach(file ${files})
-  message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
+    message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
-  if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    if(EXISTS "$ENV{DESTDIR}${file}")
-    execute_process(
+        execute_process(
-      COMMAND @CMAKE_COMMAND@ -E remove \"$ENV{DESTDIR}${file}\"
+            COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}"
-      OUTPUT_VARIABLE rm_out
+            OUTPUT_VARIABLE rm_out
-      RESULT_VARIABLE rm_retval
+            RESULT_VARIABLE rm_retval
-      )
+        )
-    if(NOT "${rm_retval}" STREQUAL 0)
+        if(NOT "${rm_retval}" STREQUAL 0)
-      message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
+            message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
-    endif(NOT "${rm_retval}" STREQUAL 0)
+        endif()
-  else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    elseif(IS_SYMLINK "$ENV{DESTDIR}${file}")
-    message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
+        execute_process(
-  endif(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+            COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}"
-endforeach(file)
+            OUTPUT_VARIABLE rm_out
+            RESULT_VARIABLE rm_retval
+        )
+        if(NOT "${rm_retval}" STREQUAL 0)
+            message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+        endif()
+    else()
+        message(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
+    endif()
+endforeach()

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/docs/using_volk_gnsssdr.dox

@@ -1,12 +1,12 @@
 /*! \page using_volk_gnsssdr Using VOLK_GNSSSDR
 
-Using VOLK_GNSSSDR in your code requires proper linking and including the correct headers. 
+Using VOLK_GNSSSDR in your code requires proper linking and including the correct headers.
 VOLK_GNSSSDR currently supports both C and C++ bindings.
 
 VOLK_GNSSSDR provides both a pkgconfig and CMake module to help configuration and
-linking. The pkfconfig file is installed to
+linking. The pkgconfig file is installed to
 $install_prefix/lib/pkgconfig/volk_gnsssdr.pc. The CMake configuration module is in
-$install_prefix/lib/cmake/volk_gnsssdr/VolkConfig.cmake.
+$install_prefix/lib/cmake/volk_gnsssdr/VolkGnsssdrConfig.cmake.
 
 The header in the VOLK_GNSSSDR include directory (includedir in pkgconfig,
 VOLK_GNSSSDR_INCLUDE_DIRS in cmake module) contains the header volk_gnsssdr/volk_gnsssdr.h defines all
@@ -16,4 +16,3 @@ the same location.
 In most cases it is sufficient to call the dispatcher for the kernel you are using.
 
 */
-

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/include/volk_gnsssdr/volk_gnsssdr_complex.h

@@ -45,6 +45,9 @@
 
 #ifdef __cplusplus
 
+#ifdef _MSC_VER
+#include <complex.h>
+#endif
 #include <complex>
 #include <stdint.h>
 

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h

@@ -103,7 +103,7 @@ static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_g
                 }
             tmp32_1 = *in_common++ * (*phase);
             phase_doppler *= phase_inc;
-            phase_doppler_rate = cpowf(phase_inc_rate, lv_cmake(n * n, 0.0f));
+            phase_doppler_rate = cpowf(phase_inc_rate, lv_cmake((float)(n * n), 0.0f));
             phase_doppler_rate /= hypotf(lv_creal(phase_doppler_rate), lv_cimag(phase_doppler_rate));
             (*phase) = phase_doppler * phase_doppler_rate;
 

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt

@@ -47,7 +47,7 @@ endif()
 # Setup the compiler name
 ########################################################################
 set(COMPILER_NAME ${CMAKE_C_COMPILER_ID})
-if(MSVC) #its not set otherwise
+if(MSVC) # its not set otherwise
     set(COMPILER_NAME MSVC)
 endif()
 
@@ -77,11 +77,11 @@ include(CheckSymbolExists)
 check_symbol_exists(posix_memalign stdlib.h HAVE_POSIX_MEMALIGN)
 
 if(HAVE_POSIX_MEMALIGN)
-      add_definitions(-DHAVE_POSIX_MEMALIGN)
+    add_definitions(-DHAVE_POSIX_MEMALIGN)
 endif()
 
-if(NOT DEFINED _XOPEN_SOURCE)
+if(NOT DEFINED _XOPEN_SOURCE AND NOT MSVC)
-      add_definitions(-D_XOPEN_SOURCE=700)
+    add_definitions(-D_XOPEN_SOURCE=700)
 endif()
 
 ########################################################################
@@ -111,7 +111,7 @@ macro(check_arch arch_name)
         else()
             include(CheckCXXCompilerFlag)
             set(have_flag have${flag})
-            #make the have_flag have nice alphanum chars (just for looks/not necessary)
+            # make the have_flag have nice alphanum chars (just for looks/not necessary)
             execute_process(
                 COMMAND ${PYTHON_EXECUTABLE} -c "import re; print(re.sub('\\W', '_', '${have_flag}'))"
                 OUTPUT_VARIABLE have_flag OUTPUT_STRIP_TRAILING_WHITESPACE
@@ -153,20 +153,22 @@ if(CPU_IS_x86)
     if(NOT MSVC)
         file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv.c "unsigned long long _xgetbv(unsigned int index) { unsigned int eax, edx; __asm__ __volatile__(\"xgetbv\" : \"=a\"(eax), \"=d\"(edx) : \"c\"(index)); return ((unsigned long long)edx << 32) | eax; } int main (void) { (void) _xgetbv(0); return (0); }")
     else()
-        #MSVC defines an intrinsic
+        # MSVC defines an intrinsic
         file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv.c "#include <stdio.h> \n #include <intrin.h> \n int main() { int avxSupported = 0; \n#if (_MSC_FULL_VER >= 160040219) \nint cpuInfo[4]; __cpuid(cpuInfo, 1);\nif ((cpuInfo[2] & (1 << 27) || 0) && (cpuInfo[2] & (1 << 28) || 0)) \n{\nunsigned long long xcrFeatureMask = _xgetbv(_XCR_XFEATURE_ENABLED_MASK);\n   avxSupported = (xcrFeatureMask & 0x6) == 6;}\n#endif \n return 1- avxSupported; }")
     endif()
     execute_process(COMMAND ${CMAKE_C_COMPILER} -o
         ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv
         ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv.c
         OUTPUT_QUIET ERROR_QUIET
-        RESULT_VARIABLE avx_compile_result)
+        RESULT_VARIABLE avx_compile_result
+    )
     if(NOT ${avx_compile_result} EQUAL 0)
         overrule_arch(avx "Compiler or linker missing xgetbv instruction")
     elseif(NOT CROSSCOMPILE_MULTILIB)
         execute_process(COMMAND ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv
             OUTPUT_QUIET ERROR_QUIET
-            RESULT_VARIABLE avx_exe_result)
+            RESULT_VARIABLE avx_exe_result
+        )
         if(NOT ${avx_exe_result} EQUAL 0)
             overrule_arch(avx "CPU missing xgetbv")
         else()
@@ -177,7 +179,8 @@ if(CPU_IS_x86)
         set(HAVE_XGETBV 1)
     endif()
     file(REMOVE ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv
-        ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv.c)
+        ${CMAKE_CURRENT_BINARY_DIR}/test_xgetbv.c
+    )
 
     #########################################################################
     # eliminate AVX if cvtpi32_ps intrinsic fails like some versions of clang
@@ -187,48 +190,51 @@ if(CPU_IS_x86)
     if(CMAKE_SIZEOF_VOID_P EQUAL 4)
         file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps.c "#include <immintrin.h>\nint main (void) {__m128 __a; __m64 __b; __m128 foo = _mm_cvtpi32_ps(__a, __b); return (0); }")
         execute_process(COMMAND ${CMAKE_C_COMPILER} -mavx -o
-          ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps
+            ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps
-          ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps.c
+            ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps.c
-          OUTPUT_QUIET ERROR_QUIET
-          RESULT_VARIABLE avx_compile_result)
-        if(NOT ${avx_compile_result} EQUAL 0)
-          overrule_arch(avx "Compiler missing cvtpi32_ps intrinsic")
-        elseif(NOT CROSSCOMPILE_MULTILIB)
-          execute_process(COMMAND ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps
             OUTPUT_QUIET ERROR_QUIET
-            RESULT_VARIABLE avx_exe_result)
+            RESULT_VARIABLE avx_compile_result
-          if(NOT ${avx_exe_result} EQUAL 0)
+        )
-            overrule_arch(avx "CPU missing cvtpi32_ps")
+        if(NOT ${avx_compile_result} EQUAL 0)
-          else()
+            overrule_arch(avx "Compiler missing cvtpi32_ps intrinsic")
-            set(HAVE_AVX_CVTPI32_PS 1)
+        elseif(NOT CROSSCOMPILE_MULTILIB)
-          endif()
+            execute_process(COMMAND ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps
+                OUTPUT_QUIET ERROR_QUIET
+                RESULT_VARIABLE avx_exe_result
+            )
+            if(NOT ${avx_exe_result} EQUAL 0)
+                overrule_arch(avx "CPU missing cvtpi32_ps")
+            else()
+                set(HAVE_AVX_CVTPI32_PS 1)
+            endif()
         else()
-          set(HAVE_AVX_CVTPI32_PS 1)
+            set(HAVE_AVX_CVTPI32_PS 1)
         endif()
         file(REMOVE ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps
-          ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps.c)
+            ${CMAKE_CURRENT_BINARY_DIR}/test_cvtpi32_ps.c
+        )
     else()
         # 64-bit compilations won't need this command so don't overrule AVX
         set(HAVE_AVX_CVTPI32_PS 0)
     endif()
 
     # Disable SSE4a if Clang is less than version 3.2
-    if("${CMAKE_C_COMPILER_ID}" MATCHES "Clang")
+    if(CMAKE_C_COMPILER_ID MATCHES "Clang")
-      # Figure out the version of Clang
+        # Figure out the version of Clang
-      if(CMAKE_VERSION VERSION_LESS "2.8.10")
+        if(CMAKE_VERSION VERSION_LESS "2.8.10")
-        # Extract the Clang version from the --version string.
+            # Extract the Clang version from the --version string.
-        # In cmake 2.8.10, we can just use CMAKE_C_COMPILER_VERSION
+            # In cmake 2.8.10, we can just use CMAKE_C_COMPILER_VERSION
-        # without having to go through these string manipulations
+            # without having to go through these string manipulations
-        execute_process(COMMAND ${CMAKE_C_COMPILER} --version
+            execute_process(COMMAND ${CMAKE_C_COMPILER} --version
-          OUTPUT_VARIABLE clang_version)
+                OUTPUT_VARIABLE clang_version
-        string(REGEX MATCH "[0-9].[0-9]" CMAKE_C_COMPILER_VERSION ${clang_version})
+            )
-      endif()
+            string(REGEX MATCH "[0-9].[0-9]" CMAKE_C_COMPILER_VERSION ${clang_version})
+        endif()
 
-      if(CMAKE_C_COMPILER_VERSION VERSION_LESS "3.2")
+        if(CMAKE_C_COMPILER_VERSION VERSION_LESS "3.2")
-        overrule_arch(sse4_a "Clang >= 3.2 required for SSE4a")
+            overrule_arch(sse4_a "Clang >= 3.2 required for SSE4a")
-      endif()
+        endif()
     endif()
-
 endif()
 
 if(${HAVE_XGETBV})
@@ -310,7 +316,7 @@ if(NOT CROSSCOMPILE_MULTILIB AND CPU_IS_x86)
         overrule_arch(64 "CPU width is 32 bits")
     endif()
 
-    #MSVC 64 bit does not have MMX, overrule it
+    # MSVC 64 bit does not have MMX, overrule it
     if(${SIZEOF_CPU} EQUAL 64 AND MSVC)
         overrule_arch(mmx "No MMX for Win64")
         if(MSVC_VERSION GREATER 1700)
@@ -361,7 +367,7 @@ message(STATUS "Available machines: ${available_machines}")
 # Create rules to run the volk_gnsssdr generator
 ########################################################################
 
-#dependencies are all python, xml, and header implementation files
+# dependencies are all python, xml, and header implementation files
 file(GLOB xml_files ${PROJECT_SOURCE_DIR}/gen/*.xml)
 list(SORT xml_files)
 file(GLOB py_files ${PROJECT_SOURCE_DIR}/gen/*.py)
@@ -397,29 +403,30 @@ message(STATUS "BUILD TYPE = ${CBTU}")
 message(STATUS "Base cflags = ${CMAKE_C_FLAGS_${CBTU}} ${CMAKE_C_FLAGS}")
 set(COMPILER_INFO "")
 if(MSVC)
-    if(MSVC90)   #Visual Studio 9
+    if(MSVC90)   # Visual Studio 9
         set(cmake_c_compiler_version "Microsoft Visual Studio 9.0")
-    elseif(MSVC10) #Visual Studio 10
+    elseif(MSVC10) # Visual Studio 10
         set(cmake_c_compiler_version "Microsoft Visual Studio 10.0")
-    elseif(MSVC11) #Visual Studio 11
+    elseif(MSVC11) # Visual Studio 11
         set(cmake_c_compiler_version "Microsoft Visual Studio 11.0")
-    elseif(MSVC12) #Visual Studio 12
+    elseif(MSVC12) # Visual Studio 12
         set(cmake_c_compiler_version "Microsoft Visual Studio 12.0")
-    elseif(MSVC14) #Visual Studio 14
+    elseif(MSVC14) # Visual Studio 14
         set(cmake_c_compiler_version "Microsoft Visual Studio 14.0")
     endif()
 else()
     execute_process(COMMAND ${CMAKE_C_COMPILER} --version
-            OUTPUT_VARIABLE cmake_c_compiler_version)
+        OUTPUT_VARIABLE cmake_c_compiler_version
+    )
 endif()
 set(COMPILER_INFO "${CMAKE_C_COMPILER}:::${CMAKE_C_FLAGS_${GRCBTU}} ${CMAKE_C_FLAGS}\n${CMAKE_CXX_COMPILER}:::${CMAKE_CXX_FLAGS_${GRCBTU}} ${CMAKE_CXX_FLAGS}\n")
 
 foreach(machine_name ${available_machines})
-    #generate machine source
+    # generate machine source
     set(machine_source ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_machine_${machine_name}.c)
     gen_template(${PROJECT_SOURCE_DIR}/tmpl/volk_gnsssdr_machine_xxx.tmpl.c ${machine_source} ${machine_name})
 
-    #determine machine flags
+    # determine machine flags
     execute_process(
         COMMAND ${PYTHON_EXECUTABLE} ${PYTHON_DASH_B}
         ${PROJECT_SOURCE_DIR}/gen/volk_gnsssdr_compile_utils.py
@@ -434,7 +441,7 @@ foreach(machine_name ${available_machines})
         set_source_files_properties(${machine_source} PROPERTIES COMPILE_FLAGS "${${machine_name}_flags}")
     endif()
 
-    #add to available machine defs
+    # add to available machine defs
     string(TOUPPER LV_MACHINE_${machine_name} machine_def)
     list(APPEND machine_defs ${machine_def})
 endforeach()
@@ -446,84 +453,72 @@ message(STATUS "Compiler Version: ${cmake_c_compiler_version}")
 string(REPLACE "\n" " \\n" cmake_c_compiler_version ${cmake_c_compiler_version})
 string(REPLACE "\n" " \\n" COMPILER_INFO ${COMPILER_INFO})
 
-########################################################################
-# Set local include directories first
-########################################################################
-include_directories(
-    ${PROJECT_BINARY_DIR}/include
-    ${PROJECT_SOURCE_DIR}/include
-    ${PROJECT_SOURCE_DIR}/kernels
-    ${CMAKE_CURRENT_BINARY_DIR}
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
 
 ########################################################################
 # Handle ASM support
 #  on by default, but let users turn it off
 ########################################################################
 if(${CMAKE_VERSION} VERSION_GREATER "2.8.9")
-  set(ASM_ARCHS_AVAILABLE "neonv7" "neonv8")
+    set(ASM_ARCHS_AVAILABLE "neonv7" "neonv8")
 
-  set(FULL_C_FLAGS "${CMAKE_C_FLAGS}" "${CMAKE_CXX_COMPILER_ARG1}")
+    set(FULL_C_FLAGS "${CMAKE_C_FLAGS}" "${CMAKE_CXX_COMPILER_ARG1}")
 
-  # sort through a list of all architectures we have ASM for
+    # sort through a list of all architectures we have ASM for
-  # if we find one that matches our current system architecture
+    # if we find one that matches our current system architecture
-  # set up the assembler flags and include the source files
+    # set up the assembler flags and include the source files
-  foreach(ARCH ${ASM_ARCHS_AVAILABLE})
+    foreach(ARCH ${ASM_ARCHS_AVAILABLE})
-      string(REGEX MATCH "${ARCH}" ASM_ARCH "${available_archs}")
+        string(REGEX MATCH "${ARCH}" ASM_ARCH "${available_archs}")
-    if(ASM_ARCH STREQUAL "neonv7")
+        if(ASM_ARCH STREQUAL "neonv7")
-      message(STATUS "---- Adding ASM files") # we always use ATT syntax
+            message(STATUS "---- Adding ASM files") # we always use ATT syntax
-      message(STATUS "-- Detected neon architecture; enabling ASM")
+            message(STATUS "-- Detected neon architecture; enabling ASM")
-      # architecture specific assembler flags are now set in the cmake toolchain file
+            # architecture specific assembler flags are now set in the cmake toolchain file
-      # then add the files
+            # then add the files
-      include_directories(${PROJECT_SOURCE_DIR}/kernels/volk_gnsssdr/asm/neon)
+            include_directories(${PROJECT_SOURCE_DIR}/kernels/volk_gnsssdr/asm/neon)
-      file(GLOB asm_files ${PROJECT_SOURCE_DIR}/kernels/volk_gnsssdr/asm/neon/*.s)
+            file(GLOB asm_files ${PROJECT_SOURCE_DIR}/kernels/volk_gnsssdr/asm/neon/*.s)
-      list(SORT asm_files)
+            list(SORT asm_files)
-      foreach(asm_file ${asm_files})
+            foreach(asm_file ${asm_files})
-        list(APPEND volk_gnsssdr_sources ${asm_file})
+                list(APPEND volk_gnsssdr_sources ${asm_file})
-        message(STATUS "Adding source file: ${asm_file}")
+                message(STATUS "Adding source file: ${asm_file}")
-      endforeach()
+            endforeach()
-    endif()
+        endif()
-    enable_language(ASM)
+        enable_language(ASM)
-    message(STATUS "c flags: ${FULL_C_FLAGS}")
+        message(STATUS "c flags: ${FULL_C_FLAGS}")
-    message(STATUS "asm flags: ${CMAKE_ASM_FLAGS}")
+        message(STATUS "asm flags: ${CMAKE_ASM_FLAGS}")
-  endforeach()
+    endforeach()
 
 else()
-  message(STATUS "Not enabling ASM support. CMake >= 2.8.10 required.")
+    message(STATUS "Not enabling ASM support. CMake >= 2.8.10 required.")
-  foreach(machine_name ${available_machines})
+    foreach(machine_name ${available_machines})
-    string(REGEX MATCH "neon" NEON_MACHINE ${machine_name})
+        string(REGEX MATCH "neon" NEON_MACHINE ${machine_name})
-    if(NEON_MACHINE STREQUAL "neon")
+        if(NEON_MACHINE STREQUAL "neon")
-      message(FATAL_ERROR "CMake >= 2.8.10 is required for ARM NEON support")
+            message(FATAL_ERROR "CMake >= 2.8.10 is required for ARM NEON support")
-    endif()
+        endif()
-  endforeach()
+    endforeach()
 endif()
 
 ########################################################################
 # Handle orc support
 ########################################################################
 if(ORC_FOUND)
-    #setup orc library usage
+    # setup orc library usage
     include_directories(${ORC_INCLUDE_DIRS})
     link_directories(${ORC_LIBRARY_DIRS})
     list(APPEND volk_gnsssdr_libraries ${ORC_LIBRARIES})
 
-    #setup orc functions
+    # setup orc functions
     file(GLOB orc_files ${PROJECT_SOURCE_DIR}/kernels/volk_gnsssdr/asm/orc/*.orc)
     list(SORT orc_files)
     foreach(orc_file ${orc_files})
-
+        # extract the name for the generated c source from the orc file
-        #extract the name for the generated c source from the orc file
         get_filename_component(orc_file_name_we ${orc_file} NAME_WE)
         set(orcc_gen ${CMAKE_CURRENT_BINARY_DIR}/${orc_file_name_we}.c)
 
-        #create a rule to generate the source and add to the list of sources
+        # create a rule to generate the source and add to the list of sources
         add_custom_command(
             COMMAND ${ORCC_EXECUTABLE} --include math.h --implementation -o ${orcc_gen} ${orc_file}
             DEPENDS ${orc_file} OUTPUT ${orcc_gen}
         )
         list(APPEND volk_gnsssdr_sources ${orcc_gen})
-
     endforeach()
 else()
     message(STATUS "Did not find liborc and orcc, disabling orc support...")
@@ -535,13 +530,14 @@ endif()
 
 message(STATUS "Loading version ${VERSION} into constants...")
 
-#double escape for windows backslash path separators
+# double escape for windows backslash path separators
 string(REPLACE "\\" "\\\\" prefix "${prefix}")
 
 configure_file(
     ${CMAKE_CURRENT_SOURCE_DIR}/constants.c.in
     ${CMAKE_CURRENT_BINARY_DIR}/constants.c
-@ONLY)
+    @ONLY
+)
 
 list(APPEND volk_gnsssdr_sources ${CMAKE_CURRENT_BINARY_DIR}/constants.c)
 
@@ -560,60 +556,61 @@ list(APPEND volk_gnsssdr_sources
     ${volk_gnsssdr_gen_sources}
 )
 
-#set the machine definitions where applicable
+# set the machine definitions where applicable
 set_source_files_properties(
     ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr.c
     ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_machines.c
-PROPERTIES COMPILE_DEFINITIONS "${machine_defs}")
+    PROPERTIES COMPILE_DEFINITIONS "${machine_defs}"
+)
 
 if(MSVC)
-    #add compatibility includes for stdint types
+    # add compatibility includes for stdint types
     include_directories(${PROJECT_SOURCE_DIR}/cmake/msvc)
     add_definitions(-DHAVE_CONFIG_H)
-    #compile the sources as C++ due to the lack of complex.h under MSVC
+    # compile the sources as C++ due to the lack of complex.h under MSVC
     set_source_files_properties(${volk_gnsssdr_sources} PROPERTIES LANGUAGE CXX)
 endif()
 
-#Create a volk_gnsssdr object library
+# Create a volk_gnsssdr object library
 if(NOT (CMAKE_GENERATOR STREQUAL Xcode))
     add_library(volk_gnsssdr_obj OBJECT ${volk_gnsssdr_sources})
     target_include_directories(volk_gnsssdr_obj
-        PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
+        PRIVATE $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
-        PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+        PRIVATE $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-        PUBLIC $<INSTALL_INTERFACE:include>
+        PRIVATE $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/kernels>
-        PRIVATE ${PROJECT_SOURCE_DIR}/kernels
         PRIVATE ${CMAKE_CURRENT_BINARY_DIR}
-       PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
+        PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
     )
+    # Configure object target properties
+    if(NOT MSVC)
+        set_target_properties(volk_gnsssdr_obj PROPERTIES COMPILE_FLAGS "-fPIC")
+    endif()
 endif()
 
-#Add dynamic library
+# Add dynamic library
 if(CMAKE_GENERATOR STREQUAL Xcode)
     add_library(volk_gnsssdr SHARED ${volk_gnsssdr_sources})
 else()
     add_library(volk_gnsssdr SHARED $<TARGET_OBJECTS:volk_gnsssdr_obj>)
 endif()
-target_link_libraries(volk_gnsssdr ${volk_gnsssdr_libraries})
+target_link_libraries(volk_gnsssdr PUBLIC ${volk_gnsssdr_libraries})
 target_include_directories(volk_gnsssdr
     PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
     PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-    PUBLIC $<INSTALL_INTERFACE:include>
+    PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/kernels>
-    PRIVATE ${PROJECT_SOURCE_DIR}/kernels
     PRIVATE ${CMAKE_CURRENT_BINARY_DIR}
     PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
+    PUBLIC $<INSTALL_INTERFACE:include>
 )
 
-#Configure target properties
+# Configure target properties
 if(NOT MSVC)
-    if(NOT (CMAKE_GENERATOR STREQUAL Xcode))
+    target_link_libraries(volk_gnsssdr PUBLIC m)
-        set_target_properties(volk_gnsssdr_obj PROPERTIES COMPILE_FLAGS "-fPIC")
-    endif()
-    target_link_libraries(volk_gnsssdr m)
 endif()
 set_target_properties(volk_gnsssdr PROPERTIES SOVERSION ${LIBVER})
 set_target_properties(volk_gnsssdr PROPERTIES DEFINE_SYMBOL "volk_gnsssdr_EXPORTS")
 
-#Install locations
+# Install locations
 install(TARGETS volk_gnsssdr
     EXPORT VOLK_GNSSSDR-export
     LIBRARY DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_runtime" # .so file
@@ -621,22 +618,22 @@ install(TARGETS volk_gnsssdr
     RUNTIME DESTINATION bin              COMPONENT "volk_gnsssdr_runtime" # .dll file
 )
 
-#Configure static library
+# Configure static library
 if(ENABLE_STATIC_LIBS)
     if(CMAKE_GENERATOR STREQUAL Xcode)
         add_library(volk_gnsssdr_static STATIC ${volk_gnsssdr_sources})
     else()
         add_library(volk_gnsssdr_static STATIC $<TARGET_OBJECTS:volk_gnsssdr_obj>)
     endif()
-    target_link_libraries(volk_gnsssdr_static ${volk_gnsssdr_libraries} pthread)
+    target_link_libraries(volk_gnsssdr_static PUBLIC ${volk_gnsssdr_libraries} pthread)
     if(NOT MSVC)
-        target_link_libraries(volk_gnsssdr_static m)
+        target_link_libraries(volk_gnsssdr_static PUBLIC m)
     endif()
     target_include_directories(volk_gnsssdr_static
         PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
         PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+        PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/kernels>
         PUBLIC $<INSTALL_INTERFACE:include>
-        PRIVATE ${PROJECT_SOURCE_DIR}/kernels
         PRIVATE ${CMAKE_CURRENT_BINARY_DIR}
         PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
     )
@@ -653,24 +650,18 @@ endif()
 # Build the QA test application
 ########################################################################
 if(ENABLE_TESTING)
-    #include Boost headers
-    include_directories(${Boost_INCLUDE_DIRS})
     file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/.unittest)
-    set_source_files_properties(
-        ${CMAKE_CURRENT_SOURCE_DIR}/testqa.cc PROPERTIES
-        COMPILE_DEFINITIONS "BOOST_TEST_DYN_LINK;BOOST_TEST_MAIN"
-    )
 
     include(VolkAddTest)
-    volk_gen_test("volk_gnsssdr_test_all"
+    volk_gen_test(volk_gnsssdr_test_all
         SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/testqa.cc
         ${CMAKE_CURRENT_SOURCE_DIR}/qa_utils.cc
         TARGET_DEPS volk_gnsssdr
     )
 
     foreach(kernel ${h_files})
-      get_filename_component(kernel ${kernel} NAME)
+        get_filename_component(kernel ${kernel} NAME)
-      string(REPLACE ".h" "" kernel ${kernel})
+        string(REPLACE ".h" "" kernel ${kernel})
-      volk_add_test(${kernel} "volk_gnsssdr_test_all")
+        volk_add_test(${kernel} volk_gnsssdr_test_all)
     endforeach()
 endif()

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/qa_utils.h

@@ -25,7 +25,6 @@
 
 #include "volk_gnsssdr/volk_gnsssdr.h"          // for volk_gnsssdr_func_desc_t
 #include "volk_gnsssdr/volk_gnsssdr_complex.h"  // for lv_32fc_t
-#include <cstdbool>                             // for bool, false
 #include <cstdlib>                              // for NULL
 #include <map>                                  // for map
 #include <string>                               // for string, basic_string
@@ -145,14 +144,6 @@ bool run_volk_gnsssdr_tests(
     bool benchmark_mode = false);
 
 
-#define VOLK_RUN_TESTS(func, tol, scalar, len, iter)                                  \
-    BOOST_AUTO_TEST_CASE(func##_test)                                                 \
-    {                                                                                 \
-        BOOST_CHECK_EQUAL(run_volk_gnsssdr_tests(                                     \
-                              func##_get_func_desc(), (void (*)())func##_manual,      \
-                              std::string(#func), tol, scalar, len, iter, 0, "NULL"), \
-            0);                                                                       \
-    }
 #define VOLK_PROFILE(func, test_params, results) run_volk_gnsssdr_tests(func##_get_func_desc(), (void (*)())func##_manual, std::string(#func), test_params, results, "NULL")
 #define VOLK_PUPPET_PROFILE(func, puppet_master_func, test_params, results) run_volk_gnsssdr_tests(func##_get_func_desc(), (void (*)())func##_manual, std::string(#func), test_params, results, std::string(#puppet_master_func))
 typedef void (*volk_gnsssdr_fn_1arg)(void *, unsigned int, const char *);  // one input, operate in place

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/testqa.cc

@@ -21,7 +21,6 @@
 #include "kernel_tests.h"                       // for init_test_list
 #include "qa_utils.h"                           // for volk_gnsssdr_test_case_t, volk_gnsssdr_test_results_t
 #include "volk_gnsssdr/volk_gnsssdr_complex.h"  // for lv_32fc_t
-#include <cstdbool>                             // for bool, false, true
 #include <fstream>                              // IWYU pragma: keep
 #include <iostream>                             // for operator<<, basic_ostream, endl, char...
 #include <map>                                  // for map, map<>::iterator, _Rb_tree_iterator

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/python/volk_gnsssdr_modtool/volk_gnsssdr_modtool_generate.py

@@ -28,7 +28,6 @@ class volk_gnsssdr_modtool(object):
     def __init__(self, cfg):
         self.volk_gnsssdr = re.compile('volk_gnsssdr');
         self.remove_after_underscore = re.compile("_.*");
-        self.volk_gnsssdr_run_tests = re.compile(r'^\s*VOLK_RUN_TESTS.*\n', re.MULTILINE);
         self.volk_gnsssdr_profile = re.compile(r'^\s*(VOLK_PROFILE|VOLK_PUPPET_PROFILE).*\n', re.MULTILINE);
         self.my_dict = cfg;
         self.lastline = re.compile(r'\s*char path\[1024\];.*');

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/tmpl/volk_gnsssdr_cpu.tmpl.c

@@ -59,6 +59,7 @@ static inline unsigned long long _xgetbv(unsigned int index)
 #elif defined(_MSC_VER) && defined(HAVE_INTRIN_H)
 #include <intrin.h>
 #define cpuid_x86(op, r) __cpuid(((int *)r), op)
+#define cpuid_x86_count(op, count, regs) __cpuidex((int *)regs, op, count)
 
 #if defined(_XCR_XFEATURE_ENABLED_MASK)
 #define __xgetbv() _xgetbv(_XCR_XFEATURE_ENABLED_MASK)

src/tests/CMakeLists.txt

@@ -38,13 +38,14 @@ else()
 endif()
 
 if(NOT GOOGLETEST_FOUND)
-    if(CMAKE_BUILD_TYPE MATCHES Debug)
+    if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
-        set(DEBUG_POSTFIX "d")
+        set(GTEST_BUILD_COMMAND "${CMAKE_COMMAND}" "--build" "${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}" "--config" $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel>)
+    else()
+        set(GTEST_BUILD_COMMAND "${CMAKE_COMMAND}" "--build" "${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}" "--config" "${CMAKE_BUILD_TYPE}")
+        set(GTEST_BUILD_CONFIG -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE})
     endif()
-    set(GTEST_BUILD_COMMAND "${CMAKE_MAKE_PROGRAM}")
     if(CMAKE_GENERATOR STREQUAL Xcode)
-        set(XCODE_PREFIX "${CMAKE_BUILD_TYPE}/")
+        set(GTEST_BUILD_COMMAND "xcodebuild" "-configuration" $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo>$<$<CONFIG:MinSizeRel>:MinSizeRel> "-target" "gtest_main")
-        set(GTEST_BUILD_COMMAND "xcodebuild" "-configuration" "${CMAKE_BUILD_TYPE}" "-target" "gtest_main")
     endif()
 
     if(CMAKE_VERSION VERSION_LESS 3.2)
@@ -53,24 +54,33 @@ if(NOT GOOGLETEST_FOUND)
             GIT_TAG v1.10.x
             SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
             BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
-            CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -Dgtest_hide_internal_symbols=ON ${TOOLCHAIN_ARG}
+            CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF -Dgtest_hide_internal_symbols=ON ${TOOLCHAIN_ARG} ${GTEST_BUILD_CONFIG}
             BUILD_COMMAND ${GTEST_BUILD_COMMAND}
             UPDATE_COMMAND ""
             PATCH_COMMAND ""
             INSTALL_COMMAND ""
         )
     else()
+        set(GOOGLETEST_BUILD_BYPRODUCTS
+            ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+            ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
+        )
+        if(CMAKE_BUILD_TYPE STREQUAL Debug)  # Workaround for Ninja generator
+            set(GOOGLETEST_BUILD_BYPRODUCTS
+                ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtestd${CMAKE_STATIC_LIBRARY_SUFFIX}
+                ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_maind${CMAKE_STATIC_LIBRARY_SUFFIX}
+            )
+        endif()
         ExternalProject_Add(gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
             GIT_REPOSITORY https://github.com/google/googletest
             GIT_TAG v1.10.x
             SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
             BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
-            CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -Dgtest_hide_internal_symbols=ON ${TOOLCHAIN_ARG}
+            CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF -Dgtest_hide_internal_symbols=ON ${TOOLCHAIN_ARG} ${GTEST_BUILD_CONFIG}
             BUILD_COMMAND ${GTEST_BUILD_COMMAND}
             UPDATE_COMMAND ""
             PATCH_COMMAND ""
-            BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}
+            BUILD_BYPRODUCTS ${GOOGLETEST_BUILD_BYPRODUCTS}
-                ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}
             INSTALL_COMMAND ""
         )
     endif()
@@ -82,10 +92,23 @@ if(NOT GOOGLETEST_FOUND)
         add_dependencies(GTest::GTest gtest-${GNSSSDR_GTEST_LOCAL_VERSION})
         set_target_properties(GTest::GTest PROPERTIES
             IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${binary_dir}/lib/${XCODE_PREFIX}${CMAKE_FIND_LIBRARY_PREFIXES}gtest${DEBUG_POSTFIX}${CMAKE_DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}"
+            IMPORTED_CONFIGURATIONS "Debug;Release;RelWithDebInfo;MinSizeRel"
-            INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/googletest/include"
+            IMPORTED_LOCATION_DEBUG ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtestd${CMAKE_STATIC_LIBRARY_SUFFIX}
-            INTERFACE_LINK_LIBRARIES "${binary_dir}/lib/${XCODE_PREFIX}${CMAKE_FIND_LIBRARY_PREFIXES}gtest${DEBUG_POSTFIX}${CMAKE_DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}"
+            IMPORTED_LOCATION_RELEASE ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+            IMPORTED_LOCATION_RELWITHDEBINFO ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+            IMPORTED_LOCATION_MINSIZEREL ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+            INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/googletest/include
+            INTERFACE_LINK_LIBRARIES ${binary_dir}/lib/gtest$<$<CONFIG:Debug>:d>${CMAKE_STATIC_LIBRARY_SUFFIX}
         )
+        if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
+            set_target_properties(GTest::GTest PROPERTIES
+                IMPORTED_LOCATION_DEBUG ${binary_dir}/lib/Debug/${CMAKE_FIND_LIBRARY_PREFIXES}gtestd${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_RELEASE ${binary_dir}/lib/Release/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_RELWITHDEBINFO ${binary_dir}/lib/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_MINSIZEREL ${binary_dir}/lib/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+                INTERFACE_LINK_LIBRARIES ${binary_dir}/lib/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>gtest$<$<CONFIG:Debug>:d>${CMAKE_STATIC_LIBRARY_SUFFIX}
+            )
+        endif()
         set_target_properties(GTest::GTest PROPERTIES
             INTERFACE_LINK_LIBRARIES Threads::Threads
         )
@@ -95,10 +118,23 @@ if(NOT GOOGLETEST_FOUND)
         add_dependencies(GTest::Main gtest-${GNSSSDR_GTEST_LOCAL_VERSION})
         set_target_properties(GTest::Main PROPERTIES
             IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${binary_dir}/lib/${XCODE_PREFIX}${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}"
+            IMPORTED_CONFIGURATIONS "Debug;Release;RelWithDebInfo;MinSizeRel"
-            INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/googletest/include"
+            IMPORTED_LOCATION_DEBUG ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_maind${CMAKE_STATIC_LIBRARY_SUFFIX}
-            INTERFACE_LINK_LIBRARIES "${binary_dir}/lib/${XCODE_PREFIX}${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}"
+            IMPORTED_LOCATION_RELEASE ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
+            IMPORTED_LOCATION_RELWITHDEBINFO ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
+            IMPORTED_LOCATION_MINSIZEREL ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
+            INTERFACE_INCLUDE_DIRECTORIES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/googletest/include
+            INTERFACE_LINK_LIBRARIES ${binary_dir}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main$<$<CONFIG:Debug>:d>${CMAKE_STATIC_LIBRARY_SUFFIX}
         )
+        if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
+            set_target_properties(GTest::Main PROPERTIES
+                IMPORTED_LOCATION_DEBUG ${binary_dir}/lib/Debug/${CMAKE_FIND_LIBRARY_PREFIXES}gtestd${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_RELEASE ${binary_dir}/lib/Release/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_RELWITHDEBINFO ${binary_dir}/lib/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+                IMPORTED_LOCATION_MINSIZEREL ${binary_dir}/lib/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+                INTERFACE_LINK_LIBRARIES ${binary_dir}/lib/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main$<$<CONFIG:Debug>:d>${CMAKE_STATIC_LIBRARY_SUFFIX}
+            )
+        endif()
     endif()
 else()
     if(GTEST_INCLUDE_DIRS)
@@ -118,10 +154,20 @@ else()
             add_dependencies(GTest::GTest gtest)
             set_target_properties(GTest::GTest PROPERTIES
                 IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-                INTERFACE_INCLUDE_DIRECTORIES "${GTEST_INCLUDE_DIRS}"
+                IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
-                INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/${XCODE_PREFIX}${CMAKE_FIND_LIBRARY_PREFIXES}gtest${DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}"
+                INTERFACE_INCLUDE_DIRECTORIES ${GTEST_INCLUDE_DIRS}
-                IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/${XCODE_PREFIX}${CMAKE_FIND_LIBRARY_PREFIXES}gtest${DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}"
+                INTERFACE_LINK_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
             )
+            if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
+                set_target_properties(GTest::GTest PROPERTIES
+                    IMPORTED_CONFIGURATIONS "Debug;Release;RelWithDebInfo;MinSizeRel"
+                    IMPORTED_LOCATION_DEBUG ${CMAKE_CURRENT_BINARY_DIR}/Debug/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    IMPORTED_LOCATION_RELEASE ${CMAKE_CURRENT_BINARY_DIR}/Release/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    IMPORTED_LOCATION_RELWITHDEBINFO ${CMAKE_CURRENT_BINARY_DIR}/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    IMPORTED_LOCATION_MINSIZEREL ${CMAKE_CURRENT_BINARY_DIR}/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    INTERFACE_LINK_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
+                )
+            endif()
             set_target_properties(GTest::GTest PROPERTIES
                 INTERFACE_LINK_LIBRARIES Threads::Threads
             )
@@ -131,10 +177,20 @@ else()
             add_dependencies(GTest::Main gtest_main)
             set_target_properties(GTest::Main PROPERTIES
                 IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-                INTERFACE_INCLUDE_DIRECTORIES "${GTEST_INCLUDE_DIRS}"
+                IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
-                INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/${XCODE_PREFIX}${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}"
+                INTERFACE_INCLUDE_DIRECTORIES ${GTEST_INCLUDE_DIRS}
-                IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/${XCODE_PREFIX}${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${DEBUG_POSTFIX}${CMAKE_STATIC_LIBRARY_SUFFIX}"
+                INTERFACE_LINK_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
             )
+            if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
+                set_target_properties(GTest::Main PROPERTIES
+                    IMPORTED_CONFIGURATIONS "Debug;Release;RelWithDebInfo;MinSizeRel"
+                    IMPORTED_LOCATION_DEBUG ${CMAKE_CURRENT_BINARY_DIR}/Debug/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    IMPORTED_LOCATION_RELEASE ${CMAKE_CURRENT_BINARY_DIR}/Release/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    IMPORTED_LOCATION_RELWITHDEBINFO ${CMAKE_CURRENT_BINARY_DIR}/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    IMPORTED_LOCATION_MINSIZEREL ${CMAKE_CURRENT_BINARY_DIR}/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
+                    INTERFACE_LINK_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}gtest_main${CMAKE_STATIC_LIBRARY_SUFFIX}
+                )
+            endif()
         endif()
     endif()
 endif()
@@ -838,7 +894,7 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
     if(ARMADILLO_VERSION_STRING VERSION_GREATER 8.400)
         set(NONLINEAR_SOURCES
             ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/cubature_filter_test.cc
-            ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
+            # ${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/unscented_filter_test.cc
         )
     endif()
     add_executable(trk_test