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

.clang-tidy

@@ -1,3 +1,130 @@
 ---
-Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-bool-literals,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-inefficient-algorithm,performance-move-const-arg,performance-type-promotion-in-math-fn,performance-unnecessary-copy-initialization,performance-unnecessary-value-param,readability-container-size-empty,readability-named-parameter,readability-non-const-parameter,readability-string-compare'
+Checks: '-*,
-HeaderFilterRegex: '.*'
+        boost-use-to-string,
+        cert-dcl21-cpp,
+        cert-dcl58-cpp,
+        cert-env33-c,
+        cert-err52-cpp,
+        cert-err60-cpp,
+        cert-flp30-c,
+        clang-analyzer-cplusplus*,
+        cppcoreguidelines-pro-type-static-cast-downcast,
+        cppcoreguidelines-slicing,
+        google-build-namespaces,
+        google-runtime-int,
+        misc-misplaced-const,
+        misc-new-delete-overloads,
+        misc-non-copyable-objects,
+        misc-static-assert,
+        misc-throw-by-value-catch-by-reference,
+        misc-uniqueptr-reset-release,
+        misc-unused-using-decls,
+        modernize-loop-convert,
+        modernize-pass-by-value,
+        modernize-raw-string-literal,
+        modernize-use-auto,
+        modernize-use-bool-literals,
+        modernize-use-equals-default,
+        modernize-use-equals-delete,
+        modernize-use-noexcept,
+        modernize-use-nullptr,
+        performance-faster-string-find,
+        performance-inefficient-algorithm,
+        performance-move-const-arg,
+        performance-type-promotion-in-math-fn,
+        performance-unnecessary-copy-initialization,
+        performance-unnecessary-value-param,
+        readability-container-size-empty,
+        readability-identifier-naming,
+        readability-inconsistent-declaration-parameter-name,
+        readability-named-parameter,
+        readability-non-const-parameter,
+        readability-string-compare'
+WarningsAsErrors: ''
+HeaderFilterRegex: ''
+AnalyzeTemporaryDtors: false
+FormatStyle: 'file'
+CheckOptions:
+  - key:             google-build-namespaces.HeaderFileExtensions
+    value:           ',h'
+  - key:             google-readability-braces-around-statements.ShortStatementLines
+    value:           '1'
+  - key:             google-readability-function-size.StatementThreshold
+    value:           '800'
+  - key:             google-readability-namespace-comments.ShortNamespaceLines
+    value:           '10'
+  - key:             google-readability-namespace-comments.SpacesBeforeComments
+    value:           '2'
+  - key:             google-runtime-int.SignedTypePrefix
+    value:           int
+  - key:             google-runtime-int.TypeSuffix
+    value:           _t
+  - key:             google-runtime-int.UnsignedTypePrefix
+    value:           uint
+  - key:             misc-throw-by-value-catch-by-reference.CheckThrowTemporaries
+    value:           '1'
+  - key:             modernize-loop-convert.MaxCopySize
+    value:           '16'
+  - key:             modernize-loop-convert.MinConfidence
+    value:           reasonable
+  - key:             modernize-loop-convert.NamingStyle
+    value:           CamelCase
+  - key:             modernize-pass-by-value.IncludeStyle
+    value:           llvm
+  - key:             modernize-pass-by-value.ValuesOnly
+    value:           '0'
+  - key:             modernize-raw-string-literal.ReplaceShorterLiterals
+    value:           '0'
+  - key:             modernize-replace-auto-ptr.IncludeStyle
+    value:           llvm
+  - key:             modernize-use-auto.MinTypeNameLength
+    value:           '5'
+  - key:             modernize-use-auto.RemoveStars
+    value:           '0'
+  - key:             modernize-use-equals-default.IgnoreMacros
+    value:           '1'
+  - key:             modernize-use-noexcept.ReplacementString
+    value:           ''
+  - key:             modernize-use-noexcept.UseNoexceptFalse
+    value:           '1'
+  - key:             modernize-use-nullptr.NullMacros
+    value:           'NULL'
+  - key:             performance-faster-string-find.StringLikeClasses
+    value:           'std::basic_string'
+  - key:             performance-move-const-arg.CheckTriviallyCopyableMove
+    value:           '1'
+  - key:             performance-type-promotion-in-math-fn.IncludeStyle
+    value:           llvm
+  - key:             performance-unnecessary-value-param.IncludeStyle
+    value:           llvm
+  - key:             readability-identifier-naming.AbstractClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.AbstractClassPrefix
+    value:           ''
+  - key:             readability-identifier-naming.AbstractClassSuffix
+    value:           ''
+  - key:             readability-identifier-naming.ClassCase
+    value:           Camel_Snake_Case
+  - key:             readability-identifier-naming.ClassPrefix
+    value:           ''
+  - key:             readability-identifier-naming.ClassSuffix
+    value:           ''
+  - key:             readability-identifier-naming.GlobalConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.GlobalConstantPrefix
+    value:           ''
+  - key:             readability-identifier-naming.GlobalConstantSuffix
+    value:           ''
+  - key:             readability-identifier-naming.IgnoreFailedSplit
+    value:           '0'
+  - key:             readability-identifier-naming.StructCase
+    value:           aNy_CasE
+  - key:             readability-identifier-naming.StructPrefix
+    value:           ''
+  - key:             readability-identifier-naming.StructSuffix
+    value:           ''
+  - key:             readability-inconsistent-declaration-parameter-name.IgnoreMacros
+    value:           '1'
+  - key:             readability-inconsistent-declaration-parameter-name.Strict
+    value:           '0'
+...

CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
+# Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -23,7 +23,7 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
     message(WARNING "In-tree build is bad practice. Try 'cd build && cmake ../' ")
 endif()
 
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 2.8.12)
 project(gnss-sdr CXX C)
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/Modules)
 file(RELATIVE_PATH RELATIVE_CMAKE_CALL ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR})
@@ -41,7 +41,7 @@ endif()
 
 ########################################################################
 # Determine optional blocks/libraries to be built (default: not built)
-# Enable them at the command line by doing 'cmake -DENABLE_XXX=ON ../'
+# Enable them at the command line by doing 'cmake -DENABLE_XXX=ON ..'
 ########################################################################
 # Support of optional RF front-ends
 option(ENABLE_UHD "Enable the use of UHD (driver for all USRP devices)" ON)
@@ -58,6 +58,9 @@ option(ENABLE_RAW_UDP "Enable the use of high-optimized custom UDP packet sample
 option(ENABLE_GPERFTOOLS "Enable linking to Gperftools libraries (tcmalloc and profiler)" OFF)
 option(ENABLE_GPROF "Enable the use of the GNU profiler tool 'gprof'" OFF)
 
+# Code correctness
+option(ENABLE_CLANG_TIDY "Enable the use of clang-tidy when compiling" OFF)
+
 # Acceleration
 option(ENABLE_PROFILING "Enable execution of volk_gnsssdr_profile at the end of the building" OFF)
 option(ENABLE_OPENCL "Enable building of processing blocks implemented with OpenCL (experimental)" OFF)
@@ -324,12 +327,12 @@ endif()
 ################################################################################
 # Minimum required versions
 ################################################################################
-set(GNSSSDR_CMAKE_MIN_VERSION "2.8.8")
+set(GNSSSDR_CMAKE_MIN_VERSION "2.8.12")
 set(GNSSSDR_GCC_MIN_VERSION "4.7.2")
 set(GNSSSDR_CLANG_MIN_VERSION "3.4.0")
 set(GNSSSDR_APPLECLANG_MIN_VERSION "500")
 set(GNSSSDR_GNURADIO_MIN_VERSION "3.7.3")
-set(GNSSSDR_BOOST_MIN_VERSION "1.45")
+set(GNSSSDR_BOOST_MIN_VERSION "1.53")
 set(GNSSSDR_PYTHON_MIN_VERSION "2.7")
 set(GNSSSDR_PYTHON3_MIN_VERSION "3.4")
 set(GNSSSDR_MAKO_MIN_VERSION "0.4.2")
@@ -407,12 +410,62 @@ endif()
 
 
 
+################################################################################
+# Set C and C++ standard
+################################################################################
+if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
+    set(CMAKE_C_STANDARD 11)
+    set(CMAKE_CXX_STANDARD 14)
+    set(CMAKE_CXX_EXTENSIONS OFF)
+else()
+    add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,C>:-std=gnu11>")
+    if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
+        if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
+            add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
+        else()
+            add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++14>")
+        endif()
+    endif()
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+        if(OS_IS_MACOSX)
+            if(CLANG_VERSION VERSION_LESS "600")
+                add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
+            else()
+                add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++14>")
+            endif()
+        else()
+            if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
+                add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++11>")
+            else()
+                add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:-std=c++14>")
+            endif()
+        endif()
+    endif()
+endif()
+
+# Visibility
+# See https://gcc.gnu.org/wiki/Visibility
+if(POLICY CMP0053)
+    cmake_policy(SET CMP0063 NEW)
+    set(CMAKE_CXX_VISIBILITY_PRESET hidden)
+    set(CMAKE_C_VISIBILITY_PRESET hidden)
+    set(CMAKE_VISIBILITY_INLINES_HIDDEN 1)
+else()
+    if((CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
+        add_definitions(-fvisibility=hidden)
+    endif()
+endif()
+
+
 ################################################################################
 # Check if the compiler defines the architecture as ARM
 ################################################################################
 if(NOT OS_IS_MACOSX)
     if(CMAKE_CROSSCOMPILING)
         set(IS_ARM TRUE)
+        if(NOT CMAKE_NO_SYSTEM_FROM_IMPORTED)
+            set(CMAKE_NO_SYSTEM_FROM_IMPORTED TRUE)
+        endif()
     else()
         include(TestForARM)
     endif()
@@ -420,21 +473,25 @@ endif()
 
 
 
-################################################################################
-# Check for availability of SSE
-################################################################################
-if(NOT ENABLE_GENERIC_ARCH)
-    include(TestForSSE)
-endif()
-
-
-
 ################################################################################
 # Find the POSIX thread (pthread) libraries
 ################################################################################
 if(CMAKE_VERSION VERSION_LESS 3.1)
+    # Workaround for CMake < 3.1
     find_package(Threads REQUIRED)
-    set(THREAD_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
+    add_library(Threads::Threads SHARED IMPORTED)
+    set_property(TARGET Threads::Threads PROPERTY INTERFACE_LINK_LIBRARIES "${CMAKE_THREAD_LIBS_INIT}")
+    set_property(TARGET Threads::Threads PROPERTY IMPORTED_LINK_INTERFACE_LANGUAGES "CXX")
+    include(GNUInstallDirs)
+    # Fix bug in Debian 8.11
+    if(${LINUX_DISTRIBUTION} MATCHES "Debian")
+        if(${LINUX_VER} VERSION_LESS 8.12)
+            if(ARCH_64BITS)
+                set(FIX_PTHREADS_LOCATION "x86_64-linux-gnu/")
+            endif()
+        endif()
+    endif()
+    set_property(TARGET Threads::Threads PROPERTY IMPORTED_LOCATION /usr/${CMAKE_INSTALL_LIBDIR}/${FIX_PTHREADS_LOCATION}${CMAKE_FIND_LIBRARY_PREFIXES}pthread${CMAKE_SHARED_LIBRARY_SUFFIX})
 else()
     set(CMAKE_THREAD_PREFER_PTHREAD TRUE)
     if(CMAKE_CROSSCOMPILING)
@@ -443,7 +500,6 @@ else()
         set(THREADS_PREFER_PTHREAD_FLAG TRUE)
     endif()
     find_package(Threads REQUIRED)
-    set(THREAD_LIBRARIES Threads::Threads)
 endif()
 
 
@@ -458,13 +514,13 @@ if(ENABLE_UNIT_TESTING OR ENABLE_SYSTEM_TESTING)
     endif()
     if(GTEST_DIR)
         message(STATUS "Googletest root folder set at ${GTEST_DIR}")
-        find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS ${GTEST_DIR})
+        find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS ${GTEST_DIR} ${GTEST_DIR}/googletest)
         if(LIBGTEST_DEV_DIR)
             message(STATUS "Googletest has been found.")
         else()
             message(FATAL_ERROR " Googletest source code has not been found at ${GTEST_DIR}.")
         endif()
-        find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS ${GTEST_DIR}/include)
+        find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS ${GTEST_DIR}/googletest/include)
     else()
         find_path(LIBGTEST_DEV_DIR NAMES src/gtest-all.cc PATHS /usr/src/googletest/googletest /usr/src/gtest /usr/include/gtest /opt/local/src/gtest-1.7.0)
         find_path(GTEST_INCLUDE_DIRS NAMES gtest/gtest.h PATHS /usr/include /opt/local/src/gtest-1.7.0/include)
@@ -487,8 +543,7 @@ if(UNIX AND EXISTS "/usr/lib64")
     list(APPEND BOOST_LIBRARYDIR "/usr/lib64") # Fedora 64-bit fix
 endif()
 set(Boost_ADDITIONAL_VERSIONS
-    "1.45.0" "1.45" "1.46.0" "1.46"                 "1.48.0" "1.48" "1.49.0" "1.49"
+    "1.53.0" "1.53" "1.54.0" "1.54"
-    "1.50.0" "1.50" "1.51.0" "1.51"                 "1.53.0" "1.53" "1.54.0" "1.54"
     "1.55.0" "1.55" "1.56.0" "1.56" "1.57.0" "1.57" "1.58.0" "1.58" "1.59.0" "1.59"
     "1.60.0" "1.60" "1.61.0" "1.61" "1.62.0" "1.62" "1.63.0" "1.63" "1.64.0" "1.64"
     "1.65.0" "1.65" "1.66.0" "1.66" "1.67.0" "1.67" "1.68.0" "1.68" "1.69.0" "1.69"
@@ -498,11 +553,84 @@ set(Boost_ADDITIONAL_VERSIONS
 )
 set(Boost_USE_MULTITHREAD ON)
 set(Boost_USE_STATIC_LIBS OFF)
-find_package(Boost COMPONENTS date_time system filesystem thread serialization chrono REQUIRED)
+find_package(Boost ${GNSSSDR_BOOST_MIN_VERSION} COMPONENTS atomic chrono date_time filesystem serialization system thread REQUIRED)
 if(NOT Boost_FOUND)
     message(FATAL_ERROR "Fatal error: Boost (version >=${GNSSSDR_BOOST_MIN_VERSION}) required.")
 endif()
 
+if(CMAKE_VERSION VERSION_LESS 3.5)
+    if(NOT TARGET Boost::boost)
+        add_library(Boost::boost SHARED IMPORTED) # Trick for CMake 2.8.12
+        set_property(TARGET Boost::boost PROPERTY
+            INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
+        set_property(TARGET Boost::boost PROPERTY
+            IMPORTED_LOCATION ${Boost_DATE_TIME_LIBRARIES})
+    endif()
+    if(NOT TARGET Boost::date_time)
+        add_library(Boost::date_time SHARED IMPORTED)
+        set_property(TARGET Boost::date_time PROPERTY
+            INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
+        set_property(TARGET Boost::date_time PROPERTY
+            INTERFACE_LINK_LIBRARIES ${Boost_DATE_TIME_LIBRARIES})
+        set_property(TARGET Boost::date_time PROPERTY
+            IMPORTED_LOCATION ${Boost_DATE_TIME_LIBRARIES})
+    endif()
+    if(NOT TARGET Boost::system)
+        add_library(Boost::system SHARED IMPORTED)
+        set_property(TARGET Boost::system PROPERTY
+            INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
+        set_property(TARGET Boost::system PROPERTY
+            INTERFACE_LINK_LIBRARIES ${Boost_SYSTEM_LIBRARIES})
+        set_property(TARGET Boost::system PROPERTY
+            IMPORTED_LOCATION ${Boost_SYSTEM_LIBRARIES})
+    endif()
+    if(NOT TARGET Boost::filesystem)
+        add_library(Boost::filesystem SHARED IMPORTED)
+        set_property(TARGET Boost::filesystem PROPERTY
+            INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
+        set_property(TARGET Boost::filesystem PROPERTY
+            INTERFACE_LINK_LIBRARIES ${Boost_FILESYSTEM_LIBRARIES})
+        set_property(TARGET Boost::filesystem PROPERTY
+            IMPORTED_LOCATION ${Boost_FILESYSTEM_LIBRARIES})
+    endif()
+    if(NOT TARGET Boost::thread)
+        add_library(Boost::thread SHARED IMPORTED)
+        set_property(TARGET Boost::thread PROPERTY
+            INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
+        set_property(TARGET Boost::thread PROPERTY
+            INTERFACE_LINK_LIBRARIES ${Boost_THREAD_LIBRARIES})
+        set_property(TARGET Boost::thread PROPERTY
+            IMPORTED_LOCATION ${Boost_THREAD_LIBRARIES})
+    endif()
+    if(NOT TARGET Boost::serialization)
+        add_library(Boost::serialization SHARED IMPORTED)
+        set_property(TARGET Boost::serialization PROPERTY
+            INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
+        set_property(TARGET Boost::serialization PROPERTY
+            INTERFACE_LINK_LIBRARIES ${Boost_SERIALIZATION_LIBRARIES})
+        set_property(TARGET Boost::serialization PROPERTY
+            IMPORTED_LOCATION ${Boost_SERIALIZATION_LIBRARIES})
+    endif()
+    if(NOT TARGET Boost::chrono)
+        add_library(Boost::chrono SHARED IMPORTED)
+        set_property(TARGET Boost::chrono PROPERTY
+            INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
+        set_property(TARGET Boost::chrono PROPERTY
+            INTERFACE_LINK_LIBRARIES ${Boost_CHRONO_LIBRARIES})
+        set_property(TARGET Boost::chrono PROPERTY
+            IMPORTED_LOCATION ${Boost_CHRONO_LIBRARIES})
+    endif()
+    if(NOT TARGET Boost::atomic)
+        add_library(Boost::atomic SHARED IMPORTED)
+        set_property(TARGET Boost::atomic PROPERTY
+            INTERFACE_INCLUDE_DIRECTORIES ${Boost_INCLUDE_DIR})
+        set_property(TARGET Boost::atomic PROPERTY
+        INTERFACE_LINK_LIBRARIES ${Boost_ATOMIC_LIBRARIES})
+        set_property(TARGET Boost::atomic PROPERTY
+            IMPORTED_LOCATION ${Boost_ATOMIC_LIBRARIES})
+    endif()
+endif()
+
 
 
 ################################################################################
@@ -530,22 +658,98 @@ if(NOT GNURADIO_RUNTIME_FOUND)
         message("  brew install gnuradio")
         message(FATAL_ERROR "GNU Radio ${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
     endif()
+else()
+    if(NOT TARGET Gnuradio::runtime)
+        add_library(Gnuradio::runtime SHARED IMPORTED)
+        list(GET GNURADIO_RUNTIME_LIBRARIES 0 FIRST_DIR)
+        get_filename_component(GNURADIO_RUNTIME_DIR ${FIRST_DIR} ABSOLUTE)
+        set_target_properties(Gnuradio::runtime PROPERTIES
+          IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+          IMPORTED_LOCATION "${GNURADIO_RUNTIME_DIR}"
+          INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_RUNTIME_INCLUDE_DIRS}"
+          INTERFACE_LINK_LIBRARIES "${GNURADIO_RUNTIME_LIBRARIES}"
+        )
+    endif()
 endif()
 
 if(NOT GNURADIO_ANALOG_FOUND)
     message(FATAL_ERROR "*** The gnuradio-analog library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
+else()
+    if(NOT TARGET Gnuradio::analog)
+        add_library(Gnuradio::analog SHARED IMPORTED)
+        list(GET GNURADIO_ANALOG_LIBRARIES 0 FIRST_DIR)
+        get_filename_component(GNURADIO_ANALOG_DIR ${FIRST_DIR} ABSOLUTE)
+        set_target_properties(Gnuradio::analog PROPERTIES
+          IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+          IMPORTED_LOCATION "${GNURADIO_ANALOG_DIR}"
+          INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_ANALOG_INCLUDE_DIRS}"
+          INTERFACE_LINK_LIBRARIES "${GNURADIO_ANALOG_LIBRARIES}"
+        )
+    endif()
 endif()
+
 if(NOT GNURADIO_BLOCKS_FOUND)
     message(FATAL_ERROR "*** The gnuradio-blocks library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
+else()
+    if(NOT TARGET Gnuradio::blocks)
+        add_library(Gnuradio::blocks SHARED IMPORTED)
+        list(GET GNURADIO_BLOCKS_LIBRARIES 0 FIRST_DIR)
+        get_filename_component(GNURADIO_BLOCKS_DIR ${FIRST_DIR} ABSOLUTE)
+        set_target_properties(Gnuradio::blocks PROPERTIES
+          IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+          IMPORTED_LOCATION "${GNURADIO_BLOCKS_DIR}"
+          INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_BLOCKS_INCLUDE_DIRS}"
+          INTERFACE_LINK_LIBRARIES "${GNURADIO_BLOCKS_LIBRARIES}"
+        )
+    endif()
 endif()
+
 if(NOT GNURADIO_FILTER_FOUND)
     message(FATAL_ERROR "*** The gnuradio-filter library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
+else()
+    if(NOT TARGET Gnuradio::filter)
+        add_library(Gnuradio::filter SHARED IMPORTED)
+        list(GET GNURADIO_FILTER_LIBRARIES 0 FIRST_DIR)
+        get_filename_component(GNURADIO_FILTER_DIR ${FIRST_DIR} ABSOLUTE)
+        set_target_properties(Gnuradio::filter PROPERTIES
+          IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+          IMPORTED_LOCATION "${GNURADIO_FILTER_DIR}"
+          INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FILTER_INCLUDE_DIRS}"
+          INTERFACE_LINK_LIBRARIES "${GNURADIO_FILTER_LIBRARIES}"
+        )
+    endif()
 endif()
+
 if(NOT GNURADIO_FFT_FOUND)
     message(FATAL_ERROR "*** The gnuradio-fft library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
+else()
+    if(NOT TARGET Gnuradio::fft)
+        add_library(Gnuradio::fft SHARED IMPORTED)
+        list(GET GNURADIO_FFT_LIBRARIES 0 FIRST_DIR)
+        get_filename_component(GNURADIO_FFT_DIR ${FIRST_DIR} ABSOLUTE)
+        set_target_properties(Gnuradio::fft PROPERTIES
+          IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+          IMPORTED_LOCATION "${GNURADIO_FFT_DIR}"
+          INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_FFT_INCLUDE_DIRS}"
+          INTERFACE_LINK_LIBRARIES "${GNURADIO_FFT_LIBRARIES}"
+        )
+    endif()
 endif()
+
 if(NOT GNURADIO_PMT_FOUND)
     message(FATAL_ERROR "*** The gnuradio-pmt library v${GNSSSDR_GNURADIO_MIN_VERSION} or later is required to build gnss-sdr")
+else()
+    if(NOT TARGET Gnuradio::pmt)
+        add_library(Gnuradio::pmt SHARED IMPORTED)
+        list(GET GNURADIO_PMT_LIBRARIES 0 FIRST_DIR)
+        get_filename_component(GNURADIO_PMT_DIR ${FIRST_DIR} ABSOLUTE)
+        set_target_properties(Gnuradio::pmt PROPERTIES
+          IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+          IMPORTED_LOCATION "${GNURADIO_PMT_DIR}"
+          INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_PMT_INCLUDE_DIRS}"
+          INTERFACE_LINK_LIBRARIES "${GNURADIO_PMT_LIBRARIES}"
+        )
+    endif()
 endif()
 
 
@@ -695,6 +899,19 @@ if(NOT VOLKGNSSSDR_FOUND)
     set(VOLK_GNSSSDR_INCLUDE_DIRS "${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/build/include/;${CMAKE_CURRENT_SOURCE_DIR}/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/include;${ORC_INCLUDE_DIRS}")
     set(VOLK_GNSSSDR_LIBRARIES volk_gnsssdr ${ORC_LIBRARIES})
 
+    if(NOT TARGET Volkgnsssdr::volkgnsssdr)
+        file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/build/include)
+        add_library(Volkgnsssdr::volkgnsssdr STATIC IMPORTED)
+        add_dependencies(Volkgnsssdr::volkgnsssdr volk_gnsssdr_module)
+        set_target_properties(Volkgnsssdr::volkgnsssdr PROPERTIES
+            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+            IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install/lib/libvolk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}"
+            INCLUDE_DIRECTORIES "${VOLK_GNSSSDR_INCLUDE_DIRS}"
+            INTERFACE_INCLUDE_DIRECTORIES "${VOLK_GNSSSDR_INCLUDE_DIRS}"
+            INTERFACE_LINK_LIBRARIES "${VOLK_GNSSSDR_LIBRARIES}"
+        )
+    endif()
+
     if(CMAKE_VERSION VERSION_LESS 3.2)
         add_custom_command(TARGET volk_gnsssdr_module POST_BUILD
             COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install/bin/volk_gnsssdr_profile
@@ -756,16 +973,23 @@ if(NOT GFLAGS_FOUND)
         ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/include CACHE PATH "Local Gflags headers"
     )
 
-    add_library(gflags UNKNOWN IMPORTED)
+    file(GLOB GFlags_SHARED_LIBS
-    set_property(TARGET gflags PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX})
+        "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_SHARED_LIBRARY_SUFFIX}*"
-    add_dependencies(gflags gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION})
+    )
-    set(GFlags_LIBS gflags)
+
-    file(GLOB GFlags_SHARED_LIBS "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_SHARED_LIBRARY_SUFFIX}*")
+    if(NOT TARGET Gflags::gflags)
-    set(GFlags_LIBRARY gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION})
+        file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/include)
-    set(GFlags_LIBRARY_PATH ${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib)
+        add_library(Gflags::gflags STATIC IMPORTED)
-    link_directories(${GFlags_LIBRARY_PATH})
+        add_dependencies(Gflags::gflags gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION})
-    set(GFlags_lib ${GFlags_LIBS} CACHE FILEPATH "Local Gflags library")
+        set_target_properties(Gflags::gflags PROPERTIES
-    set(GFlags_LIBRARY_PATH ${GFlags_LIBS})
+            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+            IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX}"
+            INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/include"
+            INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/include"
+            INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/gflags-${GNSSSDR_GFLAGS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gflags${CMAKE_STATIC_LIBRARY_SUFFIX}"
+        )
+    endif()
+
     set(LOCAL_GFLAGS true CACHE STRING "GFlags downloaded and built automatically" FORCE)
 endif()
 
@@ -899,6 +1123,7 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
             INSTALL_COMMAND ""
         )
     endif()
+    add_dependencies(glog-${GNSSSDR_GLOG_LOCAL_VERSION} Gflags::gflags)
 
     # Set up variables
     set(GLOG_INCLUDE_DIRS
@@ -908,15 +1133,27 @@ ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/c
     set(GLOG_LIBRARIES
         ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/.libs/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}
     )
+
+    # Create Glog::glog target
+    if(NOT TARGET Glog::glog)
+        file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/glog/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/src)
+        file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/src)
+        add_library(Glog::glog STATIC IMPORTED)
+        add_dependencies(Glog::glog glog-${GNSSSDR_GLOG_LOCAL_VERSION})
+        set_target_properties(Glog::glog PROPERTIES
+            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+            IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/.libs/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}"
+            INCLUDE_DIRECTORIES "${GLOG_INCLUDE_DIRS}"
+            INTERFACE_INCLUDE_DIRECTORIES "${GLOG_INCLUDE_DIRS}"
+            INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/glog-${GNSSSDR_GLOG_LOCAL_VERSION}/.libs/${CMAKE_FIND_LIBRARY_PREFIXES}glog${CMAKE_STATIC_LIBRARY_SUFFIX}"
+        )
+    endif()
+
     set(LOCAL_GLOG true CACHE STRING "Glog downloaded and built automatically" FORCE)
-else()
-    add_library(glog-${GNSSSDR_GLOG_LOCAL_VERSION} UNKNOWN IMPORTED)
-    set_property(TARGET glog-${GNSSSDR_GLOG_LOCAL_VERSION} PROPERTY IMPORTED_LOCATION "${GLOG_LIBRARIES}")
 endif()
 
 if(NOT ENABLE_LOG)
     message(STATUS "Logging is not enabled")
-    add_definitions(-DGOOGLE_STRIP_LOG=1)
 endif()
 
 
@@ -967,6 +1204,14 @@ if(ARMADILLO_FOUND)
     if(${ARMADILLO_VERSION_STRING} VERSION_LESS ${GNSSSDR_ARMADILLO_MIN_VERSION})
         set(ARMADILLO_FOUND false)
         set(ENABLE_OWN_ARMADILLO true)
+    else()
+        add_library(Armadillo::armadillo SHARED IMPORTED)
+        set_target_properties(Armadillo::armadillo PROPERTIES
+          IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+          IMPORTED_LOCATION "${ARMADILLO_LIBRARIES}"
+          INTERFACE_INCLUDE_DIRECTORIES "${ARMADILLO_INCLUDE_DIRS}"
+          INTERFACE_LINK_LIBRARIES "${ARMADILLO_LIBRARIES}"
+        )
     endif()
 endif()
 
@@ -1028,17 +1273,22 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
 
     # Set up variables
     ExternalProject_Get_Property(armadillo-${armadillo_RELEASE} binary_dir)
-    set(ARMADILLO_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include)
+    #set(ARMADILLO_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include)
     if(NOT GFORTRAN)
         set(GFORTRAN "")
     endif()
     set(ARMADILLO_LIBRARIES ${BLAS} ${LAPACK} ${GFORTRAN} ${binary_dir}/${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})
-else()
+    file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include)
-    set(armadillo_RELEASE ${ARMADILLO_VERSION_STRING})
+    add_library(Armadillo::armadillo STATIC IMPORTED)
-    add_library(armadillo-${armadillo_RELEASE} UNKNOWN IMPORTED)
+    add_dependencies(Armadillo::armadillo armadillo-${armadillo_RELEASE})
-    set_property(TARGET armadillo-${armadillo_RELEASE} PROPERTY IMPORTED_LOCATION "${ARMADILLO_LIBRARIES}")
+    set_target_properties(Armadillo::armadillo PROPERTIES
+      IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+      IMPORTED_LOCATION "${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}"
+      INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include"
+      INTERFACE_LINK_LIBRARIES "${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}"
+    )
 endif()
 
 
@@ -1165,6 +1415,7 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
                     set(HDF5_BASE_DIR /usr/local)
                 endif()
             endif()
+
             if(CMAKE_VERSION VERSION_LESS 3.2)
                 ExternalProject_Add(matio-${GNSSSDR_MATIO_LOCAL_VERSION}
                     PREFIX ${CMAKE_CURRENT_BINARY_DIR}/matio
@@ -1173,7 +1424,7 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
                     SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
                     UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/autogen.sh
                     CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/configure --with-hdf5=${HDF5_BASE_DIR} --with-zlib=${ZLIB_BASE_DIR} --with-default-file-ver=7.3 --enable-mat73=yes --prefix=<INSTALL_DIR>
-                    BUILD_COMMAND make
+                    BUILD_COMMAND $(MAKE)
                 )
             else()
                 ExternalProject_Add(matio-${GNSSSDR_MATIO_LOCAL_VERSION}
@@ -1183,13 +1434,23 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
                     SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}
                     UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/autogen.sh
                     CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/matio/matio-${GNSSSDR_MATIO_LOCAL_VERSION}/configure --with-hdf5=${HDF5_BASE_DIR} --with-zlib=${ZLIB_BASE_DIR} --with-default-file-ver=7.3 --enable-mat73=yes --prefix=<INSTALL_DIR>
-                    BUILD_COMMAND make
+                    BUILD_COMMAND $(MAKE)
                     BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_STATIC_LIBRARY_SUFFIX}
                 )
             endif()
-            set(MATIO_LIBRARIES ${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_STATIC_LIBRARY_SUFFIX} ${HDF5_LIBRARIES} ${ZLIB_LIBRARIES})
-            set(MATIO_INCLUDE_DIRS ${CMAKE_CURRENT_BINARY_DIR}/matio/include)
             set(MATIO_LOCAL true)
+            if(NOT TARGET Matio::matio)
+                file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/matio/include)
+                file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/matio/lib)
+                add_library(Matio::matio SHARED IMPORTED)
+                add_dependencies(Matio::matio matio-${GNSSSDR_MATIO_LOCAL_VERSION})
+                set_target_properties(Matio::matio PROPERTIES
+                  IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+                  IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_SHARED_LIBRARY_SUFFIX}"
+                  INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}/matio/include"
+                  INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/matio/lib/${CMAKE_FIND_LIBRARY_PREFIXES}matio${CMAKE_SHARED_LIBRARY_SUFFIX}"
+                )
+            endif()
         else()
             message(STATUS " The hdf5 library has not been found in your system.")
             message(STATUS " Please try to install it by doing:")
@@ -1250,37 +1511,30 @@ else()
             INSTALL_COMMAND ""
         )
     endif()
-    set(PUGIXML_LIBRARY ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX})
-    set(PUGIXML_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/src)
-    set(PUGIXML_LOCAL true)
-endif()
 
-
+    if(NOT TARGET Pugixml::pugixml)
-################################################################################
+        file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/src)
-# USRP Hardware Driver (UHD) - OPTIONAL
+        add_library(Pugixml::pugixml STATIC IMPORTED)
-################################################################################
+        add_dependencies(Pugixml::pugixml pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION})
-if(ENABLE_UHD)
+        set_target_properties(Pugixml::pugixml PROPERTIES
-    find_package(UHD)
+            IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-    if(NOT UHD_FOUND)
+            IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}"
-        set(ENABLE_UHD OFF)
+            INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/src"
-        message(STATUS " The USRP Hardware Driver (UHD) signal source will not be built,")
+            INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}"
-        message(STATUS " so all USRP-based front-ends will not be usable.")
+        )
-        message(STATUS " Please check https://files.ettus.com/manual/")
-    else()
-        set(GR_REQUIRED_COMPONENTS UHD)
-        find_package(Gnuradio)
     endif()
 endif()
 
 
+
 ################################################################################
 # Doxygen - http://www.stack.nl/~dimitri/doxygen/index.html (OPTIONAL, used if found)
 ################################################################################
 find_package(Doxygen)
 if(DOXYGEN_FOUND)
     message(STATUS "Doxygen found.")
-    message(STATUS "You can build the documentation with '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc'.")
+    message(STATUS " You can build the documentation with '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc'.")
-    message(STATUS "When done, point your browser to ${CMAKE_BINARY_DIR}/html/index.html")
+    message(STATUS " When done, point your browser to ${CMAKE_BINARY_DIR}/html/index.html")
     set(HAVE_DOT ${DOXYGEN_DOT_FOUND})
     file(TO_NATIVE_PATH ${CMAKE_SOURCE_DIR} top_srcdir)
     file(TO_NATIVE_PATH ${CMAKE_BINARY_DIR} top_builddir)
@@ -1302,7 +1556,7 @@ if(DOXYGEN_FOUND)
         COMMENT "Generating API documentation with Doxygen." VERBATIM
     )
     if(LATEX_COMPILER)
-        message(STATUS "'${CMAKE_MAKE_PROGRAM_PRETTY_NAME} pdfmanual' will generate a manual at ${CMAKE_BINARY_DIR}/docs/GNSS-SDR_manual.pdf")
+        message(STATUS " '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} pdfmanual' will generate a manual at ${CMAKE_BINARY_DIR}/docs/GNSS-SDR_manual.pdf")
         add_custom_target(pdfmanual
             COMMAND ${CMAKE_MAKE_PROGRAM}
             COMMAND ${CMAKE_COMMAND} -E copy refman.pdf ${CMAKE_BINARY_DIR}/docs/GNSS-SDR_manual.pdf
@@ -1312,7 +1566,7 @@ if(DOXYGEN_FOUND)
             COMMENT "Generating PDF manual with Doxygen." VERBATIM
         )
     endif()
-    message(STATUS "'${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc-clean' will clean the documentation.")
+    message(STATUS " '${CMAKE_MAKE_PROGRAM_PRETTY_NAME} doc-clean' will clean the documentation.")
     add_custom_target(doc-clean
         COMMAND ${CMAKE_COMMAND} -E remove_directory ${CMAKE_BINARY_DIR}/docs/html
         COMMAND ${CMAKE_COMMAND} -E remove_directory ${CMAKE_BINARY_DIR}/docs/latex
@@ -1350,7 +1604,7 @@ if(ENABLE_OPENCL)
     else()
         if(OPENCL_FOUND)
             message(STATUS "OpenCL has been found and will be used by some processing blocks")
-            message(STATUS "You can disable OpenCL use by doing 'cmake -DENABLE_OPENCL=OFF ../' ")
+            message(STATUS " You can disable OpenCL use by doing 'cmake -DENABLE_OPENCL=OFF ..' ")
         endif()
     endif()
     if(ENABLE_GENERIC_ARCH)
@@ -1377,10 +1631,10 @@ endif()
 if(ENABLE_CUDA)
     find_package(CUDA REQUIRED)
     message(STATUS "NVIDIA CUDA GPU Acceleration will be enabled.")
-    message(STATUS "You can disable it with 'cmake -DENABLE_CUDA=OFF ../'")
+    message(STATUS " You can disable it with 'cmake -DENABLE_CUDA=OFF ..'")
 else()
     message(STATUS "NVIDIA CUDA GPU Acceleration will be not enabled.")
-    message(STATUS "Enable it with 'cmake -DENABLE_CUDA=ON ../' to add support for GPU-based acceleration using CUDA.")
+    message(STATUS " Enable it with 'cmake -DENABLE_CUDA=ON ..' to add support for GPU-based acceleration using CUDA.")
 endif()
 
 
@@ -1389,23 +1643,25 @@ endif()
 # CUSTOM UDP PACKET SOURCE (OPTIONAL)
 ###############################################################################
 if(ENABLE_RAW_UDP)
-    message(STATUS "High-optimized custom UDP ip packet source will be enabled.")
+    message(STATUS "High-optimized custom UDP IP packet source is enabled.")
-    message(STATUS "You can disable it with 'cmake -DENABLE_RAW_UDP=OFF ../'")
+    message(STATUS " You can disable it with 'cmake -DENABLE_RAW_UDP=OFF ..'")
-else()
+    find_package(PCAP)
-    message(STATUS "High-optimized custom UDP ip packet source will be enabled.")
+    if(NOT PCAP_FOUND)
-    message(STATUS "You can disable it with 'cmake -DENABLE_RAW_UDP=OFF ../'")
+        message(FATAL_ERROR "PCAP required to compile custom UDP packet sample source (with ENABLE_RAW_UDP=ON)")
+    endif()
 endif()
 
 
+
 ###############################################################################
 # FPGA (OPTIONAL)
 ###############################################################################
 if(ENABLE_FPGA)
     message(STATUS "FPGA Acceleration will be enabled.")
-    message(STATUS "You can disable it with 'cmake -DENABLE_FPGA=OFF ../'")
+    message(STATUS " You can disable it with 'cmake -DENABLE_FPGA=OFF ..'")
 else()
     message(STATUS "Fpga Acceleration will be not enabled.")
-    message(STATUS "Enable it with 'cmake -DENABLE_FPGA=ON ../' to add support for GPU-based acceleration using the FPGA.")
+    message(STATUS " Enable it with 'cmake -DENABLE_FPGA=ON ..' to add support for GPU-based acceleration using the FPGA.")
 endif()
 
 
@@ -1413,40 +1669,39 @@ endif()
 ################################################################################
 # Setup of optional drivers
 ################################################################################
-if($ENV{GN3S_DRIVER})
+
-    message(STATUS "GN3S_DRIVER environment variable found.")
+########################################
-    set(ENABLE_GN3S ON)
+# USRP Hardware Driver (UHD) - OPTIONAL
-endif()
+########################################
-if(GN3S_DRIVER)
+if(ENABLE_UHD)
-    set(ENABLE_GN3S ON)
+    find_package(UHD)
-endif()
+    if(NOT UHD_FOUND)
-if(ENABLE_GN3S)
+        set(ENABLE_UHD OFF)
-    message(STATUS "The GN3S driver will be compiled.")
+        message(STATUS " The USRP Hardware Driver (UHD) signal source will not be built,")
-    message(STATUS "You can disable it with 'cmake -DENABLE_GN3S=OFF ../'")
+        message(STATUS " so all USRP-based front-ends will not be usable.")
-else()
+        message(STATUS " Please check https://files.ettus.com/manual/")
-    message(STATUS "The (optional and experimental) GN3S driver is not enabled.")
+    else()
-    message(STATUS "Enable it with 'cmake -DENABLE_GN3S=ON ../' to add support for the GN3S dongle.")
+        set(GR_REQUIRED_COMPONENTS UHD)
+        find_package(Gnuradio)
+        if(NOT TARGET Gnuradio::uhd)
+            add_library(Gnuradio::uhd SHARED IMPORTED)
+            list(GET GNURADIO_UHD_LIBRARIES 0 FIRST_DIR)
+            get_filename_component(GNURADIO_UHD_DIR ${FIRST_DIR} ABSOLUTE)
+            set_target_properties(Gnuradio::uhd PROPERTIES
+              IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+              IMPORTED_LOCATION "${GNURADIO_UHD_DIR}"
+              INTERFACE_INCLUDE_DIRECTORIES "${GNURADIO_UHD_INCLUDE_DIRS}"
+              INTERFACE_LINK_LIBRARIES "${GNURADIO_UHD_LIBRARIES}"
+            )
+        endif()
+    endif()
 endif()
 
-if($ENV{RAW_ARRAY_DRIVER})
-    message(STATUS "RAW_ARRAY_DRIVER environment variable found.")
-    set(ENABLE_ARRAY ON)
-endif()
-
-if(RAW_ARRAY_DRIVER)
-    set(ENABLE_ARRAY ON)
-endif()
-
-if(ENABLE_ARRAY)
-    message(STATUS "CTTC's Antenna Array front-end driver will be compiled.")
-    message(STATUS "You can disable it with 'cmake -DENABLE_ARRAY=OFF ../'")
-    # copy firmware to install folder
-    # Build project gr-dbfcttc
-else()
-    message(STATUS "The (optional) CTTC's Antenna Array front-end driver is not enabled.")
-    message(STATUS "Enable it with 'cmake -DENABLE_ARRAY=ON ../' to add support for the CTTC experimental array front-end.")
-endif()
 
+##########################################
+# gr-osmosdr - OPTIONAL
+# https://github.com/osmocom/gr-osmosdr
+##########################################
 if($ENV{RTLSDR_DRIVER})
     message(STATUS "RTLSDR_DRIVER environment variable found.")
     set(ENABLE_OSMOSDR ON)
@@ -1456,7 +1711,7 @@ if(ENABLE_OSMOSDR)
     find_package(GROSMOSDR)
     if(GROSMOSDR_FOUND)
         message(STATUS "The driver for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based dongles, etc.) will be compiled.")
-        message(STATUS "You can disable it with 'cmake -DENABLE_OSMOSDR=OFF ../'")
+        message(STATUS " You can disable it with 'cmake -DENABLE_OSMOSDR=OFF ..'")
     else()
         if(ENABLE_PACKAGING)
             message(WARNING "gr-osmosdr has not been found. Source blocks depending on it will NOT be built.")
@@ -1466,9 +1721,34 @@ if(ENABLE_OSMOSDR)
     endif()
 else()
     message(STATUS "The (optional) driver for OsmoSDR and related front-ends is not enabled.")
-    message(STATUS "Enable it with 'cmake -DENABLE_OSMOSDR=ON ../' to add support for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based USB dongles, etc.)")
+    message(STATUS " Enable it with 'cmake -DENABLE_OSMOSDR=ON ..' to add support for OsmoSDR and other front-ends (HackRF, bladeRF, Realtek's RTL2832U-based USB dongles, etc.)")
 endif()
 
+
+##############################################
+# gr-iio - OPTIONAL
+# IIO blocks for GNU Radio
+# https://github.com/analogdevicesinc/gr-iio
+##############################################
+if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
+    find_package(GRIIO)
+    find_package(LIBIIO)
+endif()
+
+
+###################################################################################
+# libiio - OPTIONAL
+# A cross platform library for interfacing with local and remote Linux IIO devices
+# https://github.com/analogdevicesinc/libiio
+###################################################################################
+if(ENABLE_AD9361)
+    find_package(LIBIIO)
+endif()
+
+
+##############################################
+# TELEORBIT FLEXIBAND FRONTEND - OPTIONAL
+##############################################
 if($ENV{FLEXIBAND_DRIVER})
     message(STATUS "FLEXIBAND_DRIVER environment variable found.")
     set(ENABLE_FLEXIBAND ON)
@@ -1480,26 +1760,74 @@ endif()
 
 if(ENABLE_FLEXIBAND)
     message(STATUS "The Teleorbit Flexiband front-end source will be compiled.")
-    message(STATUS "You can disable it with 'cmake -DENABLE_FLEXIBAND=OFF ../'")
+    message(STATUS " You can disable it with 'cmake -DENABLE_FLEXIBAND=OFF ..'")
 else()
     message(STATUS "The (optional) Teleorbit Flexiband front-end driver adapter is not enabled.")
-    message(STATUS "Enable it with 'cmake -DENABLE_FLEXIBAND=ON ../' to add support for the Teleorbit Flexiband front-end.")
+    message(STATUS " Enable it with 'cmake -DENABLE_FLEXIBAND=ON ..' to add support for the Teleorbit Flexiband front-end.")
+endif()
+if(ENABLE_FLEXIBAND)
+    find_package(TELEORBIT)
+    if(NOT TELEORBIT_FOUND)
+        message(FATAL_ERROR "Teleorbit Flexiband GNU Radio driver required to build gnss-sdr with the optional FLEXIBAND adapter")
+    endif()
+endif()
+
+
+##############################################
+# GN3S - OPTIONAL
+##############################################
+if($ENV{GN3S_DRIVER})
+    message(STATUS "GN3S_DRIVER environment variable found.")
+    set(ENABLE_GN3S ON)
+endif()
+if(GN3S_DRIVER)
+    set(ENABLE_GN3S ON)
+endif()
+if(ENABLE_GN3S)
+    message(STATUS "The GN3S driver will be compiled.")
+    message(STATUS " You can disable it with 'cmake -DENABLE_GN3S=OFF ..'")
+    find_package(GRGN3S QUIET)
+else()
+    message(STATUS "The (optional and experimental) GN3S driver is not enabled.")
+    message(STATUS " Enable it with 'cmake -DENABLE_GN3S=ON ..' to add support for the GN3S dongle.")
+endif()
+
+
+#######################################################
+# CTTC's digital array beamformer prototype - OPTIONAL
+#######################################################
+if($ENV{RAW_ARRAY_DRIVER})
+    message(STATUS "RAW_ARRAY_DRIVER environment variable found.")
+    set(ENABLE_ARRAY ON)
+endif()
+
+if(RAW_ARRAY_DRIVER)
+    set(ENABLE_ARRAY ON)
+endif()
+
+if(ENABLE_ARRAY)
+    message(STATUS "CTTC's Antenna Array front-end driver will be compiled.")
+    message(STATUS " You can disable it with 'cmake -DENABLE_ARRAY=OFF ..'")
+    find_package(GRDBFCTTC QUIET)
+else()
+    message(STATUS "The (optional) CTTC's Antenna Array front-end driver is not enabled.")
+    message(STATUS " Enable it with 'cmake -DENABLE_ARRAY=ON ..' to add support for the CTTC experimental array front-end.")
 endif()
 
 
 
 ################################################################################
-# GPerftools - https://github.com/gperftools/gperftools (OPTIONAL)
+# GPerftools - https://github.com/gperftools/gperftools - OPTIONAL)
 ################################################################################
 if(ENABLE_GPERFTOOLS)
     find_package(GPERFTOOLS)
     if(NOT GPERFTOOLS_FOUND)
         message(STATUS "Although ENABLE_GPERFTOOLS has been set to ON, GPerftools has not been found.")
-        message(STATUS "Binaries will be compiled without 'tcmalloc' and 'profiler' libraries.")
+        message(STATUS " Binaries will be compiled without 'tcmalloc' and 'profiler' libraries.")
-        message(STATUS "You can install GPerftools from https://github.com/gperftools/gperftools")
+        message(STATUS " You can install GPerftools from https://github.com/gperftools/gperftools")
     else()
         message(STATUS "GPerftools libraries found.")
-        message(STATUS "Binaries will be compiled with 'tcmalloc' and 'profiler' libraries.")
+        message(STATUS " Binaries will be compiled with 'tcmalloc' and 'profiler' libraries.")
     endif()
 endif()
 if(ENABLE_GPERFTOOLS)
@@ -1507,10 +1835,10 @@ if(ENABLE_GPERFTOOLS)
     # See https://github.com/gperftools/gperftools/blob/master/README
     if(GPERFTOOLS_FOUND)
         if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
-            set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free")
+            add_compile_options(-fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free)
         endif()
         if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-            set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -fno-builtin")
+            add_compile_options(-fno-builtin)
         endif()
     endif()
 endif()
@@ -1521,7 +1849,7 @@ endif()
 # GNU gprof (OPTIONAL) - https://sourceware.org/binutils/docs/gprof/
 ########################################################################
 if(ENABLE_GPROF)
-    set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -pg")
+    add_compile_options(-pg)
     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -pg")
     set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -pg")
 endif()
@@ -1530,92 +1858,48 @@ endif()
 ########################################################################
 # Set compiler flags
 ########################################################################
-# Support of C++17 is still not possible due to pm_remez.h (solved in GNU Radio 3.8)
-# Enable C++14 support in GCC >= 6.1.1
-# Fallback to C++11 when using GCC < 6.1.1
 if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
-    if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1")
+    # Add warning flags
-        set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
+    # For "-Wall" see https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
+    set(cxx_warning_flags -Wall -Wextra)
+    if(NOT (CMAKE_VERSION VERSION_LESS "3.3"))
+        add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:${cxx_warning_flags}>")
     else()
-        # if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
+        add_compile_options("$<$<STREQUAL:$<TARGET_PROPERTY:LINKER_LANGUAGE>,CXX>:${cxx_warning_flags}>")
-            set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
-        # else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
-            # set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
-        # endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")
     endif()
-    set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra")  #Add warning flags: For "-Wall" see https://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html
+    if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "5.0")
-endif()
+        add_compile_options(-Wno-missing-field-initializers)
-
-# Support of C++17 is still not possible due to pm_remez.h (solved in GNU Radio 3.8)
-# Enable C++14 support in Clang >= 3.5.0 or AppleClang >= 600
-# Fallback to C++11 if older version
-if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    if(OS_IS_MACOSX)
-        # See https://trac.macports.org/wiki/XcodeVersionInfo for Apple Clang version equivalences
-        if(CLANG_VERSION VERSION_LESS "600")
-            set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
-        else()
-            # if(CLANG_VERSION VERSION_LESS "900")
-            set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
-            # else(CLANG_VERSION VERSION_LESS "900")
-            # set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
-            # endif(CLANG_VERSION VERSION_LESS "900")
     endif()
-    else()
+    if(CMAKE_CROSSCOMPILING)
-        if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0")
+        add_compile_options(-Wno-psabi)
-            set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11")
-        else()
-            # if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
-            set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14")
-            # else(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
-            # set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17")
-            # endif(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0.0")
-        endif()
-    endif()
-
-    if(OS_IS_MACOSX)
-        set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -stdlib=libc++")
-    endif()
-endif()
-
-if(NOT ((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT (CMAKE_CXX_COMPILER_ID MATCHES "Clang")) AND NOT WIN32)
-    if(NOT (CMAKE_VERSION VERSION_LESS "3.1"))
-        set(CMAKE_C_STANDARD 11)
-        set(CMAKE_CXX_STANDARD 14)
     endif()
 endif()
 
 # Processor-architecture related flags
 # See https://gcc.gnu.org/onlinedocs/gcc/x86-Options.html
-if(NOT ARCH_COMPILER_FLAGS)
+if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
-    if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
     if(OS_IS_MACOSX)
-          set(ARCH_COMPILER_FLAGS "-march=corei7 -mfpmath=sse")
+        add_compile_options(-march=corei7 -mfpmath=sse)
     else()
-          if(NOT ${ENABLE_GENERIC_ARCH})
+        if(NOT ENABLE_GENERIC_ARCH)
-              if(IS_ARM) # ARM-specific options (https://gcc.gnu.org/onlinedocs/gcc/ARM-Options.html)
+            if(IS_ARM)
+                # ARM-specific options
+                # See https://gcc.gnu.org/onlinedocs/gcc/ARM-Options.html
                 if(NOT CMAKE_CROSSCOMPILING)
                     if(ARM_VERSION STREQUAL "arm")
                         # Unknown arm version - try our best to detect
-                          set(ARCH_COMPILER_FLAGS "-mcpu=native")
+                        add_compile_options(-mcpu=native)
                     else()
-                          set(ARCH_COMPILER_FLAGS "-march=${ARM_VERSION}")
+                        add_compile_options(-march=${ARM_VERSION})
                     endif()
                 endif()
             else()
-                  set(ARCH_COMPILER_FLAGS "-march=native -mfpmath=sse")
+                add_compile_options(-march=native -mfpmath=sse)
-              endif()
             endif()
         endif()
     endif()
 endif()
-set(MY_CXX_FLAGS "${MY_CXX_FLAGS} ${ARCH_COMPILER_FLAGS}")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MY_CXX_FLAGS}")
 
-if((CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32)
-    # https://gcc.gnu.org/wiki/Visibility
-    add_definitions(-fvisibility=hidden)
-endif()
 
 
 ########################################################################
@@ -1632,7 +1916,12 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
             message(STATUS "clang-tidy not found.")
         else()
             message(STATUS "clang-tidy found: ${CLANG_TIDY_EXE}")
-            set(DO_CLANG_TIDY "${CLANG_TIDY_EXE}" "-checks=*")
+            if(ENABLE_CLANG_TIDY)
+                message(STATUS " clang-tidy will be used in compilation. You can disable it with 'cmake -DENABLE_CLANG_TIDY=OFF ..'")
+            else()
+                message(STATUS " You can enable clang-tidy usage in compilation with 'cmake -DENABLE_CLANG_TIDY=ON ..'")
+            endif()
+            set(DO_CLANG_TIDY "${CLANG_TIDY_EXE}" "-fix")
             set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
         endif()
     endif()

README.md

@@ -112,12 +112,12 @@ Once you have installed these packages, you can jump directly to [download the s
 
 #### Arch Linux
 
-If you are using Arch Linux (with base-devel group installed):
+If you are using Arch Linux:
 
 ~~~~~~
-$ pacman -S cmake git boost boost-libs log4cpp libvolk gnuradio gnuradio-osmosdr \
+$ pacman -S gcc make cmake git boost boost-libs log4cpp libvolk gnuradio \
-       blas lapack gflags google-glog openssl pugixml python-mako python-six \
+       gnuradio-osmosdr blas lapack gflags google-glog openssl pugixml \
-       libmatio libpcap gtest
+       python-mako python-six libmatio libpcap gtest
 ~~~~~~
 
 Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@@ -573,7 +573,7 @@ First, install [Homebrew](https://brew.sh/). Paste this in a terminal prompt:
 $ /usr/bin/ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
 ~~~~~~
 
-The script explains what it will do and then pauses before it does it. There are more installation options [here](https://docs.brew.sh/Installation.html).
+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:
 
@@ -584,17 +584,26 @@ $ sudo easy_install pip
 Install the required dependencies:
 
 ~~~~~~
-$ brew tap homebrew/science
+$ brew install cmake
-$ brew install cmake hdf5 arpack superlu
+$ brew install hdf5 arpack superlu armadillo
-$ brew install armadillo
+$ brew install glog gflags
-$ brew install glog gflags gnutls
 $ brew install gnuradio
 $ brew install libmatio
+$ brew install log4cpp
 $ brew install pugixml
 $ pip install mako
 $ pip install six
+$ brew install openssl
 ~~~~~~
 
+In the last step, Homebrew installs OpenSSL but it does not link it to `/usr/local`. Thus, you must manually link it instead:
+
+~~~~~~
+$ ln -s /usr/local/opt/openssl/include/openssl /usr/local/include
+$ ln -s /usr/local/opt/openssl/lib/libssl.1.0.0.dylib /usr/local/lib/
+~~~~~~
+
+
 #### Build GNSS-SDR
 
 Finally, you are ready to clone the GNSS-SDR repository, configure and build the software:

cmake/Modules/FindGFLAGS.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.
 #
@@ -26,6 +26,10 @@
 # GFlags_INCLUDE_DIRS
 # GFlags_LIBS
 # GFlags_LIBRARY_DIRS
+#
+# Provides the following imported target:
+# Gflags::gflags
+#
 
 if(APPLE)
     find_path(GFlags_ROOT_DIR
@@ -95,9 +99,6 @@ if(GFlags_ROOT_DIR)
     else()
       set(GFLAGS_GREATER_20 FALSE)
     endif()
-    # set up include and link directory
-    include_directories(${GFlags_INCLUDE_DIRS})
-    link_directories(${GFlags_LIBRARY_DIRS})
     message(STATUS "gflags library found at ${GFlags_lib}")
     set(GFlags_LIBS ${GFlags_lib})
     set(GFlags_FOUND true)
@@ -109,3 +110,13 @@ endif()
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(GFLAGS DEFAULT_MSG GFlags_LIBS GFlags_INCLUDE_DIRS)
+
+if(GFLAGS_FOUND AND NOT TARGET Gflags::gflags)
+    add_library(Gflags::gflags SHARED IMPORTED)
+    set_target_properties(Gflags::gflags PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${GFlags_LIBS}"
+        INTERFACE_INCLUDE_DIRECTORIES "${GFlags_INCLUDE_DIRS}"
+        INTERFACE_LINK_LIBRARIES "${GFlags_LIBS}"
+    )
+endif()

cmake/Modules/FindGLOG.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.
 #
@@ -27,6 +27,9 @@
 #
 # GLOG_ROOT - Can be set to Glog install path or Windows build path
 #
+# Provides the following imported target:
+# Glog::glog
+#
 
 if(NOT DEFINED GLOG_ROOT)
     set(GLOG_ROOT /usr /usr/local)
@@ -135,6 +138,12 @@ else()
     string(REGEX REPLACE "/libglog.so" "" GLOG_LIBRARIES_DIR ${GLOG_LIBRARIES})
 endif()
 
-if(GLOG_FOUND)
+if(GLOG_FOUND AND NOT TARGET Glog::glog)
-    # _GLOG_APPEND_LIBRARIES(GLOG GLOG_LIBRARIES)
+    add_library(Glog::glog SHARED IMPORTED)
+    set_target_properties(Glog::glog PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${GLOG_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${GLOG_INCLUDE_DIRS}"
+        INTERFACE_LINK_LIBRARIES "${GLOG_LIBRARIES}"
+    )
 endif()

cmake/Modules/FindGPERFTOOLS.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.
 #
@@ -33,6 +33,12 @@
 # GPERFTOOLS_FOUND System has Gperftools libs/headers
 # GPERFTOOLS_LIBRARIES The Gperftools libraries (tcmalloc & profiler)
 # GPERFTOOLS_INCLUDE_DIR The location of Gperftools headers
+#
+# Provides the following imported targets:
+# Gperftools::tcmalloc
+# Gperftools::profiler
+# Gperftools::gperftools
+#
 
 find_library(GPERFTOOLS_TCMALLOC
   NAMES tcmalloc
@@ -41,6 +47,8 @@ find_library(GPERFTOOLS_TCMALLOC
         $ENV{GPERFTOOLS_ROOT}/lib
         ${GPERFTOOLS_ROOT}/lib64
         $ENV{GPERFTOOLS_ROOT}/lib64
+        /usr/lib
+        /usr/lib64
 )
 
 find_library(GPERFTOOLS_PROFILER
@@ -50,6 +58,8 @@ find_library(GPERFTOOLS_PROFILER
         $ENV{GPERFTOOLS_ROOT}/lib
         ${GPERFTOOLS_ROOT}/lib64
         $ENV{GPERFTOOLS_ROOT}/lib64
+        /usr/lib
+        /usr/lib64
 )
 
 find_library(GPERFTOOLS_TCMALLOC_AND_PROFILER
@@ -59,6 +69,8 @@ find_library(GPERFTOOLS_TCMALLOC_AND_PROFILER
         $ENV{GPERFTOOLS_ROOT}/lib
         ${GPERFTOOLS_ROOT}/lib64
         $ENV{GPERFTOOLS_ROOT}/lib64
+        /usr/lib
+        /usr/lib64
 )
 
 find_path(GPERFTOOLS_INCLUDE_DIR
@@ -66,6 +78,7 @@ find_path(GPERFTOOLS_INCLUDE_DIR
   HINTS ${Gperftools_ROOT_DIR}/include
         ${GPERFTOOLS_ROOT}/include
         $ENV{GPERFTOOLS_ROOT}/include
+        /usr/include
 )
 
 set(GPERFTOOLS_LIBRARIES ${GPERFTOOLS_TCMALLOC_AND_PROFILER})
@@ -76,10 +89,42 @@ find_package_handle_standard_args(
   DEFAULT_MSG
   GPERFTOOLS_LIBRARIES
   GPERFTOOLS_INCLUDE_DIR
+  GPERFTOOLS_TCMALLOC
+  GPERFTOOLS_PROFILER
+
 )
 
+if(GPERFTOOLS_FOUND AND NOT TARGET Gperftools::tcmalloc)
+    add_library(Gperftools::tcmalloc SHARED IMPORTED)
+    set_target_properties(Gperftools::tcmalloc PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${GPERFTOOLS_TCMALLOC}"
+        INTERFACE_INCLUDE_DIRECTORIES "${GPERFTOOLS_INCLUDE_DIR}"
+        INTERFACE_LINK_LIBRARIES "${GPERFTOOLS_TCMALLOC}"
+    )
+endif()
+
+if(GPERFTOOLS_FOUND AND NOT TARGET Gperftools::profiler)
+    add_library(Gperftools::profiler SHARED IMPORTED)
+    set_target_properties(Gperftools::profiler PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${GPERFTOOLS_PROFILER}"
+        INTERFACE_INCLUDE_DIRECTORIES "${GPERFTOOLS_INCLUDE_DIR}"
+        INTERFACE_LINK_LIBRARIES "${GPERFTOOLS_PROFILER}"
+    )
+endif()
+
+if(GPERFTOOLS_FOUND AND NOT TARGET Gperftools::gperftools)
+    add_library(Gperftools::gperftools SHARED IMPORTED)
+    set_target_properties(Gperftools::gperftools PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${GPERFTOOLS_TCMALLOC_AND_PROFILER}"
+        INTERFACE_INCLUDE_DIRECTORIES "${GPERFTOOLS_INCLUDE_DIR}"
+        INTERFACE_LINK_LIBRARIES "${GPERFTOOLS_TCMALLOC_AND_PROFILER}"
+    )
+endif()
+
 mark_as_advanced(
-  Gperftools_ROOT_DIR
   GPERFTOOLS_TCMALLOC
   GPERFTOOLS_PROFILER
   GPERFTOOLS_TCMALLOC_AND_PROFILER

cmake/Modules/FindGPSTK.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.
 #
@@ -32,18 +32,30 @@ find_path(GPSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
 
 set(GPSTK_NAMES ${GPSTK_NAMES} gpstk libgpstk)
 
+include(GNUInstallDirs)
+
 find_library(GPSTK_LIBRARY NAMES ${GPSTK_NAMES}
     HINTS /usr/lib
           /usr/local/lib
+          /usr/${CMAKE_INSTALL_LIBDIR}
+          /usr/local/${CMAKE_INSTALL_LIBDIR}
           /opt/local/lib
-          ${GPSTK_ROOT}/lib
+          ${GPSTK_ROOT}/${CMAKE_INSTALL_LIBDIR}
-          $ENV{GPSTK_ROOT}/lib
+          $ENV{GPSTK_ROOT}/${CMAKE_INSTALL_LIBDIR}
-          ${GPSTK_ROOT}/lib64
-          $ENV{GPSTK_ROOT}/lib64
 )
 
 # handle the QUIETLY and REQUIRED arguments and set GPSTK_FOUND to TRUE if
 # all listed variables are TRUE
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(GPSTK DEFAULT_MSG GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
-mark_as_advanced(GPSTK_INCLUDE_DIR GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
+mark_as_advanced(GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
+
+if(GPSTK_FOUND AND NOT TARGET Gpstk::gpstk)
+    add_library(Gpstk::gpstk SHARED IMPORTED)
+    set_target_properties(Gpstk::gpstk PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${GPSTK_LIBRARY}"
+        INTERFACE_INCLUDE_DIRECTORIES "${GPSTK_INCLUDE_DIR};${GPSTK_INCLUDE_DIR}/gpstk"
+        INTERFACE_LINK_LIBRARIES "${GPSTK_LIBRARY}"
+    )
+endif()

cmake/Modules/FindGRDBFCTTC.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.
 #
@@ -53,4 +53,15 @@ find_library(
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(GRDBFCTTC DEFAULT_MSG GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)
+
+if(GRDBFCTTC_FOUND AND NOT TARGET Gnuradio::dbfcttc)
+    add_library(Gnuradio::dbfcttc SHARED IMPORTED)
+    set_target_properties(Gnuradio::dbfcttc PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${GR_DBFCTTC_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${GR_DBFCTTC_INCLUDE_DIRS}"
+        INTERFACE_LINK_LIBRARIES "${GR_DBFCTTC_LIBRARIES}"
+    )
+endif()
+
 mark_as_advanced(GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)

cmake/Modules/FindGRGN3S.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.
 #
@@ -53,4 +53,15 @@ find_library(
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(GRGN3S DEFAULT_MSG GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)
+
+if(GRGN3S_FOUND AND NOT TARGET Gnuradio::gn3s)
+    add_library(Gnuradio::gn3s SHARED IMPORTED)
+    set_target_properties(Gnuradio::gn3s PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${GR_GN3S_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${GR_GN3S_INCLUDE_DIRS}"
+        INTERFACE_LINK_LIBRARIES "${GR_GN3S_LIBRARIES}"
+    )
+endif()
+
 mark_as_advanced(GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)

cmake/Modules/FindGRIIO.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.
 #
@@ -15,6 +15,12 @@
 # You should have received a copy of the GNU General Public License
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 
+#
+# Provides the following imported target:
+# Gnuradio::iio
+#
+
+
 include(FindPkgConfig)
 pkg_check_modules(PC_IIO gnuradio-iio)
 
@@ -69,4 +75,15 @@ find_library(IIO_LIBRARIES
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(GRIIO DEFAULT_MSG IIO_LIBRARIES IIO_INCLUDE_DIRS)
+
+if(GRIIO_FOUND AND NOT TARGET Gnuradio::iio)
+    add_library(Gnuradio::iio SHARED IMPORTED)
+    set_target_properties(Gnuradio::iio PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${IIO_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${IIO_INCLUDE_DIRS}"
+        INTERFACE_LINK_LIBRARIES "${IIO_LIBRARIES}"
+    )
+endif()
+
 mark_as_advanced(IIO_LIBRARIES IIO_INCLUDE_DIRS)

cmake/Modules/FindGROSMOSDR.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.
 #
@@ -33,6 +33,11 @@
 # GROSMOSDR_FOUND System has gr-osmosdr libs/headers
 # GROSMOSDR_LIBRARIES The gr-osmosdr libraries (gnuradio-osmosdr)
 # GROSMOSDR_INCLUDE_DIR The location of gr-osmosdr headers
+#
+# Provides the following imported target:
+# Gnuradio::osmosdr
+#
+
 
 include(FindPkgConfig)
 pkg_check_modules(GROSMOSDR_PKG gnuradio-osmosdr)
@@ -89,4 +94,15 @@ find_library(GROSMOSDR_LIBRARIES
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(GROSMOSDR DEFAULT_MSG GROSMOSDR_LIBRARIES GROSMOSDR_INCLUDE_DIR)
+
+if(GROSMOSDR_FOUND AND NOT TARGET Gnuradio::osmosdr)
+    add_library(Gnuradio::osmosdr SHARED IMPORTED)
+    set_target_properties(Gnuradio::osmosdr PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${GROSMOSDR_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${GROSMOSDR_INCLUDE_DIR};${GROSMOSDR_INCLUDE_DIR}/osmosdr"
+        INTERFACE_LINK_LIBRARIES "${GROSMOSDR_LIBRARIES}"
+    )
+endif()
+
 mark_as_advanced(GROSMOSDR_LIBRARIES GROSMOSDR_INCLUDE_DIR)

cmake/Modules/FindLIBIIO.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.
 #
@@ -15,6 +15,11 @@
 # You should have received a copy of the GNU General Public License
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 
+#
+# Provides the following imported target:
+# Iio::iio
+#
+
 include(FindPkgConfig)
 pkg_check_modules(PC_LIBIIO libiio)
 
@@ -73,4 +78,15 @@ find_library(
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(LIBIIO DEFAULT_MSG LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)
+
+if(LIBIIO_FOUND AND NOT TARGET Iio::iio)
+    add_library(Iio::iio SHARED IMPORTED)
+    set_target_properties(Iio::iio PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${LIBIIO_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${LIBIIO_INCLUDE_DIRS}"
+        INTERFACE_LINK_LIBRARIES "${LIBIIO_LIBRARIES}"
+    )
+endif()
+
 mark_as_advanced(LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)

cmake/Modules/FindLIBOSMOSDR.cmake

@@ -27,6 +27,10 @@
 # LIBOSMOSDR_FOUND System has libosmosdr libs/headers
 # LIBOSMOSDR_LIBRARIES The libosmosdr libraries
 # LIBOSMOSDR_INCLUDE_DIR The location of libosmosdr headers
+#
+# Provides the following imported target:
+# Osmosdr::osmosdr
+#
 
 include(FindPkgConfig)
 pkg_check_modules(LIBOSMOSDR_PKG libosmosdr)
@@ -77,4 +81,15 @@ find_library(LIBOSMOSDR_LIBRARIES NAMES osmosdr
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(LIBOSMOSDR DEFAULT_MSG LIBOSMOSDR_INCLUDE_DIR LIBOSMOSDR_LIBRARIES)
+
+if(LIBOSMOSDR_FOUND AND NOT TARGET Osmosdr::osmosdr)
+    add_library(Osmosdr::osmosdr SHARED IMPORTED)
+    set_target_properties(Osmosdr::osmosdr PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${LIBOSMOSDR_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${LIBOSMOSDR_INCLUDE_DIR}"
+        INTERFACE_LINK_LIBRARIES "${LIBOSMOSDR_LIBRARIES}"
+    )
+endif()
+
 mark_as_advanced(LIBOSMOSDR_INCLUDE_DIR LIBOSMOSDR_LIBRARIES)

cmake/Modules/FindLOG4CPP.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.
 #
@@ -21,7 +21,10 @@
 #  LOG4CPP_INCLUDE_DIR - where to find LOG4CPP.h, etc.
 #  LOG4CPP_LIBRARIES   - List of libraries when using LOG4CPP.
 #  LOG4CPP_FOUND       - True if LOG4CPP found.
-
+#
+# Provides the following imported target:
+# Log4cpp::log4cpp
+#
 
 if(LOG4CPP_INCLUDE_DIR)
   # Already in cache, be silent
@@ -90,3 +93,18 @@ endif()
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(LOG4CPP DEFAULT_MSG LOG4CPP_INCLUDE_DIRS LOG4CPP_LIBRARIES)
+
+if (LOG4CPP_FOUND AND NOT TARGET Log4cpp::log4cpp)
+  add_library(Log4cpp::log4cpp SHARED IMPORTED)
+  set_target_properties(Log4cpp::log4cpp PROPERTIES
+      IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+      IMPORTED_LOCATION "${LOG4CPP_LIBRARIES}"
+      INTERFACE_INCLUDE_DIRECTORIES "${LOG4CPP_INCLUDE_DIRS}"
+      INTERFACE_LINK_LIBRARIES "${LOG4CPP_LIBRARIES}"
+  )
+endif()
+
+mark_as_advanced(
+  LOG4CPP_LIBRARIES
+  LOG4CPP_INCLUDE_DIRS
+)

cmake/Modules/FindMATIO.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.
 #
@@ -26,6 +26,9 @@
 #  MATIO_INCLUDE_DIRS - where to find matio.h, etc..
 #  MATIO_VERSION_STRING - version number as a string (e.g.: "1.3.4")
 #
+# Provides the following imported target:
+# Matio::matio
+#
 #=============================================================================
 # Copyright 2015 Avtech Scientific <http://avtechscientific.com>
 #
@@ -127,3 +130,13 @@ else()
   set(MATIO_LIBRARIES)
   set(MATIO_INCLUDE_DIRS)
 endif()
+
+if(MATIO_FOUND AND NOT TARGET Matio::matio)
+    add_library(Matio::matio SHARED IMPORTED)
+    set_target_properties(Matio::matio PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${MATIO_LIBRARY}"
+        INTERFACE_INCLUDE_DIRECTORIES "${MATIO_INCLUDE_DIR}"
+        INTERFACE_LINK_LIBRARIES "${MATIO_LIBRARY}"
+    )
+endif()

cmake/Modules/FindPCAP.cmake

@@ -43,7 +43,10 @@
 #  PCAP_INCLUDE_DIRS - where to find pcap.h, etc.
 #  PCAP_LIBRARIES   - List of libraries when using pcap.
 #  PCAP_FOUND       - True if pcap found.
-
+#
+# Provides the following imported target:
+# Pcap::pcap
+#
 
 if(EXISTS $ENV{PCAPDIR})
   find_path(PCAP_INCLUDE_DIR
@@ -113,10 +116,20 @@ check_function_exists("pcap_list_datalinks" HAVE_PCAP_LIST_DATALINKS)
 check_function_exists("pcap_open_dead" HAVE_PCAP_OPEN_DEAD)
 check_function_exists("pcap_set_datalink" HAVE_PCAP_SET_DATALINK)
 
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(PCAP DEFAULT_MSG PCAP_INCLUDE_DIRS PCAP_LIBRARIES)
+
+if(PCAP_FOUND AND NOT TARGET Pcap::pcap)
+    add_library(Pcap::pcap SHARED IMPORTED)
+    set_target_properties(Pcap::pcap PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${PCAP_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${PCAP_INCLUDE_DIRS}"
+        INTERFACE_LINK_LIBRARIES "${PCAP_LIBRARIES}"
+    )
+endif()
+
 mark_as_advanced(
   PCAP_LIBRARIES
   PCAP_INCLUDE_DIRS
 )
-
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(PCAP DEFAULT_MSG PCAP_INCLUDE_DIRS PCAP_LIBRARIES)

cmake/Modules/FindPUGIXML.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.
 #
@@ -22,15 +22,22 @@
 # PUGIXML_INCLUDE_DIR - header location
 # PUGIXML_LIBRARIES - library to link against
 # PUGIXML_FOUND - true if pugixml was found.
+#
+# Provides the following imported target:
+# Pugixml::pugixml
+#
 
 find_path(PUGIXML_INCLUDE_DIR
     NAMES pugixml.hpp
     PATHS ${PUGIXML_HOME}/include
           /usr/include
           /usr/local/include
+          /usr/local/include/pugixml-1.9
           /opt/local/include
           ${PUGIXML_ROOT}/include
           $ENV{PUGIXML_ROOT}/include
+          ${PUGIXML_ROOT}/include/pugixml-1.9
+          $ENV{PUGIXML_ROOT}/include/pugixml-1.9
 )
 
 find_library(PUGIXML_LIBRARY
@@ -47,6 +54,7 @@ find_library(PUGIXML_LIBRARY
           /usr/lib/powerpc64le-linux-gnu
           /usr/lib/s390x-linux-gnu
           /usr/local/lib
+          /usr/local/lib/pugixml-1.9
           /opt/local/lib
           /usr/lib
           /usr/lib64
@@ -55,6 +63,10 @@ find_library(PUGIXML_LIBRARY
           $ENV{PUGIXML_ROOT}/lib
           ${PUGIXML_ROOT}/lib64
           $ENV{PUGIXML_ROOT}/lib64
+          ${PUGIXML_ROOT}/lib/pugixml-1.9
+          $ENV{PUGIXML_ROOT}/lib/pugixml-1.9
+          ${PUGIXML_ROOT}/lib64/pugixml-1.9
+          $ENV{PUGIXML_ROOT}/lib64/pugixml-1.9
 )
 
 # Support the REQUIRED and QUIET arguments, and set PUGIXML_FOUND if found.
@@ -73,3 +85,13 @@ else()
 endif()
 
 mark_as_advanced(PUGIXML_LIBRARY PUGIXML_INCLUDE_DIR)
+
+if(PUGIXML_FOUND AND NOT TARGET Pugixml::pugixml)
+    add_library(Pugixml::pugixml SHARED IMPORTED)
+    set_target_properties(Pugixml::pugixml PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${PUGIXML_LIBRARY}"
+        INTERFACE_INCLUDE_DIRECTORIES "${PUGIXML_INCLUDE_DIR}"
+        INTERFACE_LINK_LIBRARIES "${PUGIXML_LIBRARY}"
+    )
+endif()

cmake/Modules/FindTELEORBIT.cmake

@@ -47,4 +47,15 @@ find_library(TELEORBIT_LIBRARIES
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(TELEORBIT DEFAULT_MSG TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)
+
+if(TELEORBIT_FOUND AND NOT TARGET Gnuradio::teleorbit)
+    add_library(Gnuradio::teleorbit SHARED IMPORTED)
+    set_target_properties(Gnuradio::teleorbit PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${TELEORBIT_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${TELEORBIT_INCLUDE_DIRS};${TELEORBIT_INCLUDE_DIRS}/teleorbit"
+        INTERFACE_LINK_LIBRARIES "${TELEORBIT_LIBRARIES}"
+    )
+endif()
+
 mark_as_advanced(TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)

cmake/Modules/FindUHD.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.
 #
@@ -15,10 +15,14 @@
 # You should have received a copy of the GNU General Public License
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 
+#
+# Provides the following imported target:
+# Iio::iio
+#
+
 ########################################################################
 # Find the library for the USRP Hardware Driver
 ########################################################################
-
 include(FindPkgConfig)
 pkg_check_modules(PC_UHD uhd)
 
@@ -72,4 +76,15 @@ find_library(UHD_LIBRARIES
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(UHD DEFAULT_MSG UHD_LIBRARIES UHD_INCLUDE_DIRS)
+
+if(UHD_FOUND AND NOT TARGET Uhd::uhd)
+    add_library(Uhd::uhd SHARED IMPORTED)
+    set_target_properties(Uhd::uhd PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${UHD_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${UHD_INCLUDE_DIRS}"
+        INTERFACE_LINK_LIBRARIES "${UHD_LIBRARIES}"
+    )
+endif()
+
 mark_as_advanced(UHD_LIBRARIES UHD_INCLUDE_DIRS)

cmake/Modules/FindVOLK.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.
 #
@@ -15,6 +15,11 @@
 # You should have received a copy of the GNU General Public License
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 
+#
+# Provides the following imported target:
+# Volk::volk
+#
+
 ########################################################################
 # Find VOLK (Vector-Optimized Library of Kernels)
 ########################################################################
@@ -74,3 +79,13 @@ find_library(VOLK_LIBRARIES
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(VOLK DEFAULT_MSG VOLK_LIBRARIES VOLK_INCLUDE_DIRS)
 mark_as_advanced(VOLK_LIBRARIES VOLK_INCLUDE_DIRS VOLK_VERSION)
+
+if(VOLK_FOUND AND NOT TARGET Volk::volk)
+    add_library(Volk::volk SHARED IMPORTED)
+    set_target_properties(Volk::volk PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${VOLK_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${VOLK_INCLUDE_DIRS}"
+        INTERFACE_LINK_LIBRARIES "${VOLK_LIBRARIES}"
+    )
+endif()

cmake/Modules/FindVOLKGNSSSDR.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.
 #
@@ -15,6 +15,12 @@
 # You should have received a copy of the GNU General Public License
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 
+#
+# Provides the following imported target:
+# Volkgnsssdr::volkgnsssdr
+#
+
+
 ########################################################################
 # Find VOLK (Vector-Optimized Library of Kernels) GNSS-SDR library
 ########################################################################
@@ -51,3 +57,14 @@ find_library(VOLK_GNSSSDR_LIBRARIES
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(VOLKGNSSSDR DEFAULT_MSG VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
 mark_as_advanced(VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
+
+
+if(VOLKGNSSSDR_FOUND AND NOT TARGET Volkgnsssdr::volkgnsssdr)
+    add_library(Volkgnsssdr::volkgnsssdr SHARED IMPORTED)
+    set_target_properties(Volkgnsssdr::volkgnsssdr PROPERTIES
+        IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
+        IMPORTED_LOCATION "${VOLK_GNSSSDR_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${VOLK_GNSSSDR_INCLUDE_DIRS}"
+        INTERFACE_LINK_LIBRARIES "${VOLK_GNSSSDR_LIBRARIES}"
+    )
+endif()

docs/changelog

@@ -1,8 +1,27 @@
 ## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
 
+### Improvements in Efficiency
+
+- Applied clang-tidy checks and fixes related to performance.
+
 ### Improvements in Interoperability:
 
 - Added the BeiDou B1I receiver chain.
+- Fix bug in GLONASS dual frequency receiver.
+
+### Improvements in Maintainability:
+
+- Usage of clang-tidy integrated into CMake scripts. New option -DENABLE_CLANG_TIDY=ON executes clang-tidy along with compilation. Requires clang compiler.
+- Applied clang-tidy checks and fixes related to readability.
+
+### Improvements in Portability:
+
+- CMake scripts now follow a modern approach (targets and properties) but still work in 2.8.12
+
+
+## Improvements in Reliability
+
+- Applied clang-tidy checks and fixes related to High Integrity C++.
 
 
 ## [0.0.10](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.10)

src/algorithms/PVT/adapters/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2012-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -17,10 +17,6 @@
 #
 
 
-if(Boost_VERSION LESS 105800)
-    add_definitions(-DOLD_BOOST=1)
-endif()
-
 set(PVT_ADAPTER_SOURCES
     rtklib_pvt.cc
 )
@@ -29,28 +25,40 @@ set(PVT_ADAPTER_HEADERS
     rtklib_pvt.h
 )
 
-include_directories(
+source_group(Headers FILES ${PVT_ADAPTER_HEADERS})
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_SOURCE_DIR}/src/core/system_parameters
-    ${CMAKE_SOURCE_DIR}/src/core/interfaces
-    ${CMAKE_SOURCE_DIR}/src/core/receiver
-    ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/gnuradio_blocks
-    ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
-    ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
-    ${CMAKE_SOURCE_DIR}/src/algorithms/libs
-    ${ARMADILLO_INCLUDE_DIRS}
-    ${Boost_INCLUDE_DIRS}
-    ${GLOG_INCLUDE_DIRS}
-    ${GFlags_INCLUDE_DIRS}
-    ${GNURADIO_RUNTIME_INCLUDE_DIRS}
-)
 
 add_library(pvt_adapters ${PVT_ADAPTER_SOURCES} ${PVT_ADAPTER_HEADERS})
 
-source_group(Headers FILES ${PVT_ADAPTER_HEADERS})
-
 target_link_libraries(pvt_adapters
+    PUBLIC
+        Armadillo::armadillo
+        Gnuradio::runtime
         pvt_gr_blocks
-    ${ARMADILLO_LIBRARIES}
+        pvt_libs
-    ${GNURADIO_RUNTIME_LIBRARIES}
+        core_system_parameters
+    PRIVATE
+        Boost::serialization
+)
+
+target_include_directories(pvt_adapters
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/core/interfaces
+)
+
+if(Boost_VERSION LESS 105800)
+    target_compile_definitions(pvt_adapters PRIVATE -DOLD_BOOST=1)
+endif()
+
+if(ENABLE_CLANG_TIDY)
+    if(CLANG_TIDY_EXE)
+        set_target_properties(pvt_adapters
+            PROPERTIES
+                CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
+        )
+    endif()
+endif()
+
+set_property(TARGET pvt_adapters
+    APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
 )

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -42,6 +42,7 @@
 namespace bc = boost::math;
 #else
 #include <boost/integer/common_factor_rt.hpp>
+#include <utility>
 namespace bc = boost::integer;
 #endif
 
@@ -52,7 +53,7 @@ using google::LogMessage;
 RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     const std::string& role,
     unsigned int in_streams,
-    unsigned int out_streams) : role_(std::move(role)),
+    unsigned int out_streams) : role_(role),
                                 in_streams_(in_streams),
                                 out_streams_(out_streams)
 {
@@ -190,58 +191,174 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     int glo_2G_count = configuration->property("Channels_2G.count", 0);
     int bds_B1_count = configuration->property("Channels_B1.count", 0);
 
-    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 1;  // L1
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
-    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 2;
+        {
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 3;  // L5
+            pvt_output_parameters.type_of_receiver = 1;  // L1
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 4;  // E1
+        }
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 5;  // E5a
+    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 6;
+        {
-
+            pvt_output_parameters.type_of_receiver = 2;
-    if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 7;
+        }
-    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 8;  // L1+L5
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
-    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 9;  // L1+E1
+        {
-    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 10;
+            pvt_output_parameters.type_of_receiver = 3;  // L5
-    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 11;
+        }
-    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 12;
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 13;  // L5+E5a
+        {
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 14;
+            pvt_output_parameters.type_of_receiver = 4;  // E1
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 15;
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 5;  // E5a
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 6;
+        }
+    if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 7;
+        }
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 8;  // L1+L5
+        }
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 9;  // L1+E1
+        }
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 10;
+        }
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 11;
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 12;
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 13;  // L5+E5a
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 14;
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 15;
+        }
     //if( (gps_1C_count == 0) && (gps_2S_count == 0)  && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 16;
-    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 17;
+    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
-    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 18;
+        {
+            pvt_output_parameters.type_of_receiver = 17;
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 18;
+        }
     //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 19;
     //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 20;
-    if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 21;
+    if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 21;
+        }
     //if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) pvt_output_parameters.type_of_receiver = 22;
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 23;
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (bds_B1_count == 0))
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 24;
+        {
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 25;
+            pvt_output_parameters.type_of_receiver = 23;
-    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 26;
+        }
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 27;
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0))
-    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 28;
+        {
-    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 29;
+            pvt_output_parameters.type_of_receiver = 24;
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 30;
+        }
-    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 31;
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 25;
+        }
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 26;
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 27;
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 28;
+        }
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 29;
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 30;
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 31;
+        }
 
-    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0)) pvt_output_parameters.type_of_receiver = 32;  // L1+E1+L5+E5a
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count == 0))
+        {
+            pvt_output_parameters.type_of_receiver = 32;  // L1+E1+L5+E5a
+        }
     // BeiDou B1I Receiver
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 50;
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0))
-    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 51;
+        {
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 52;
+            pvt_output_parameters.type_of_receiver = 50;
-    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 53;
+        }
-    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 54;
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0))
-    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0)) pvt_output_parameters.type_of_receiver = 55;
+        {
+            pvt_output_parameters.type_of_receiver = 51;
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0))
+        {
+            pvt_output_parameters.type_of_receiver = 52;
+        }
+    if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0))
+        {
+            pvt_output_parameters.type_of_receiver = 53;
+        }
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0) && (bds_B1_count != 0))
+        {
+            pvt_output_parameters.type_of_receiver = 54;
+        }
+    if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0) && (bds_B1_count != 0))
+        {
+            pvt_output_parameters.type_of_receiver = 55;
+        }
 
     // RTKLIB PVT solver options
     // Settings 1
     int positioning_mode = -1;
     std::string default_pos_mode("Single");
     std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode);  //  (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h
-    if (positioning_mode_str == "Single") positioning_mode = PMODE_SINGLE;
+    if (positioning_mode_str == "Single")
-    if (positioning_mode_str == "Static") positioning_mode = PMODE_STATIC;
+        {
-    if (positioning_mode_str == "Kinematic") positioning_mode = PMODE_KINEMA;
+            positioning_mode = PMODE_SINGLE;
-    if (positioning_mode_str == "PPP_Static") positioning_mode = PMODE_PPP_STATIC;
+        }
-    if (positioning_mode_str == "PPP_Kinematic") positioning_mode = PMODE_PPP_KINEMA;
+    if (positioning_mode_str == "Static")
+        {
+            positioning_mode = PMODE_STATIC;
+        }
+    if (positioning_mode_str == "Kinematic")
+        {
+            positioning_mode = PMODE_KINEMA;
+        }
+    if (positioning_mode_str == "PPP_Static")
+        {
+            positioning_mode = PMODE_PPP_STATIC;
+        }
+    if (positioning_mode_str == "PPP_Kinematic")
+        {
+            positioning_mode = PMODE_PPP_KINEMA;
+        }
 
     if (positioning_mode == -1)
         {
@@ -255,10 +372,22 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
 
     int num_bands = 0;
 
-    if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0)) num_bands = 1;
+    if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0) || (bds_B1_count > 0))
-    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0))) num_bands = 2;
+        {
-    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2;
+            num_bands = 1;
-    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3;
+        }
+    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0)))
+        {
+            num_bands = 2;
+        }
+    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0)))
+        {
+            num_bands = 2;
+        }
+    if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gps_2S_count > 0) || (glo_2G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0)))
+        {
+            num_bands = 3;
+        }
 
     int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
     if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
@@ -286,12 +415,30 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     std::string default_iono_model("OFF");
     std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /*  (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
     int iono_model = -1;
-    if (iono_model_str == "OFF") iono_model = IONOOPT_OFF;
+    if (iono_model_str == "OFF")
-    if (iono_model_str == "Broadcast") iono_model = IONOOPT_BRDC;
+        {
-    if (iono_model_str == "SBAS") iono_model = IONOOPT_SBAS;
+            iono_model = IONOOPT_OFF;
-    if (iono_model_str == "Iono-Free-LC") iono_model = IONOOPT_IFLC;
+        }
-    if (iono_model_str == "Estimate_STEC") iono_model = IONOOPT_EST;
+    if (iono_model_str == "Broadcast")
-    if (iono_model_str == "IONEX") iono_model = IONOOPT_TEC;
+        {
+            iono_model = IONOOPT_BRDC;
+        }
+    if (iono_model_str == "SBAS")
+        {
+            iono_model = IONOOPT_SBAS;
+        }
+    if (iono_model_str == "Iono-Free-LC")
+        {
+            iono_model = IONOOPT_IFLC;
+        }
+    if (iono_model_str == "Estimate_STEC")
+        {
+            iono_model = IONOOPT_EST;
+        }
+    if (iono_model_str == "IONEX")
+        {
+            iono_model = IONOOPT_TEC;
+        }
     if (iono_model == -1)
         {
             //warn user and set the default
@@ -305,11 +452,26 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     std::string default_trop_model("OFF");
     int trop_model = -1;
     std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /*  (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
-    if (trop_model_str == "OFF") trop_model = TROPOPT_OFF;
+    if (trop_model_str == "OFF")
-    if (trop_model_str == "Saastamoinen") trop_model = TROPOPT_SAAS;
+        {
-    if (trop_model_str == "SBAS") trop_model = TROPOPT_SBAS;
+            trop_model = TROPOPT_OFF;
-    if (trop_model_str == "Estimate_ZTD") trop_model = TROPOPT_EST;
+        }
-    if (trop_model_str == "Estimate_ZTD_Grad") trop_model = TROPOPT_ESTG;
+    if (trop_model_str == "Saastamoinen")
+        {
+            trop_model = TROPOPT_SAAS;
+        }
+    if (trop_model_str == "SBAS")
+        {
+            trop_model = TROPOPT_SBAS;
+        }
+    if (trop_model_str == "Estimate_ZTD")
+        {
+            trop_model = TROPOPT_EST;
+        }
+    if (trop_model_str == "Estimate_ZTD_Grad")
+        {
+            trop_model = TROPOPT_ESTG;
+        }
     if (trop_model == -1)
         {
             //warn user and set the default
@@ -339,10 +501,22 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     int earth_tide = configuration->property(role + ".earth_tide", 0);
 
     int nsys = 0;
-    if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0)) nsys += SYS_GPS;
+    if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0))
-    if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
+        {
-    if ((glo_1G_count > 0) || (glo_2G_count > 0)) nsys += SYS_GLO;
+            nsys += SYS_GPS;
-    if ((bds_B1_count > 0)) nsys += SYS_BDS;
+        }
+    if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0))
+        {
+            nsys += SYS_GAL;
+        }
+    if ((glo_1G_count > 0) || (glo_2G_count > 0))
+        {
+            nsys += SYS_GLO;
+        }
+    if ((bds_B1_count > 0))
+        {
+            nsys += SYS_BDS;
+        }
 
     int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
     if ((navigation_system < 1) || (navigation_system > 255))                           /* GPS: 1   SBAS: 2   GPS+SBAS: 3 Galileo: 8  Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
@@ -356,11 +530,26 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     std::string default_gps_ar("Continuous");
     std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
     int integer_ambiguity_resolution_gps = -1;
-    if (integer_ambiguity_resolution_gps_str == "OFF") integer_ambiguity_resolution_gps = ARMODE_OFF;
+    if (integer_ambiguity_resolution_gps_str == "OFF")
-    if (integer_ambiguity_resolution_gps_str == "Continuous") integer_ambiguity_resolution_gps = ARMODE_CONT;
+        {
-    if (integer_ambiguity_resolution_gps_str == "Instantaneous") integer_ambiguity_resolution_gps = ARMODE_INST;
+            integer_ambiguity_resolution_gps = ARMODE_OFF;
-    if (integer_ambiguity_resolution_gps_str == "Fix-and-Hold") integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
+        }
-    if (integer_ambiguity_resolution_gps_str == "PPP-AR") integer_ambiguity_resolution_gps = ARMODE_PPPAR;
+    if (integer_ambiguity_resolution_gps_str == "Continuous")
+        {
+            integer_ambiguity_resolution_gps = ARMODE_CONT;
+        }
+    if (integer_ambiguity_resolution_gps_str == "Instantaneous")
+        {
+            integer_ambiguity_resolution_gps = ARMODE_INST;
+        }
+    if (integer_ambiguity_resolution_gps_str == "Fix-and-Hold")
+        {
+            integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
+        }
+    if (integer_ambiguity_resolution_gps_str == "PPP-AR")
+        {
+            integer_ambiguity_resolution_gps = ARMODE_PPPAR;
+        }
     if (integer_ambiguity_resolution_gps == -1)
         {
             //warn user and set the default
@@ -520,6 +709,11 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
     pvt_output_parameters.nmea_output_file_path = configuration->property(role + ".nmea_output_file_path", default_output_path);
     pvt_output_parameters.rtcm_output_file_path = configuration->property(role + ".rtcm_output_file_path", default_output_path);
 
+    // Read PVT MONITOR Configuration
+    pvt_output_parameters.monitor_enabled = configuration->property(role + ".enable_monitor", false);
+    pvt_output_parameters.udp_addresses = configuration->property(role + ".monitor_client_addresses", std::string("127.0.0.1"));
+    pvt_output_parameters.udp_port = configuration->property(role + ".monitor_udp_port", 1234);
+
     // make PVT object
     pvt_ = rtklib_make_pvt_cc(in_streams_, pvt_output_parameters, rtk);
     DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
@@ -609,5 +803,5 @@ gr::basic_block_sptr RtklibPvt::get_left_block()
 
 gr::basic_block_sptr RtklibPvt::get_right_block()
 {
-    return pvt_;  // this is a sink, nothing downstream
+    return nullptr;  // this is a sink, nothing downstream
 }

src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2012-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -16,11 +16,6 @@
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 #
 
-
-if(Boost_VERSION LESS 105800)
-    add_definitions(-DOLD_BOOST=1)
-endif()
-
 set(PVT_GR_BLOCKS_SOURCES
     rtklib_pvt_cc.cc
 )
@@ -29,21 +24,43 @@ set(PVT_GR_BLOCKS_HEADERS
     rtklib_pvt_cc.h
 )
 
-include_directories(
+source_group(Headers FILES ${PVT_GR_BLOCKS_HEADERS})
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_SOURCE_DIR}/src/core/system_parameters
-    ${CMAKE_SOURCE_DIR}/src/core/interfaces
-    ${CMAKE_SOURCE_DIR}/src/core/receiver
-    ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
-    ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
-    ${CMAKE_SOURCE_DIR}/src/algorithms/libs
-    ${ARMADILLO_INCLUDE_DIRS}
-    ${Boost_INCLUDE_DIRS}
-    ${GLOG_INCLUDE_DIRS}
-    ${GFlags_INCLUDE_DIRS}
-    ${GNURADIO_RUNTIME_INCLUDE_DIRS}
-)
 
 add_library(pvt_gr_blocks ${PVT_GR_BLOCKS_SOURCES} ${PVT_GR_BLOCKS_HEADERS})
-source_group(Headers FILES ${PVT_GR_BLOCKS_HEADERS})
+
-target_link_libraries(pvt_gr_blocks pvt_lib ${ARMADILLO_LIBRARIES})
+target_link_libraries(pvt_gr_blocks
+    PUBLIC
+        Boost::date_time
+        Gnuradio::runtime
+        pvt_libs
+    PRIVATE
+        Gflags::gflags
+        Glog::glog
+        Boost::filesystem
+        Boost::system
+        core_system_parameters
+)
+
+if(ENABLE_CLANG_TIDY)
+    if(CLANG_TIDY_EXE)
+        set_target_properties(pvt_gr_blocks
+            PROPERTIES
+                CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
+        )
+    endif()
+endif()
+
+target_include_directories(pvt_gr_blocks
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
+)
+
+if(Boost_VERSION LESS 105800)
+    target_compile_definitions(pvt_gr_blocks PRIVATE -DOLD_BOOST=1)
+endif()
+
+set_property(TARGET pvt_gr_blocks
+    APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+        $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/core/system_parameters>
+)

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h

@@ -35,6 +35,7 @@
 #include "gps_ephemeris.h"
 #include "gpx_printer.h"
 #include "kml_printer.h"
+#include "monitor_pvt_udp_sink.h"
 #include "nmea_printer.h"
 #include "pvt_conf.h"
 #include "rinex_printer.h"
@@ -55,9 +56,9 @@
 
 class rtklib_pvt_cc;
 
-typedef boost::shared_ptr<rtklib_pvt_cc> rtklib_pvt_cc_sptr;
+using rtklib_pvt_cc_sptr = boost::shared_ptr<rtklib_pvt_cc>;
 
-rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t n_channels,
+rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
     const Pvt_Conf& conf_,
     const rtk_t& rtk);
 
@@ -71,7 +72,7 @@ private:
         const Pvt_Conf& conf_,
         const rtk_t& rtk);
 
-    void msg_handler_telemetry(pmt::pmt_t msg);
+    void msg_handler_telemetry(const pmt::pmt_t& msg);
 
     bool d_dump;
     bool d_dump_mat;
@@ -84,15 +85,15 @@ private:
 
     bool b_rtcm_writing_started;
     bool b_rtcm_enabled;
-    int32_t d_rtcm_MT1045_rate_ms;  //!< Galileo Broadcast Ephemeris
+    int32_t d_rtcm_MT1045_rate_ms;  // Galileo Broadcast Ephemeris
-    int32_t d_rtcm_MT1019_rate_ms;  //!< GPS Broadcast Ephemeris (orbits)
+    int32_t d_rtcm_MT1019_rate_ms;  // GPS Broadcast Ephemeris (orbits)
-    int32_t d_rtcm_MT1020_rate_ms;  //!< GLONASS Broadcast Ephemeris (orbits)
+    int32_t d_rtcm_MT1020_rate_ms;  // GLONASS Broadcast Ephemeris (orbits)
-    int32_t d_rtcm_MT1077_rate_ms;  //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
+    int32_t d_rtcm_MT1077_rate_ms;  // The type 7 Multiple Signal Message format for the USA’s GPS system, popular
-    int32_t d_rtcm_MT1087_rate_ms;  //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
+    int32_t d_rtcm_MT1087_rate_ms;  // GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
-    int32_t d_rtcm_MT1097_rate_ms;  //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
+    int32_t d_rtcm_MT1097_rate_ms;  // Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
     int32_t d_rtcm_MSM_rate_ms;
 
-    int32_t d_last_status_print_seg;  //for status printer
+    int32_t d_last_status_print_seg;  // for status printer
 
     uint32_t d_nchannels;
     std::string d_dump_filename;
@@ -113,7 +114,7 @@ private:
     bool d_kml_output_enabled;
     bool d_nmea_output_file_enabled;
 
-    std::shared_ptr<rtklib_solver> d_pvt_solver;
+    std::shared_ptr<Rtklib_Solver> d_pvt_solver;
 
     std::map<int, Gnss_Synchro> gnss_observables_map;
     bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
@@ -131,26 +132,31 @@ private:
     bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
     std::chrono::time_point<std::chrono::system_clock> start, end;
 
-    bool save_gnss_synchro_map_xml(const std::string& file_name);  //debug helper function
+    bool save_gnss_synchro_map_xml(const std::string& file_name);  // debug helper function
 
-    bool load_gnss_synchro_map_xml(const std::string& file_name);  //debug helper function
+    bool load_gnss_synchro_map_xml(const std::string& file_name);  // debug helper function
 
     bool d_xml_storage;
     std::string xml_base_path;
 
-    inline std::time_t to_time_t(boost::posix_time::ptime pt)
+    inline std::time_t convert_to_time_t(const boost::posix_time::ptime pt) const
     {
         return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds();
     }
 
+    bool flag_monitor_pvt_enabled;
+    std::unique_ptr<Monitor_Pvt_Udp_Sink> udp_sink_ptr;
+    std::vector<std::string> split_string(const std::string& s, char delim);
 
 public:
     rtklib_pvt_cc(uint32_t nchannels,
         const Pvt_Conf& conf_,
         const rtk_t& rtk);
 
+    ~rtklib_pvt_cc();  //!< Default destructor
+
     /*!
-     * \brief Get latest set of ephemeris from PVT block
+     * \brief Get latest set of GPS ephemeris from PVT block
      *
      */
     std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
@@ -179,9 +185,7 @@ public:
         double* height_m,
         double* ground_speed_kmh,
         double* course_over_ground_deg,
-        time_t* UTC_time);
+        time_t* UTC_time) const;
-
-    ~rtklib_pvt_cc();  //!< Default destructor
 
     int work(int noutput_items, gr_vector_const_void_star& input_items,
         gr_vector_void_star& output_items);  //!< PVT Signal Processing

src/algorithms/PVT/libs/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2012-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -16,7 +16,6 @@
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 #
 
-add_definitions(-DGNSS_SDR_VERSION="${VERSION}")
 
 set(PVT_LIB_SOURCES
     pvt_solution.cc
@@ -30,6 +29,7 @@ set(PVT_LIB_SOURCES
     geojson_printer.cc
     rtklib_solver.cc
     pvt_conf.cc
+    monitor_pvt_udp_sink.cc
 )
 
 set(PVT_LIB_HEADERS
@@ -44,50 +44,53 @@ set(PVT_LIB_HEADERS
     geojson_printer.h
     rtklib_solver.h
     pvt_conf.h
-)
+    monitor_pvt_udp_sink.h
-
+    monitor_pvt.h
-include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_SOURCE_DIR}/src/core/system_parameters
-    ${CMAKE_SOURCE_DIR}/src/core/interfaces
-    ${CMAKE_SOURCE_DIR}/src/core/receiver
-    ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/adapters
-    ${CMAKE_SOURCE_DIR}/src/algorithms/libs
-    ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
-    ${Boost_INCLUDE_DIRS}
-    ${ARMADILLO_INCLUDE_DIRS}
-    ${GFlags_INCLUDE_DIRS}
-    ${GLOG_INCLUDE_DIRS}
-    ${MATIO_INCLUDE_DIRS}
 )
 
 list(SORT PVT_LIB_HEADERS)
 list(SORT PVT_LIB_SOURCES)
 
-add_library(pvt_lib ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
 source_group(Headers FILES ${PVT_LIB_HEADERS})
 
-if(MATIO_FOUND)
+add_library(pvt_libs ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
-    add_dependencies(pvt_lib
+
-        glog-${glog_RELEASE}
+target_link_libraries(pvt_libs
-        armadillo-${armadillo_RELEASE}
+    PUBLIC
-    )
+        Armadillo::armadillo
-else()
+        Boost::date_time
-    add_dependencies(pvt_lib
+        algorithms_libs
-        glog-${glog_RELEASE}
+        algorithms_libs_rtklib
-        armadillo-${armadillo_RELEASE}
+        core_system_parameters
-        matio-${GNSSSDR_MATIO_LOCAL_VERSION}
+    PRIVATE
+        Boost::filesystem
+        Boost::system
+        Gflags::gflags
+        Glog::glog
+        Matio::matio
+)
+
+target_include_directories(pvt_libs
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/algorithms/libs
+        ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
+        ${CMAKE_SOURCE_DIR}/src/core/receiver
+)
+
+target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
+
+if(ENABLE_CLANG_TIDY)
+    if(CLANG_TIDY_EXE)
+        set_target_properties(pvt_libs
+            PROPERTIES
+                CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
         )
+    endif()
 endif()
 
-target_link_libraries(pvt_lib
+set_property(TARGET pvt_libs APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
-    rtklib_lib
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
-    gnss_sdr_flags
+    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/algorithms/libs>
-    gnss_sp_libs
+    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib>
-    ${Boost_LIBRARIES}
+    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/core/system_parameters>
-    ${GLOG_LIBRARIES}
-    ${ARMADILLO_LIBRARIES}
-    ${BLAS}
-    ${LAPACK}
-    ${MATIO_LIBRARIES}
 )

src/algorithms/PVT/libs/geojson_printer.cc

@@ -36,6 +36,7 @@
 #include <boost/filesystem/path.hpp>         // for path, operator<<
 #include <boost/filesystem/path_traits.hpp>  // for filesystem
 #include <glog/logging.h>
+#include <exception>
 #include <iomanip>
 #include <sstream>
 
@@ -79,7 +80,14 @@ GeoJSON_Printer::GeoJSON_Printer(const std::string& base_path)
 
 GeoJSON_Printer::~GeoJSON_Printer()
 {
+    try
+        {
             GeoJSON_Printer::close_file();
+        }
+    catch (const std::exception& e)
+        {
+            std::cerr << e.what() << '\n';
+        }
 }
 
 
@@ -213,7 +221,10 @@ bool GeoJSON_Printer::close_file()
             // if nothing is written, erase the file
             if (first_pos == true)
                 {
-                    if (remove(filename_.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
+                    if (remove(filename_.c_str()) != 0)
+                        {
+                            LOG(INFO) << "Error deleting temporary file";
+                        }
                 }
             return true;
         }

src/algorithms/PVT/libs/gpx_printer.cc

@@ -36,6 +36,7 @@
 #include <boost/filesystem/path.hpp>         // for path, operator<<
 #include <boost/filesystem/path_traits.hpp>  // for filesystem
 #include <glog/logging.h>
+#include <exception>
 #include <sstream>
 
 using google::LogMessage;
@@ -154,14 +155,14 @@ bool Gpx_Printer::set_headers(const std::string& filename, bool time_tag_name)
 }
 
 
-bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values)
+bool Gpx_Printer::print_position(const std::shared_ptr<Rtklib_Solver>& position, bool print_average_values)
 {
     double latitude;
     double longitude;
     double height;
 
     positions_printed = true;
-    const std::shared_ptr<rtklib_solver>& position_ = position;
+    const std::shared_ptr<Rtklib_Solver>& position_ = position;
 
     double speed_over_ground = position_->get_speed_over_ground();    // expressed in m/s
     double course_over_ground = position_->get_course_over_ground();  // expressed in deg
@@ -170,7 +171,10 @@ bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
     double vdop = position_->get_vdop();
     double pdop = position_->get_pdop();
     std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time());
-    if (utc_time.length() < 23) utc_time += ".";
+    if (utc_time.length() < 23)
+        {
+            utc_time += ".";
+        }
     utc_time.resize(23, '0');  // time up to ms
     utc_time.append("Z");      // UTC time zone
 
@@ -218,9 +222,19 @@ bool Gpx_Printer::close_file()
 
 Gpx_Printer::~Gpx_Printer()
 {
+    try
+        {
             close_file();
+        }
+    catch (const std::exception& e)
+        {
+            std::cerr << e.what() << '\n';
+        }
     if (!positions_printed)
         {
-            if (remove(gpx_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary GPX file";
+            if (remove(gpx_filename.c_str()) != 0)
+                {
+                    LOG(INFO) << "Error deleting temporary GPX file";
+                }
         }
 }

src/algorithms/PVT/libs/gpx_printer.h

@@ -58,7 +58,7 @@ public:
     Gpx_Printer(const std::string& base_path = ".");
     ~Gpx_Printer();
     bool set_headers(const std::string& filename, bool time_tag_name = true);
-    bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);
+    bool print_position(const std::shared_ptr<Rtklib_Solver>& position, bool print_average_values);
     bool close_file();
 };
 

src/algorithms/PVT/libs/hybrid_ls_pvt.cc

@@ -40,7 +40,7 @@
 
 using google::LogMessage;
 
-hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file) : Ls_Pvt()
+Hybrid_Ls_Pvt::Hybrid_Ls_Pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file) : Ls_Pvt()
 {
     // init empty ephemeris for all the available GNSS channels
     d_nchannels = nchannels;
@@ -69,7 +69,7 @@ hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag
 }
 
 
-hybrid_ls_pvt::~hybrid_ls_pvt()
+Hybrid_Ls_Pvt::~Hybrid_Ls_Pvt()
 {
     if (d_dump_file.is_open() == true)
         {
@@ -85,7 +85,7 @@ hybrid_ls_pvt::~hybrid_ls_pvt()
 }
 
 
-bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging)
+bool Hybrid_Ls_Pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging)
 {
     std::map<int, Gnss_Synchro>::iterator gnss_observables_iter;
     std::map<int, Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
@@ -133,7 +133,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
 
                                 // COMMON RX TIME PVT ALGORITHM
                                 double Rx_time = hybrid_current_time;
-                                double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GALILEO_C_m_s;
+                                double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GALILEO_C_M_S;
 
                                 // 2- compute the clock drift using the clock model (broadcast) for this SV
                                 SV_clock_bias_s = galileo_ephemeris_iter->second.sv_clock_drift(Tx_time);
@@ -150,7 +150,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
 
                                 // 4- fill the observations vector with the corrected observables
                                 obs.resize(valid_obs + 1, 1);
-                                obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s - this->get_time_offset_s() * GALILEO_C_m_s;
+                                obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_M_S - this->get_time_offset_s() * GALILEO_C_M_S;
 
                                 Galileo_week_number = galileo_ephemeris_iter->second.WN_5;  //for GST
                                 GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
@@ -188,7 +188,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
                                         // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
                                         // first estimate of transmit time
                                         double Rx_time = hybrid_current_time;
-                                        double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
+                                        double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_M_S;
 
                                         // 2- compute the clock drift using the clock model (broadcast) for this SV, not including relativistic effect
                                         SV_clock_bias_s = gps_ephemeris_iter->second.sv_clock_drift(Tx_time);  //- gps_ephemeris_iter->second.d_TGD;
@@ -208,10 +208,10 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
                                         // See IS-GPS-200E section 20.3.3.3.3.2
                                         double sqrt_Gamma = GPS_L1_FREQ_HZ / GPS_L2_FREQ_HZ;
                                         double Gamma = sqrt_Gamma * sqrt_Gamma;
-                                        double P1_P2 = (1.0 - Gamma) * (gps_ephemeris_iter->second.d_TGD * GPS_C_m_s);
+                                        double P1_P2 = (1.0 - Gamma) * (gps_ephemeris_iter->second.d_TGD * GPS_C_M_S);
                                         double Code_bias_m = P1_P2 / (1.0 - Gamma);
                                         obs.resize(valid_obs + 1, 1);
-                                        obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s - Code_bias_m - this->get_time_offset_s() * GPS_C_m_s;
+                                        obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_M_S - Code_bias_m - this->get_time_offset_s() * GPS_C_M_S;
 
                                         // SV ECEF DEBUG OUTPUT
                                         LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
@@ -243,7 +243,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
                                         // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
                                         // first estimate of transmit time
                                         double Rx_time = hybrid_current_time;
-                                        double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_m_s;
+                                        double Tx_time = Rx_time - gnss_observables_iter->second.Pseudorange_m / GPS_C_M_S;
 
                                         // 2- compute the clock drift using the clock model (broadcast) for this SV
                                         SV_clock_bias_s = gps_cnav_ephemeris_iter->second.sv_clock_drift(Tx_time);
@@ -261,7 +261,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
 
                                         // 4- fill the observations vector with the corrected observables
                                         obs.resize(valid_obs + 1, 1);
-                                        obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s + SV_clock_bias_s * GPS_C_m_s;
+                                        obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_M_S + SV_clock_bias_s * GPS_C_M_S;
 
                                         GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week;
                                         GPS_week = GPS_week % 1024;  //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV)
@@ -311,17 +311,17 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
                             DLOG(INFO) << " Executing Bancroft algorithm...";
                             rx_position_and_time = bancroftPos(satpos.t(), obs);
                             this->set_rx_pos(rx_position_and_time.rows(0, 2));             // save ECEF position for the next iteration
-                            this->set_time_offset_s(rx_position_and_time(3) / GPS_C_m_s);  // save time for the next iteration [meters]->[seconds]
+                            this->set_time_offset_s(rx_position_and_time(3) / GPS_C_M_S);  // save time for the next iteration [meters]->[seconds]
                         }
 
                     // Execute WLS using previous position as the initialization point
                     rx_position_and_time = leastSquarePos(satpos, obs, W);
 
                     this->set_rx_pos(rx_position_and_time.rows(0, 2));                                         // save ECEF position for the next iteration
-                    this->set_time_offset_s(this->get_time_offset_s() + rx_position_and_time(3) / GPS_C_m_s);  // accumulate the rx time error for the next iteration [meters]->[seconds]
+                    this->set_time_offset_s(this->get_time_offset_s() + rx_position_and_time(3) / GPS_C_M_S);  // accumulate the rx time error for the next iteration [meters]->[seconds]
 
                     DLOG(INFO) << "Hybrid Position at TOW=" << hybrid_current_time << " in ECEF (X,Y,Z,t[meters]) = " << rx_position_and_time;
-                    DLOG(INFO) << "Accumulated rx clock error=" << this->get_time_offset_s() << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_m_s << " [s]";
+                    DLOG(INFO) << "Accumulated rx clock error=" << this->get_time_offset_s() << " clock error for this iteration=" << rx_position_and_time(3) / GPS_C_M_S << " [s]";
 
                     // Compute GST and Gregorian time
                     if (GST != 0.0)

src/algorithms/PVT/libs/hybrid_ls_pvt.h

@@ -46,7 +46,7 @@
 /*!
  * \brief This class implements a simple PVT Least Squares solution
  */
-class hybrid_ls_pvt : public Ls_Pvt
+class Hybrid_Ls_Pvt : public Ls_Pvt
 {
 private:
     int count_valid_position;
@@ -57,10 +57,10 @@ private:
     double d_galileo_current_time;
 
 public:
-    hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file);
+    Hybrid_Ls_Pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file);
-    ~hybrid_ls_pvt();
+    ~Hybrid_Ls_Pvt();
 
-    bool get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging);
+    bool get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, double hybrid_current_time, bool flag_averaging);
 
     std::map<int, Galileo_Ephemeris> galileo_ephemeris_map;  //!< Map storing new Galileo_Ephemeris
     std::map<int, Gps_Ephemeris> gps_ephemeris_map;          //!< Map storing new GPS_Ephemeris

src/algorithms/PVT/libs/kml_printer.cc

@@ -36,6 +36,7 @@
 #include <boost/filesystem/path.hpp>         // for path, operator<<
 #include <boost/filesystem/path_traits.hpp>  // for filesystem
 #include <glog/logging.h>
+#include <exception>
 #include <sstream>
 
 using google::LogMessage;
@@ -211,7 +212,7 @@ bool Kml_Printer::set_headers(const std::string& filename, bool time_tag_name)
 }
 
 
-bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values)
+bool Kml_Printer::print_position(const std::shared_ptr<Rtklib_Solver>& position, bool print_average_values)
 {
     double latitude;
     double longitude;
@@ -219,7 +220,7 @@ bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
 
     positions_printed = true;
 
-    const std::shared_ptr<rtklib_solver>& position_ = position;
+    const std::shared_ptr<Rtklib_Solver>& position_ = position;
 
     double speed_over_ground = position_->get_speed_over_ground();    // expressed in m/s
     double course_over_ground = position_->get_course_over_ground();  // expressed in deg
@@ -228,7 +229,10 @@ bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
     double vdop = position_->get_vdop();
     double pdop = position_->get_pdop();
     std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time());
-    if (utc_time.length() < 23) utc_time += ".";
+    if (utc_time.length() < 23)
+        {
+            utc_time += ".";
+        }
     utc_time.resize(23, '0');  // time up to ms
     utc_time.append("Z");      // UTC time zone
 
@@ -319,9 +323,19 @@ bool Kml_Printer::close_file()
 
 Kml_Printer::~Kml_Printer()
 {
+    try
+        {
             close_file();
+        }
+    catch (const std::exception& e)
+        {
+            std::cerr << e.what() << '\n';
+        }
     if (!positions_printed)
         {
-            if (remove(kml_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary KML file";
+            if (remove(kml_filename.c_str()) != 0)
+                {
+                    LOG(INFO) << "Error deleting temporary KML file";
+                }
         }
 }

src/algorithms/PVT/libs/kml_printer.h

@@ -61,7 +61,7 @@ public:
     Kml_Printer(const std::string& base_path = std::string("."));
     ~Kml_Printer();
     bool set_headers(const std::string& filename, bool time_tag_name = true);
-    bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);
+    bool print_position(const std::shared_ptr<Rtklib_Solver>& position, bool print_average_values);
     bool close_file();
 };
 

src/algorithms/PVT/libs/ls_pvt.cc

@@ -95,7 +95,7 @@ arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
                         {
                             int z = B(i, 2);
                             double rho = (x - pos(0)) * (x - pos(0)) + (y - pos(1)) * (y - pos(1)) + (z - pos(2)) * (z - pos(2));
-                            traveltime = sqrt(rho) / GPS_C_m_s;
+                            traveltime = sqrt(rho) / GPS_C_M_S;
                         }
                     double angle = traveltime * 7.292115147e-5;
                     double cosa = cos(angle);
@@ -228,7 +228,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
                                        (X(1, i) - pos(1)) +
                                    (X(2, i) - pos(2)) *
                                        (X(2, i) - pos(2));
-                            traveltime = sqrt(rho2) / GPS_C_m_s;
+                            traveltime = sqrt(rho2) / GPS_C_M_S;
 
                             //--- Correct satellite position (do to earth rotation) --------
                             Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i));  //armadillo
@@ -253,7 +253,10 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
                                         {
                                             //--- Find delay due to troposphere (in meters)
                                             Ls_Pvt::tropo(&trop, sin(*elev * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
-                                            if (trop > 5.0) trop = 0.0;  //check for erratic values
+                                            if (trop > 5.0)
+                                                {
+                                                    trop = 0.0;  //check for erratic values
+                                                }
                                         }
                                 }
                         }
@@ -280,9 +283,9 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
         }
 
     // check the consistency of the PVT solution
-    if (((fabs(pos(3)) * 1000.0) / GPS_C_m_s) > GPS_STARTOFFSET_ms * 2)
+    if (((fabs(pos(3)) * 1000.0) / GPS_C_M_S) > GPS_STARTOFFSET_MS * 2)
         {
-            LOG(WARNING) << "Receiver time offset out of range! Estimated RX Time error [s]:" << pos(3) / GPS_C_m_s;
+            LOG(WARNING) << "Receiver time offset out of range! Estimated RX Time error [s]:" << pos(3) / GPS_C_M_S;
             throw std::runtime_error("Receiver time offset out of range!");
         }
     return pos;

src/algorithms/PVT/libs/monitor_pvt.h

@@ -0,0 +1,140 @@
+/*!
+ * \file monitor_pvt.h
+ * \brief  Interface of the Monitor_Pvt class
+ * \author
+ *  Álvaro Cebrián Juan, 2019. acebrianjuan(at)gmail.com
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_MONITOR_PVT_H_
+#define GNSS_SDR_MONITOR_PVT_H_
+
+#include <boost/serialization/nvp.hpp>
+#include <cstdint>
+
+/*!
+ * \brief This class contains parameters and outputs of the PVT block
+ */
+class Monitor_Pvt
+{
+public:
+    // TOW
+    uint32_t TOW_at_current_symbol_ms;
+    // WEEK
+    uint32_t week;
+    // PVT GPS time
+    double RX_time;
+    // User clock offset [s]
+    double user_clk_offset;
+
+    // ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
+    double pos_x;
+    double pos_y;
+    double pos_z;
+    double vel_x;
+    double vel_y;
+    double vel_z;
+
+    // position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
+    double cov_xx;
+    double cov_yy;
+    double cov_zz;
+    double cov_xy;
+    double cov_yz;
+    double cov_zx;
+
+    // GEO user position Latitude [deg]
+    double latitude;
+    // GEO user position Longitude [deg]
+    double longitude;
+    // GEO user position Height [m]
+    double height;
+
+    // NUMBER OF VALID SATS
+    uint8_t valid_sats;
+    // RTKLIB solution status
+    uint8_t solution_status;
+    // RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
+    uint8_t solution_type;
+    // AR ratio factor for validation
+    float AR_ratio_factor;
+    // AR ratio threshold for validation
+    float AR_ratio_threshold;
+
+    // GDOP / PDOP/ HDOP/ VDOP
+    double gdop;
+    double pdop;
+    double hdop;
+    double vdop;
+
+    /*!
+     * \brief This member function serializes and restores
+     * Monitor_Pvt objects from a byte stream.
+     */
+    template <class Archive>
+
+    void serialize(Archive& ar, const unsigned int version)
+    {
+        if (version)
+            {
+            };
+
+        ar& BOOST_SERIALIZATION_NVP(TOW_at_current_symbol_ms);
+        ar& BOOST_SERIALIZATION_NVP(week);
+        ar& BOOST_SERIALIZATION_NVP(RX_time);
+        ar& BOOST_SERIALIZATION_NVP(user_clk_offset);
+
+        ar& BOOST_SERIALIZATION_NVP(pos_x);
+        ar& BOOST_SERIALIZATION_NVP(pos_y);
+        ar& BOOST_SERIALIZATION_NVP(pos_z);
+        ar& BOOST_SERIALIZATION_NVP(vel_x);
+        ar& BOOST_SERIALIZATION_NVP(vel_y);
+        ar& BOOST_SERIALIZATION_NVP(vel_z);
+
+        ar& BOOST_SERIALIZATION_NVP(cov_xx);
+        ar& BOOST_SERIALIZATION_NVP(cov_yy);
+        ar& BOOST_SERIALIZATION_NVP(cov_zz);
+        ar& BOOST_SERIALIZATION_NVP(cov_xy);
+        ar& BOOST_SERIALIZATION_NVP(cov_yz);
+        ar& BOOST_SERIALIZATION_NVP(cov_zx);
+
+        ar& BOOST_SERIALIZATION_NVP(latitude);
+        ar& BOOST_SERIALIZATION_NVP(longitude);
+        ar& BOOST_SERIALIZATION_NVP(height);
+
+        ar& BOOST_SERIALIZATION_NVP(valid_sats);
+        ar& BOOST_SERIALIZATION_NVP(solution_status);
+        ar& BOOST_SERIALIZATION_NVP(solution_type);
+        ar& BOOST_SERIALIZATION_NVP(AR_ratio_factor);
+        ar& BOOST_SERIALIZATION_NVP(AR_ratio_threshold);
+
+        ar& BOOST_SERIALIZATION_NVP(gdop);
+        ar& BOOST_SERIALIZATION_NVP(pdop);
+        ar& BOOST_SERIALIZATION_NVP(hdop);
+        ar& BOOST_SERIALIZATION_NVP(vdop);
+    }
+};
+
+#endif /* GNSS_SDR_MONITOR_PVT_H_ */

src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc

@@ -0,0 +1,98 @@
+/*!
+ * \file monitor_pvt_udp_sink.cc
+ * \brief Implementation of a class that sends serialized Monitor_Pvt
+ * objects over udp to one or multiple endpoints
+ * \author Álvaro Cebrián Juan, 2019. acebrianjuan(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "monitor_pvt_udp_sink.h"
+#include <boost/archive/binary_oarchive.hpp>
+#include <iostream>
+#include <sstream>
+
+
+Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port) : socket{io_service}
+{
+    for (const auto& address : addresses)
+        {
+            boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port);
+            endpoints.push_back(endpoint);
+        }
+    monitor_pvt.TOW_at_current_symbol_ms = 0U;
+    monitor_pvt.week = 0U;
+    monitor_pvt.RX_time = 0.0;
+    monitor_pvt.user_clk_offset = 0.0;
+    monitor_pvt.pos_x = 0.0;
+    monitor_pvt.pos_y = 0.0;
+    monitor_pvt.pos_z = 0.0;
+    monitor_pvt.vel_x = 0.0;
+    monitor_pvt.vel_y = 0.0;
+    monitor_pvt.vel_z = 0.0;
+    monitor_pvt.cov_xx = 0.0;
+    monitor_pvt.cov_yy = 0.0;
+    monitor_pvt.cov_zz = 0.0;
+    monitor_pvt.cov_xy = 0.0;
+    monitor_pvt.cov_yz = 0.0;
+    monitor_pvt.cov_zx = 0.0;
+    monitor_pvt.latitude = 0.0;
+    monitor_pvt.longitude = 0.0;
+    monitor_pvt.height = 0.0;
+    monitor_pvt.valid_sats = 0;
+    monitor_pvt.solution_status = 0;
+    monitor_pvt.solution_type = 0;
+    monitor_pvt.AR_ratio_factor = 0.0;
+    monitor_pvt.AR_ratio_threshold = 0.0;
+    monitor_pvt.gdop = 0.0;
+    monitor_pvt.pdop = 0.0;
+    monitor_pvt.hdop = 0.0;
+    monitor_pvt.vdop = 0.0;
+}
+
+
+bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(const Monitor_Pvt& monitor_pvt)
+{
+    std::ostringstream archive_stream;
+    boost::archive::binary_oarchive oa{archive_stream};
+    oa << monitor_pvt;
+    std::string outbound_data = archive_stream.str();
+
+    for (const auto& endpoint : endpoints)
+        {
+            socket.open(endpoint.protocol(), error);
+            socket.connect(endpoint, error);
+
+            try
+                {
+                    socket.send(boost::asio::buffer(outbound_data));
+                }
+            catch (boost::system::system_error const& e)
+                {
+                    return false;
+                }
+        }
+    return true;
+}

src/algorithms/PVT/libs/monitor_pvt_udp_sink.h

@@ -0,0 +1,53 @@
+/*!
+ * \file monitor_pvt_udp_sink.h
+ * \brief Interface of a class that sends serialized Monitor_Pvt objects
+ * over udp to one or multiple endpoints
+ * \author Álvaro Cebrián Juan, 2019. acebrianjuan(at)gmail.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_MONITOR_PVT_UDP_SINK_H_
+#define GNSS_SDR_MONITOR_PVT_UDP_SINK_H_
+
+#include "monitor_pvt.h"
+#include <boost/asio.hpp>
+
+class Monitor_Pvt_Udp_Sink
+{
+public:
+    Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t &port);
+    bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt);
+
+private:
+    boost::asio::io_service io_service;
+    boost::asio::ip::udp::socket socket;
+    boost::system::error_code error;
+    std::vector<boost::asio::ip::udp::endpoint> endpoints;
+    Monitor_Pvt monitor_pvt;
+};
+
+
+#endif /* GNSS_SDR_MONITOR_PVT_UDP_SINK_H_ */

src/algorithms/PVT/libs/nmea_printer.cc

@@ -41,6 +41,7 @@
 #include <boost/filesystem/path_traits.hpp>  // for filesystem
 #include <glog/logging.h>
 #include <cstdint>
+#include <exception>
 #include <fcntl.h>
 #include <termios.h>
 
@@ -118,11 +119,29 @@ Nmea_Printer::Nmea_Printer(const std::string& filename, bool flag_nmea_output_fi
 
 Nmea_Printer::~Nmea_Printer()
 {
+    try
+        {
             if (nmea_file_descriptor.is_open())
                 {
                     nmea_file_descriptor.close();
                 }
+        }
+    catch (const std::ofstream::failure& e)
+        {
+            std::cerr << "Problem closing NMEA dump file: " << nmea_filename << '\n';
+        }
+    catch (const std::exception& e)
+        {
+            std::cerr << e.what() << '\n';
+        }
+    try
+        {
             close_serial();
+        }
+    catch (const std::exception& e)
+        {
+            std::cerr << e.what() << '\n';
+        }
 }
 
 
@@ -142,9 +161,15 @@ int Nmea_Printer::init_serial(const std::string& serial_device)
     int64_t PARITY;
 
     fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY | O_CLOEXEC);
-    if (fd == -1) return fd;  // failed to open TTY port
+    if (fd == -1)
+        {
+            return fd;  // failed to open TTY port
+        }
 
-    if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O";  // clear all flags on descriptor, enable direct I/O
+    if (fcntl(fd, F_SETFL, 0) == -1)
+        {
+            LOG(INFO) << "Error enabling direct I/O";  // clear all flags on descriptor, enable direct I/O
+        }
     tcgetattr(fd, &options);  // read serial port options
 
     BAUD = B9600;
@@ -174,7 +199,7 @@ void Nmea_Printer::close_serial()
 }
 
 
-bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<rtklib_solver>& pvt_data, bool print_average_values)
+bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<Rtklib_Solver>& pvt_data, bool print_average_values)
 {
     std::string GPRMC;
     std::string GPGGA;
@@ -348,13 +373,22 @@ std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_
     utc_seconds = td.seconds();
     utc_milliseconds = td.total_milliseconds() - td.total_seconds() * 1000;
 
-    if (utc_hours < 10) sentence_str << "0";  //  two digits for hours
+    if (utc_hours < 10)
+        {
+            sentence_str << "0";  //  two digits for hours
+        }
     sentence_str << utc_hours;
 
-    if (utc_mins < 10) sentence_str << "0";  //  two digits for minutes
+    if (utc_mins < 10)
+        {
+            sentence_str << "0";  //  two digits for minutes
+        }
     sentence_str << utc_mins;
 
-    if (utc_seconds < 10) sentence_str << "0";  //  two digits for seconds
+    if (utc_seconds < 10)
+        {
+            sentence_str << "0";  //  two digits for seconds
+        }
     sentence_str << utc_seconds;
 
     if (utc_milliseconds < 10)

src/algorithms/PVT/libs/nmea_printer.h

@@ -38,6 +38,7 @@
 
 #include "rtklib_solver.h"
 #include <fstream>
+#include <memory>
 #include <string>
 
 
@@ -58,7 +59,7 @@ public:
     /*!
      * \brief Print NMEA PVT and satellite info to the initialized device
      */
-    bool Print_Nmea_Line(const std::shared_ptr<rtklib_solver>& pvt_data, bool print_average_values);
+    bool Print_Nmea_Line(const std::shared_ptr<Rtklib_Solver>& pvt_data, bool print_average_values);
 
     /*!
      * \brief Default destructor.
@@ -71,7 +72,7 @@ private:
     std::ofstream nmea_file_descriptor;  // Output file stream for NMEA log file
     std::string nmea_devname;
     int nmea_dev_descriptor;  // NMEA serial device descriptor (i.e. COM port)
-    std::shared_ptr<rtklib_solver> d_PVT_data;
+    std::shared_ptr<Rtklib_Solver> d_PVT_data;
     int init_serial(const std::string& serial_device);  //serial port control
     void close_serial();
     std::string get_GPGGA();  // fix data

src/algorithms/PVT/libs/pvt_conf.cc

@@ -67,4 +67,7 @@ Pvt_Conf::Pvt_Conf()
     kml_output_path = std::string(".");
     xml_output_path = std::string(".");
     rtcm_output_file_path = std::string(".");
+
+    monitor_enabled = false;
+    udp_port = 0;
 }

src/algorithms/PVT/libs/pvt_conf.h

@@ -80,6 +80,10 @@ public:
     std::string xml_output_path;
     std::string rtcm_output_file_path;
 
+    bool monitor_enabled;
+    std::string udp_addresses;
+    int udp_port;
+
     Pvt_Conf();
 };
 

src/algorithms/PVT/libs/pvt_solution.h

@@ -37,8 +37,6 @@
 #include <boost/date_time/posix_time/posix_time.hpp>
 #include <deque>
 
-const unsigned int PVT_MAX_CHANNELS = 90;
-const unsigned int PVT_MAX_PRN = 127;  // 126 is SBAS
 
 /*!
  * \brief Base class for a PVT solution

src/algorithms/PVT/libs/rinex_printer.h

@@ -186,17 +186,17 @@ public:
     /*!
      *  \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
      */
-    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glo_bands = "1C");
+    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glonass_bands = "1C");
 
     /*!
      *  \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
      */
-    void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& galileo_bands = "1B", const std::string& glo_bands = "1C");
+    void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& galileo_bands = "1B", const std::string& glonass_bands = "1C");
 
     /*!
      *  \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G".
      */
-    void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glo_bands = "1G");
+    void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glonass_bands = "1G");
 
     /*!
      *  \brief Generates the a Beidou B1I Observation data header. Example: beidou_bands("B1")
@@ -351,12 +351,12 @@ public:
     /*!
      *  \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file
      */
-    void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
+    void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
 
     /*!
      *  \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
      */
-    void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
+    void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double galileo_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
 
     /*!
      *  \brief Writes BDS B1I observables into the RINEX file
@@ -374,7 +374,7 @@ public:
      */
     //void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
 
-    void update_nav_header(std::fstream& out, const Gps_Utc_Model& gps_utc, const Gps_Iono& gps_iono);
+    void update_nav_header(std::fstream& out, const Gps_Utc_Model& utc_model, const Gps_Iono& gps_iono);
 
     void update_nav_header(std::fstream& out, const Gps_CNAV_Utc_Model& utc_model, const Gps_CNAV_Iono& iono);
 
@@ -388,11 +388,11 @@ public:
 
     void update_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
 
-    void update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_cnav_iono, const Gps_CNAV_Utc_Model& gps_cnav_utc, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
+    void update_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps_iono, const Gps_CNAV_Utc_Model& gps_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
 
     void update_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model, const Glonass_Gnav_Almanac& glonass_gnav_almanac);
 
-    void update_nav_header(std::fstream& out, const Beidou_Dnav_Utc_Model& beidou_dnav_utc, const Beidou_Dnav_Iono& beidou_dnav_iono);
+    void update_nav_header(std::fstream& out, const Beidou_Dnav_Utc_Model& utc_model, const Beidou_Dnav_Iono& beidou_dnav_iono);
 
     void update_obs_header(std::fstream& out, const Gps_Utc_Model& utc_model);
 
@@ -676,8 +676,15 @@ inline std::string Rinex_Printer::doub2for(const double& d,
     short exponentLength = expLen;
 
     /* Validate the assumptions regarding the input arguments */
-    if (exponentLength < 0) exponentLength = 1;
+    if (exponentLength < 0)
-    if (exponentLength > 3 && checkSwitch) exponentLength = 3;
+        {
+            exponentLength = 1;
+        }
+
+    if (exponentLength > 3 && checkSwitch)
+        {
+            exponentLength = 3;
+        }
 
     std::string toReturn = doub2sci(d, length, exponentLength, true, checkSwitch);
     sci2for(toReturn, 0, length, exponentLength, checkSwitch);
@@ -696,8 +703,15 @@ inline std::string Rinex_Printer::doub2sci(const double& d,
     short exponentLength = expLen;
 
     /* Validate the assumptions regarding the input arguments */
-    if (exponentLength < 0) exponentLength = 1;
+    if (exponentLength < 0)
-    if (exponentLength > 3 && checkSwitch) exponentLength = 3;
+        {
+            exponentLength = 1;
+        }
+
+    if (exponentLength > 3 && checkSwitch)
+        {
+            exponentLength = 3;
+        }
 
     std::stringstream c;
     c.setf(std::ios::scientific, std::ios::floatfield);
@@ -709,7 +723,10 @@ inline std::string Rinex_Printer::doub2sci(const double& d,
     //    an extra -1 for '-' or ' ' if it's positive or negative
     int expSize = 0;
     if (showSign)
+        {
             expSize = 1;
+        }
+
     c.precision(length - 3 - exponentLength - 1 - expSize);
     c << d;
     c >> toReturn;
@@ -751,8 +768,10 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
             aStr[idx - 1] = '.';
             // Only add one to the exponent if the number is non-zero
             if (asDouble(aStr.substr(startPos, length)) != 0.0)
+                {
                     expAdd = 1;
                 }
+        }
 
     idx = aStr.find('e', startPos);
     if (idx == std::string::npos)
@@ -766,9 +785,13 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
 
     // Change the exponent character to D normally, or E of checkSwitch is false.
     if (checkSwitch)
+        {
             aStr[idx] = 'D';
+        }
     else
+        {
             aStr[idx] = 'E';
+        }
 
     // Change the exponent itself
     if (redoexp)
@@ -784,7 +807,10 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
                     iexp -= iexp * 2;
                 }
             else
+                {
                     aStr += "+";
+                }
+
             aStr += Rinex_Printer::rightJustify(asString(iexp), expLen, '0');
         }
 

src/algorithms/PVT/libs/rtcm_printer.cc

@@ -38,6 +38,7 @@
 #include <boost/filesystem/path_traits.hpp>  // for filesystem
 #include <glog/logging.h>
 #include <cstdint>
+#include <exception>
 #include <fcntl.h>  // for O_RDWR
 #include <iomanip>
 #include <termios.h>  // for tcgetattr
@@ -143,7 +144,7 @@ Rtcm_Printer::Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump
                 }
         }
 
-    rtcm_devname = std::move(rtcm_dump_devname);
+    rtcm_devname = rtcm_dump_devname;
     if (flag_rtcm_tty_port == true)
         {
             rtcm_dev_descriptor = init_serial(rtcm_devname.c_str());
@@ -190,13 +191,30 @@ Rtcm_Printer::~Rtcm_Printer()
         {
             int64_t pos;
             pos = rtcm_file_descriptor.tellp();
+            try
+                {
                     rtcm_file_descriptor.close();
+                }
+            catch (const std::exception& e)
+                {
+                    std::cerr << e.what() << '\n';
+                }
             if (pos == 0)
                 {
-                    if (remove(rtcm_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary RTCM file";
+                    if (remove(rtcm_filename.c_str()) != 0)
+                        {
+                            LOG(INFO) << "Error deleting temporary RTCM file";
                         }
                 }
+        }
+    try
+        {
             close_serial();
+        }
+    catch (const std::exception& e)
+        {
+            std::cerr << e.what() << '\n';
+        }
 }
 
 
@@ -353,9 +371,15 @@ int Rtcm_Printer::init_serial(const std::string& serial_device)
     int64_t PARITY;
 
     fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY | O_CLOEXEC);
-    if (fd == -1) return fd;  // failed to open TTY port
+    if (fd == -1)
+        {
+            return fd;  // failed to open TTY port
+        }
 
-    if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O";  // clear all flags on descriptor, enable direct I/O
+    if (fcntl(fd, F_SETFL, 0) == -1)
+        {
+            LOG(INFO) << "Error enabling direct I/O";  // clear all flags on descriptor, enable direct I/O
+        }
     tcgetattr(fd, &options);  // read serial port options
 
     BAUD = B9600;

src/algorithms/PVT/libs/rtcm_printer.h

@@ -36,9 +36,9 @@
 
 #include "rtcm.h"
 #include <fstream>  // std::ofstream
+#include <map>
 #include <memory>  // std::shared_ptr
 
-
 /*!
  * \brief This class provides a implementation of a subset of the RTCM Standard 10403.2 messages
  */
@@ -48,7 +48,7 @@ public:
     /*!
      * \brief Default constructor.
      */
-    Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, const std::string& rtcm_dump_filename, bool time_tag_name = true, const std::string& base_path = ".");
+    Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, const std::string& rtcm_dump_devname, bool time_tag_name = true, const std::string& base_path = ".");
 
     /*!
      * \brief Default destructor.
@@ -112,7 +112,7 @@ public:
      * \param utc_model GLONASS GNAV Clock Information broadcast in string 5
      * \return true or false upon operation success
      */
-    bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glo_gnav_eph, const Glonass_Gnav_Utc_Model& utc_model);
+    bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glonass_Gnav_Utc_Model& utc_model);
 
     bool Print_Rtcm_MSM(uint32_t msm_number,
         const Gps_Ephemeris& gps_eph,

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -60,12 +60,13 @@
 #include "rtklib_solution.h"
 #include <glog/logging.h>
 #include <matio.h>
+#include <exception>
 #include <utility>
 
 
 using google::LogMessage;
 
-rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk)
+Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk)
 {
     // init empty ephemeris for all the available GNSS channels
     d_nchannels = nchannels;
@@ -75,7 +76,10 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
     count_valid_position = 0;
     this->set_averaging_flag(false);
     rtk_ = rtk;
-    for (double &i : dop_) i = 0.0;
+    for (double &i : dop_)
+        {
+            i = 0.0;
+        }
     pvt_sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
     ssat_t ssat0 = {0, 0, {0.0}, {0.0}, {0.0}, {'0'}, {'0'}, {'0'}, {'0'}, {'0'}, {}, {}, {}, {}, 0.0, 0.0, 0.0, 0.0, {{{0, 0}}, {{0, 0}}}, {{}, {}}};
     for (auto &i : pvt_ssat)
@@ -89,19 +93,48 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
                 {
                     try
                         {
-                            d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
+                            d_dump_file.exceptions(std::ofstream::failbit | std::ofstream::badbit);
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
                             LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
                         }
-                    catch (const std::ifstream::failure &e)
+                    catch (const std::ofstream::failure &e)
                         {
                             LOG(WARNING) << "Exception opening RTKLIB dump file " << e.what();
                         }
                 }
         }
+    // PVT MONITOR
+    monitor_pvt.TOW_at_current_symbol_ms = 0U;
+    monitor_pvt.week = 0U;
+    monitor_pvt.RX_time = 0.0;
+    monitor_pvt.user_clk_offset = 0.0;
+    monitor_pvt.pos_x = 0.0;
+    monitor_pvt.pos_y = 0.0;
+    monitor_pvt.pos_z = 0.0;
+    monitor_pvt.vel_x = 0.0;
+    monitor_pvt.vel_y = 0.0;
+    monitor_pvt.vel_z = 0.0;
+    monitor_pvt.cov_xx = 0.0;
+    monitor_pvt.cov_yy = 0.0;
+    monitor_pvt.cov_zz = 0.0;
+    monitor_pvt.cov_xy = 0.0;
+    monitor_pvt.cov_yz = 0.0;
+    monitor_pvt.cov_zx = 0.0;
+    monitor_pvt.latitude = 0.0;
+    monitor_pvt.longitude = 0.0;
+    monitor_pvt.height = 0.0;
+    monitor_pvt.valid_sats = 0;
+    monitor_pvt.solution_status = 0;
+    monitor_pvt.solution_type = 0;
+    monitor_pvt.AR_ratio_factor = 0.0;
+    monitor_pvt.AR_ratio_threshold = 0.0;
+    monitor_pvt.gdop = 0.0;
+    monitor_pvt.pdop = 0.0;
+    monitor_pvt.hdop = 0.0;
+    monitor_pvt.vdop = 0.0;
 }
 
-bool rtklib_solver::save_matfile()
+bool Rtklib_Solver::save_matfile()
 {
     // READ DUMP FILE
     std::string dump_filename = d_dump_filename;
@@ -397,7 +430,8 @@ bool rtklib_solver::save_matfile()
     return true;
 }
 
-rtklib_solver::~rtklib_solver()
+
+Rtklib_Solver::~Rtklib_Solver()
 {
     if (d_dump_file.is_open() == true)
         {
@@ -411,37 +445,48 @@ rtklib_solver::~rtklib_solver()
                 }
         }
     if (d_flag_dump_mat_enabled)
+        {
+            try
                 {
                     save_matfile();
                 }
+            catch (const std::exception &ex)
+                {
+                    LOG(WARNING) << "Exception in destructor saving the PVT .mat dump file " << ex.what();
+                }
+        }
 }
 
 
-double rtklib_solver::get_gdop() const
+double Rtklib_Solver::get_gdop() const
 {
     return dop_[0];
 }
 
 
-double rtklib_solver::get_pdop() const
+double Rtklib_Solver::get_pdop() const
 {
     return dop_[1];
 }
 
 
-double rtklib_solver::get_hdop() const
+double Rtklib_Solver::get_hdop() const
 {
     return dop_[2];
 }
 
 
-double rtklib_solver::get_vdop() const
+double Rtklib_Solver::get_vdop() const
 {
     return dop_[3];
 }
 
+Monitor_Pvt Rtklib_Solver::get_monitor_pvt() const
+{
+    return monitor_pvt;
+}
 
-bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_map, bool flag_averaging)
+bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_map, bool flag_averaging)
 {
     std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
     std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
@@ -492,7 +537,10 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     }
                 }
         }
-    if (band1 == true and band2 == true) gps_dual_band = true;
+    if (band1 == true and band2 == true)
+        {
+            gps_dual_band = true;
+        }
 
     for (gnss_observables_iter = gnss_observables_map.cbegin();
          gnss_observables_iter != gnss_observables_map.cend();
@@ -851,7 +899,10 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                 }
                         }
 
-                    if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_.data());
+                    if (index_aux > 0)
+                        {
+                            dops(index_aux, azel.data(), 0.0, dop_.data());
+                        }
                     this->set_valid_position(true);
                     arma::vec rx_position_and_time(4);
                     rx_position_and_time(0) = pvt_sol.rr[0];  // [m]
@@ -865,7 +916,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                         }
                     else
                         {
-                            rx_position_and_time(3) = pvt_sol.dtr[0] / GPS_C_m_s;  // the receiver clock offset is expressed in [meters], so we convert it into [s]
+                            rx_position_and_time(3) = pvt_sol.dtr[0] / GPS_C_M_S;  // the receiver clock offset is expressed in [meters], so we convert it into [s]
                         }
                     this->set_rx_pos(rx_position_and_time.rows(0, 2));  // save ECEF position for the next iteration
 
@@ -880,7 +931,10 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     if (ground_speed_ms >= 1.0)
                         {
                             new_cog = atan2(enuv[0], enuv[1]) * R2D;
-                            if (new_cog < 0.0) new_cog += 360.0;
+                            if (new_cog < 0.0)
+                                {
+                                    new_cog += 360.0;
+                                }
                             this->set_course_over_ground(new_cog);
                         }
 
@@ -907,6 +961,58 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                << " [deg], Height= " << this->get_height() << " [m]"
                                << " RX time offset= " << this->get_time_offset_s() << " [s]";
 
+                    // PVT MONITOR
+
+                    // TOW
+                    monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
+                    // WEEK
+                    monitor_pvt.week = adjgpsweek(nav_data.eph[0].week);
+                    // PVT GPS time
+                    monitor_pvt.RX_time = gnss_observables_map.begin()->second.RX_time;
+                    // User clock offset [s]
+                    monitor_pvt.user_clk_offset = rx_position_and_time(3);
+
+                    // ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
+                    monitor_pvt.pos_x = pvt_sol.rr[0];
+                    monitor_pvt.pos_y = pvt_sol.rr[1];
+                    monitor_pvt.pos_z = pvt_sol.rr[2];
+                    monitor_pvt.vel_x = pvt_sol.rr[3];
+                    monitor_pvt.vel_y = pvt_sol.rr[4];
+                    monitor_pvt.vel_z = pvt_sol.rr[5];
+
+                    // position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
+                    monitor_pvt.cov_xx = pvt_sol.qr[0];
+                    monitor_pvt.cov_yy = pvt_sol.qr[1];
+                    monitor_pvt.cov_zz = pvt_sol.qr[2];
+                    monitor_pvt.cov_xy = pvt_sol.qr[3];
+                    monitor_pvt.cov_yz = pvt_sol.qr[4];
+                    monitor_pvt.cov_zx = pvt_sol.qr[5];
+
+                    // GEO user position Latitude [deg]
+                    monitor_pvt.latitude = get_latitude();
+                    // GEO user position Longitude [deg]
+                    monitor_pvt.longitude = get_longitude();
+                    // GEO user position Height [m]
+                    monitor_pvt.height = get_height();
+
+                    // NUMBER OF VALID SATS
+                    monitor_pvt.valid_sats = pvt_sol.ns;
+                    // RTKLIB solution status
+                    monitor_pvt.solution_status = pvt_sol.stat;
+                    // RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
+                    monitor_pvt.solution_type = pvt_sol.type;
+                    // AR ratio factor for validation
+                    monitor_pvt.AR_ratio_factor = pvt_sol.ratio;
+                    // AR ratio threshold for validation
+                    monitor_pvt.AR_ratio_threshold = pvt_sol.thres;
+
+                    // GDOP / PDOP/ HDOP/ VDOP
+                    monitor_pvt.gdop = dop_[0];
+                    monitor_pvt.pdop = dop_[1];
+                    monitor_pvt.hdop = dop_[2];
+                    monitor_pvt.vdop = dop_[3];
+
+
                     // ######## LOG FILE #########
                     if (d_flag_dump_enabled == true)
                         {

src/algorithms/PVT/libs/rtklib_solver.h

@@ -62,6 +62,7 @@
 #include "gnss_synchro.h"
 #include "gps_cnav_navigation_message.h"
 #include "gps_navigation_message.h"
+#include "monitor_pvt.h"
 #include "pvt_solution.h"
 #include "rtklib_rtkpos.h"
 #include <array>
@@ -73,7 +74,7 @@
 /*!
  * \brief This class implements a simple PVT Least Squares solution
  */
-class rtklib_solver : public Pvt_Solution
+class Rtklib_Solver : public Pvt_Solution
 {
 private:
     rtk_t rtk_;
@@ -85,18 +86,20 @@ private:
     bool d_flag_dump_mat_enabled;
     int d_nchannels;  // Number of available channels for positioning
     std::array<double, 4> dop_;
+    Monitor_Pvt monitor_pvt;
 
 public:
     sol_t pvt_sol;
     ssat_t pvt_ssat[MAXSAT];
-    rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t& rtk);
+    Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t& rtk);
-    ~rtklib_solver();
+    ~Rtklib_Solver();
 
     bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
     double get_hdop() const;
     double get_vdop() const;
     double get_pdop() const;
     double get_gdop() const;
+    Monitor_Pvt get_monitor_pvt() const;
 
     std::map<int, Galileo_Ephemeris> galileo_ephemeris_map;            //!< Map storing new Galileo_Ephemeris
     std::map<int, Gps_Ephemeris> gps_ephemeris_map;                    //!< Map storing new GPS_Ephemeris

src/algorithms/acquisition/adapters/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2012-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -83,33 +83,43 @@ if(OPENCL_FOUND)
     )
 endif()
 
-include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_SOURCE_DIR}/src/core/system_parameters
-    ${CMAKE_SOURCE_DIR}/src/core/interfaces
-    ${CMAKE_SOURCE_DIR}/src/core/receiver
-    ${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
-    ${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/libs
-    ${CMAKE_SOURCE_DIR}/src/algorithms/libs
-    ${Boost_INCLUDE_DIRS}
-    ${GLOG_INCLUDE_DIRS}
-    ${GFlags_INCLUDE_DIRS}
-    ${ARMADILLO_INCLUDE_DIRS}
-    ${GNURADIO_RUNTIME_INCLUDE_DIRS}
-    ${GNURADIO_BLOCKS_INCLUDE_DIRS}
-    ${VOLK_GNSSSDR_INCLUDE_DIRS}
-)
-
 list(SORT ACQ_ADAPTER_HEADERS)
 list(SORT ACQ_ADAPTER_SOURCES)
-add_library(acq_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS})
+
 source_group(Headers FILES ${ACQ_ADAPTER_HEADERS})
-target_link_libraries(acq_adapters
+
-    acquisition_lib
+add_library(acquisition_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS})
-    gnss_sp_libs
+
+target_link_libraries(acquisition_adapters
+    PUBLIC
+        Gnuradio::blocks
+        algorithms_libs
         gnss_sdr_flags
-    acq_gr_blocks
+        acquisition_gr_blocks
-    ${Boost_LIBRARIES}
+        core_system_parameters
-    ${GNURADIO_RUNTIME_LIBRARIES}
+    PRIVATE
-    ${GNURADIO_BLOCKS_LIBRARIES}
+        Boost::boost
+        Gflags::gflags
+        Glog::glog
+        Volkgnsssdr::volkgnsssdr
+        acquisition_libs
+)
+
+target_include_directories(acquisition_adapters
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/core/interfaces
+)
+
+if(ENABLE_CLANG_TIDY)
+    if(CLANG_TIDY_EXE)
+        set_target_properties(acquisition_adapters
+            PROPERTIES
+                CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
+        )
+    endif()
+endif()
+
+set_property(TARGET acquisition_adapters
+    APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
 )

src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc

@@ -68,7 +68,10 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
     blocking_ = configuration_->property(role + ".blocking", true);
     acq_parameters.blocking = blocking_;
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     acq_parameters.doppler_max = doppler_max_;
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
     acq_parameters.sampled_ms = sampled_ms_;
@@ -81,7 +84,7 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
     dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
     acq_parameters.dump_filename = dump_filename_;
     //--- Find number of samples per spreading code -------------------------
-    code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
+    code_length_ = static_cast<uint32_t>(std::round(static_cast<double>(fs_in_) / (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
 
     vector_length_ = code_length_ * sampled_ms_;
 
@@ -144,7 +147,7 @@ void BeidouB1iPcpsAcquisition::stop_acquisition()
 {
 }
 
-void BeidouB1iPcpsAcquisition::set_channel(unsigned int channel)
+void BeidouB1iPcpsAcquisition::set_channel(uint32_t channel)
 {
     channel_ = channel;
     acquisition_->set_channel(channel_);
@@ -170,7 +173,7 @@ void BeidouB1iPcpsAcquisition::set_threshold(float threshold)
 }
 
 
-void BeidouB1iPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
+void BeidouB1iPcpsAcquisition::set_doppler_max(uint32_t doppler_max)
 {
     doppler_max_ = doppler_max;
 
@@ -178,7 +181,7 @@ void BeidouB1iPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
 }
 
 
-void BeidouB1iPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
+void BeidouB1iPcpsAcquisition::set_doppler_step(uint32_t doppler_step)
 {
     doppler_step_ = doppler_step;
 
@@ -213,7 +216,7 @@ void BeidouB1iPcpsAcquisition::set_local_code()
 
     beidou_b1i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
 
-    for (unsigned int i = 0; i < sampled_ms_; i++)
+    for (uint32_t i = 0; i < sampled_ms_; i++)
         {
             memcpy(&(code_[i * code_length_]), code,
                 sizeof(gr_complex) * code_length_);
@@ -239,7 +242,7 @@ void BeidouB1iPcpsAcquisition::set_state(int state)
 float BeidouB1iPcpsAcquisition::calculate_threshold(float pfa)
 {
     //Calculate the threshold
-    unsigned int frequency_bins = 0;
+    uint32_t frequency_bins = 0;
     /*
     for (int doppler = (int)(-doppler_max_); doppler <= (int)doppler_max_; doppler += doppler_step_)
         {
@@ -250,7 +253,7 @@ float BeidouB1iPcpsAcquisition::calculate_threshold(float pfa)
     frequency_bins = (2 * doppler_max_ + doppler_step_) / doppler_step_;
 
     DLOG(INFO) << "Channel " << channel_ << "  Pfa = " << pfa;
-    unsigned int ncells = vector_length_ * frequency_bins;
+    uint32_t ncells = vector_length_ * frequency_bins;
     double exponent = 1 / static_cast<double>(ncells);
     double val = pow(1.0 - pfa, exponent);
     auto lambda = static_cast<double>(vector_length_);
@@ -315,7 +318,7 @@ gr::basic_block_sptr BeidouB1iPcpsAcquisition::get_left_block()
         {
             return acquisition_;
         }
-    else if (item_type_ == "cshort")
+    if (item_type_ == "cshort")
         {
             return acquisition_;
         }

src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h

@@ -34,7 +34,6 @@
 #ifndef GNSS_SDR_BEIDOU_B1I_PCPS_ACQUISITION_H_
 #define GNSS_SDR_BEIDOU_B1I_PCPS_ACQUISITION_H_
 
-#include "acq_conf.h"
 #include "acquisition_interface.h"
 #include "complex_byte_to_float_x2.h"
 #include "gnss_synchro.h"
@@ -42,6 +41,7 @@
 #include <gnuradio/blocks/float_to_complex.h>
 #include <gnuradio/blocks/stream_to_vector.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
+#include <cstdint>
 #include <string>
 
 
@@ -93,7 +93,7 @@ public:
     /*!
      * \brief Set acquisition channel unique ID
      */
-    void set_channel(unsigned int channel) override;
+    void set_channel(uint32_t channel) override;
 
     /*!
      * \brief Set statistics threshold of PCPS algorithm
@@ -103,12 +103,12 @@ public:
     /*!
      * \brief Set maximum Doppler off grid search
      */
-    void set_doppler_max(unsigned int doppler_max) override;
+    void set_doppler_max(uint32_t doppler_max) override;
 
     /*!
      * \brief Set Doppler steps for the grid search
      */
-    void set_doppler_step(unsigned int doppler_step) override;
+    void set_doppler_step(uint32_t doppler_step) override;
 
     /*!
      * \brief Initializes acquisition algorithm.
@@ -154,25 +154,25 @@ private:
     complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
     size_t item_size_;
     std::string item_type_;
-    unsigned int vector_length_;
+    uint32_t vector_length_;
-    unsigned int code_length_;
+    uint32_t code_length_;
     bool bit_transition_flag_;
     bool use_CFAR_algorithm_flag_;
-    unsigned int channel_;
+    uint32_t channel_;
     float threshold_;
-    unsigned int doppler_max_;
+    uint32_t doppler_max_;
-    unsigned int doppler_step_;
+    uint32_t doppler_step_;
-    unsigned int sampled_ms_;
+    uint32_t sampled_ms_;
-    unsigned int max_dwells_;
+    uint32_t max_dwells_;
-    long fs_in_;
+    int64_t fs_in_;
     bool dump_;
     bool blocking_;
     std::string dump_filename_;
     std::complex<float>* code_;
     Gnss_Synchro* gnss_synchro_;
     std::string role_;
-    unsigned int in_streams_;
+    uint32_t in_streams_;
-    unsigned int out_streams_;
+    uint32_t out_streams_;
 
     float calculate_threshold(float pfa);
 };

src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc

@@ -61,7 +61,10 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     dump_ = configuration_->property(role + ".dump", false);
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
 
     if (sampled_ms_ % 4 != 0)
@@ -79,7 +82,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
 
     //--- Find number of samples per spreading code (4 ms)  -----------------
     code_length_ = round(
-        fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
+        fs_in_ / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS));
 
     vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
 
@@ -145,7 +148,10 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_threshold(float threshold)
 {
     float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
 
-    if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
+    if (pfa == 0.0)
+        {
+            pfa = configuration_->property(role_ + ".pfa", 0.0);
+        }
 
     if (pfa == 0.0)
         {

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc

@@ -62,7 +62,10 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     acq_parameters_.fs_in = fs_in_;
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     acq_parameters_.doppler_max = doppler_max_;
     acq_parameters_.ms_per_code = 4;
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters_.ms_per_code);
@@ -95,10 +98,10 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
         }
     if (acq_parameters_.use_automatic_resampler)
         {
-            if (acq_parameters_.fs_in > Galileo_E1_OPT_ACQ_FS_HZ)
+            if (acq_parameters_.fs_in > GALILEO_E1_OPT_ACQ_FS_HZ)
                 {
-                    acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / Galileo_E1_OPT_ACQ_FS_HZ);
+                    acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GALILEO_E1_OPT_ACQ_FS_HZ);
-                    uint32_t decimation = acq_parameters_.fs_in / Galileo_E1_OPT_ACQ_FS_HZ;
+                    uint32_t decimation = acq_parameters_.fs_in / GALILEO_E1_OPT_ACQ_FS_HZ;
                     while (acq_parameters_.fs_in % decimation > 0)
                         {
                             decimation--;
@@ -107,19 +110,19 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
                     acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
                 }
             //--- Find number of samples per spreading code (4 ms)  -----------------
-            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
             acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
-            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
         }
     else
         {
             //--- Find number of samples per spreading code (4 ms)  -----------------
-            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
             acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
-            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
         }
 
-    acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(Galileo_E1_CODE_PERIOD_MS);
+    acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GALILEO_E1_CODE_PERIOD_MS);
     vector_length_ = sampled_ms_ * acq_parameters_.samples_per_ms;
     if (bit_transition_flag_)
         {
@@ -187,7 +190,10 @@ void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold)
 {
     float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
 
-    if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
+    if (pfa == 0.0)
+        {
+            pfa = configuration_->property(role_ + ".pfa", 0.0);
+        }
 
     if (pfa == 0.0)
         {

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc

@@ -105,7 +105,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
     //   dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
     //   acq_parameters.dump_filename = dump_filename_;
     //--- Find number of samples per spreading code (4 ms)  -----------------
-    auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
+    auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
     //acq_parameters.samples_per_code = code_length_;
     //int samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
     //acq_parameters.samples_per_ms = samples_per_ms;
@@ -117,8 +117,8 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
     //        }
 
     //printf("fs_in = %d\n", fs_in);
-    //printf("Galileo_E1_B_CODE_LENGTH_CHIPS = %f\n", Galileo_E1_B_CODE_LENGTH_CHIPS);
+    //printf("GALILEO_E1_B_CODE_LENGTH_CHIPS = %f\n", GALILEO_E1_B_CODE_LENGTH_CHIPS);
-    //printf("Galileo_E1_CODE_CHIP_RATE_HZ = %f\n", Galileo_E1_CODE_CHIP_RATE_HZ);
+    //printf("GALILEO_E1_CODE_CHIP_RATE_HZ = %f\n", GALILEO_E1_CODE_CHIP_RATE_HZ);
     //printf("acq adapter code_length = %d\n", code_length);
     acq_parameters.code_length = code_length;
     // The FPGA can only use FFT lengths that are a power of two.
@@ -136,19 +136,19 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
     acq_parameters.device_name = device_name;
     acq_parameters.samples_per_ms = nsamples_total / sampled_ms;
     acq_parameters.samples_per_code = nsamples_total;
-    acq_parameters.excludelimit = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / Galileo_E1_CODE_CHIP_RATE_HZ));
+    acq_parameters.excludelimit = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / GALILEO_E1_CODE_CHIP_RATE_HZ));
 
     // compute all the GALILEO E1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
     // a channel is assigned)
     auto* fft_if = new gr::fft::fft_complex(nsamples_total, true);  // Direct FFT
     auto* code = new std::complex<float>[nsamples_total];           // buffer for the local code
     auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
-    d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E1_NUMBER_OF_CODES];  // memory containing all the possible fft codes for PRN 0 to 32
+    d_all_fft_codes_ = new lv_16sc_t[nsamples_total * GALILEO_E1_NUMBER_OF_CODES];  // memory containing all the possible fft codes for PRN 0 to 32
     float max;                                                                      // temporary maxima search
 
     //int tmp_re, tmp_im;
 
-    for (unsigned int PRN = 1; PRN <= Galileo_E1_NUMBER_OF_CODES; PRN++)
+    for (unsigned int PRN = 1; PRN <= GALILEO_E1_NUMBER_OF_CODES; PRN++)
         {
 
         //code_ = new gr_complex[vector_length_];
@@ -288,7 +288,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
         }
 
 
-    //    for (unsigned int PRN = 1; PRN <= Galileo_E1_NUMBER_OF_CODES; PRN++)
+    //    for (unsigned int PRN = 1; PRN <= GALILEO_E1_NUMBER_OF_CODES; PRN++)
     //        {
     //                    // debug
     //                    char filename2[25];

src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc

@@ -60,7 +60,10 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     dump_ = configuration_->property(role + ".dump", false);
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
 
     if (sampled_ms_ % 4 != 0)
@@ -79,7 +82,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
     //--- Find number of samples per spreading code (4 ms)  -----------------
 
     code_length_ = round(
-        fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
+        fs_in_ / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS));
 
     vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
 

src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc

@@ -61,12 +61,15 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     dump_ = configuration_->property(role + ".dump", false);
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 8);
 
     /*--- Find number of samples per spreading code (4 ms)  -----------------*/
     code_length_ = round(
-        fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
+        fs_in_ / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS));
 
     int samples_per_ms = round(code_length_ / 4.0);
 
@@ -179,7 +182,10 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
 {
     float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
 
-    if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
+    if (pfa == 0.0)
+        {
+            pfa = configuration_->property(role_ + ".pfa", 0.0);
+        }
 
     if (pfa == 0.0)
         {

src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc

@@ -61,7 +61,10 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     dump_ = configuration_->property(role + ".dump", false);
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
 
     if (sampled_ms_ % 4 != 0)
@@ -82,7 +85,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
     //--- Find number of samples per spreading code (4 ms)  -----------------
 
     code_length_ = round(
-        fs_in_ / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
+        fs_in_ / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS));
 
     vector_length_ = code_length_ * static_cast<int>(sampled_ms_ / 4);
 
@@ -149,7 +152,10 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold)
 {
     float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
 
-    if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
+    if (pfa == 0.0)
+        {
+            pfa = configuration_->property(role_ + ".pfa", 0.0);
+        }
 
     if (pfa == 0.0)
         {

src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc

@@ -66,7 +66,10 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     dump_ = configuration_->property(role + ".dump", false);
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     CAF_window_hz_ = configuration_->property(role + ".CAF_window_hz", 0);
     Zero_padding = configuration_->property(role + ".Zero_padding", 0);
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
@@ -88,7 +91,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
     bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
 
     //--- Find number of samples per spreading code (1ms)-------------------------
-    code_length_ = round(static_cast<double>(fs_in_) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS));
+    code_length_ = round(static_cast<double>(fs_in_) / GALILEO_E5A_CODE_CHIP_RATE_HZ * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS));
 
     vector_length_ = code_length_ * sampled_ms_;
 
@@ -155,7 +158,10 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_threshold(float threshold)
 {
     float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
 
-    if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
+    if (pfa == 0.0)
+        {
+            pfa = configuration_->property(role_ + ".pfa", 0.0);
+        }
 
     if (pfa == 0.0)
         {

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc

@@ -70,7 +70,10 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
     acq_parameters_.dump = dump_;
     acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     acq_parameters_.doppler_max = doppler_max_;
     sampled_ms_ = 1;
     max_dwells_ = configuration_->property(role + ".max_dwells", 1);
@@ -93,10 +96,10 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
         }
     if (acq_parameters_.use_automatic_resampler)
         {
-            if (acq_parameters_.fs_in > Galileo_E5a_OPT_ACQ_FS_HZ)
+            if (acq_parameters_.fs_in > GALILEO_E5A_OPT_ACQ_FS_HZ)
                 {
-                    acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / Galileo_E5a_OPT_ACQ_FS_HZ);
+                    acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GALILEO_E5A_OPT_ACQ_FS_HZ);
-                    uint32_t decimation = acq_parameters_.fs_in / Galileo_E5a_OPT_ACQ_FS_HZ;
+                    uint32_t decimation = acq_parameters_.fs_in / GALILEO_E5A_OPT_ACQ_FS_HZ;
                     while (acq_parameters_.fs_in % decimation > 0)
                         {
                             decimation--;
@@ -106,21 +109,21 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
                 }
 
             //--- Find number of samples per spreading code -------------------------
-            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS)));
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E5A_CODE_CHIP_RATE_HZ / GALILEO_E5A_CODE_LENGTH_CHIPS)));
             acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
-            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E5A_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
         }
     else
         {
             acq_parameters_.resampled_fs = fs_in_;
             //--- Find number of samples per spreading code -------------------------
-            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS)));
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GALILEO_E5A_CODE_CHIP_RATE_HZ / GALILEO_E5A_CODE_LENGTH_CHIPS)));
             acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
-            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GALILEO_E5A_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
         }
 
     //--- Find number of samples per spreading code (1ms)-------------------------
-    code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
+    code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / GALILEO_E5A_CODE_CHIP_RATE_HZ * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS)));
     vector_length_ = code_length_ * sampled_ms_;
 
     code_ = new gr_complex[vector_length_];
@@ -141,7 +144,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
     acq_parameters_.it_size = item_size_;
     acq_parameters_.sampled_ms = sampled_ms_;
     acq_parameters_.ms_per_code = 1;
-    acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GALILEO_E5a_CODE_PERIOD_MS);
+    acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GALILEO_E5A_CODE_PERIOD_MS);
     acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
     acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
     acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc

@@ -98,7 +98,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
             acq_pilot_ = false;
         }
 
-    auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
+    auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / GALILEO_E5A_CODE_CHIP_RATE_HZ * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS)));
     acq_parameters.code_length = code_length;
     // The FPGA can only use FFT lengths that are a power of two.
     float nbits = ceilf(log2f((float)code_length*2));
@@ -117,7 +117,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
     acq_parameters.samples_per_code = nsamples_total;
 
 
-    acq_parameters.excludelimit = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
+    acq_parameters.excludelimit = static_cast<unsigned int>(ceil((1.0 / GALILEO_E5A_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
 
     //vector_length_ = code_length_ * sampled_ms_;
 
@@ -126,15 +126,13 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
     auto* fft_if = new gr::fft::fft_complex(nsamples_total, true);  // Direct FFT
     auto* code = new std::complex<float>[nsamples_total];           // buffer for the local code
     auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
-    d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E5a_NUMBER_OF_CODES];  // memory containing all the possible fft codes for PRN 0 to 32
+    d_all_fft_codes_ = new lv_16sc_t[nsamples_total * GALILEO_E5A_NUMBER_OF_CODES];  // memory containing all the possible fft codes for PRN 0 to 32
     float max;                                                                       // temporary maxima search
 
     //printf("creating the E5A acquisition CONT");
     //printf("nsamples_total = %d\n", nsamples_total);
 
-    //printf("number of codes = %d\n", Galileo_E5a_NUMBER_OF_CODES);
+    for (unsigned int PRN = 1; PRN <= GALILEO_E5A_NUMBER_OF_CODES; PRN++)
-
-    for (unsigned int PRN = 1; PRN <= Galileo_E5a_NUMBER_OF_CODES; PRN++)
         {
             //    gr_complex* code = new gr_complex[code_length_];
             char signal_[3];

src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc

@@ -71,7 +71,10 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
     blocking_ = configuration_->property(role + ".blocking", true);
     acq_parameters.blocking = blocking_;
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     acq_parameters.doppler_max = doppler_max_;
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
     acq_parameters.sampled_ms = sampled_ms_;

src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc

@@ -70,7 +70,10 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
     blocking_ = configuration_->property(role + ".blocking", true);
     acq_parameters.blocking = blocking_;
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     acq_parameters.doppler_max = doppler_max_;
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
     bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc

@@ -70,7 +70,10 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
     blocking_ = configuration_->property(role + ".blocking", true);
     acq_parameters_.blocking = blocking_;
     doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     acq_parameters_.doppler_max = doppler_max_;
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
     acq_parameters_.sampled_ms = sampled_ms_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc

@@ -67,7 +67,10 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
     dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
     acq_parameters.dump_filename = dump_filename_;
     doppler_max_ = configuration->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     acq_parameters.doppler_max = doppler_max_;
     sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
     acq_parameters.sampled_ms = sampled_ms_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc

@@ -193,7 +193,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
     delete fft_if;
     delete[] fft_codes_padded;
 
-    acq_parameters.total_block_exp = 10;
+    acq_parameters.total_block_exp = 14;
 
     acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
     DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc

@@ -61,7 +61,10 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
     fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     dump_ = configuration->property(role + ".dump", false);
     doppler_max_ = configuration->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     doppler_min_ = configuration->property(role + ".doppler_min", -doppler_max_);
     sampled_ms_ = configuration->property(role + ".coherent_integration_time_ms", 1);
     max_dwells_ = configuration->property(role + ".max_dwells", 1);

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc

@@ -61,7 +61,10 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     dump_ = configuration_->property(role + ".dump", false);
     doppler_max_ = configuration->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
 
     //--- Find number of samples per spreading code -------------------------

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc

@@ -61,7 +61,10 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
     fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
     dump_ = configuration_->property(role + ".dump", false);
     doppler_max_ = configuration->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
 
     tong_init_val_ = configuration->property(role + ".tong_init_val", 1);

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc

@@ -68,7 +68,10 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
     blocking_ = configuration_->property(role + ".blocking", true);
     acq_parameters_.blocking = blocking_;
     doppler_max_ = configuration->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     acq_parameters_.doppler_max = doppler_max_;
     bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
     acq_parameters_.bit_transition_flag = bit_transition_flag_;

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc

@@ -69,7 +69,10 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
     blocking_ = configuration_->property(role + ".blocking", true);
     acq_parameters_.blocking = blocking_;
     doppler_max_ = configuration->property(role + ".doppler_max", 5000);
-    if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
+    if (FLAGS_doppler_max != 0)
+        {
+            doppler_max_ = FLAGS_doppler_max;
+        }
     acq_parameters_.doppler_max = doppler_max_;
     bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
     acq_parameters_.bit_transition_flag = bit_transition_flag_;
@@ -118,20 +121,20 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
                 }
 
             //--- Find number of samples per spreading code -------------------------
-            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L5i_CODE_RATE_HZ / GPS_L5i_CODE_LENGTH_CHIPS)));
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L5I_CODE_RATE_HZ / GPS_L5I_CODE_LENGTH_CHIPS)));
             acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
-            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5i_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5I_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
         }
     else
         {
             acq_parameters_.resampled_fs = fs_in_;
             //--- Find number of samples per spreading code -------------------------
-            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L5i_CODE_RATE_HZ / GPS_L5i_CODE_LENGTH_CHIPS)));
+            code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L5I_CODE_RATE_HZ / GPS_L5I_CODE_LENGTH_CHIPS)));
             acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
-            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5i_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
+            acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5I_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
         }
 
-    acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L5i_PERIOD * 1000.0);
+    acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L5I_PERIOD * 1000.0);
     vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
     code_ = new gr_complex[vector_length_];
     acquisition_ = pcps_make_acquisition(acq_parameters_);

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc

@@ -96,7 +96,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
     //dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
     //acq_parameters.dump_filename = dump_filename_;
     //--- Find number of samples per spreading code -------------------------
-    auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
+    auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L5I_CODE_RATE_HZ / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS))));
     acq_parameters.code_length = code_length;
     // The FPGA can only use FFT lengths that are a power of two.
     float nbits = ceilf(log2f((float)code_length*2));
@@ -115,7 +115,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
     acq_parameters.samples_per_code = nsamples_total;
 
     //acq_parameters.excludelimit = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / GPS_L5i_CODE_RATE_HZ));
-    acq_parameters.excludelimit = static_cast<unsigned int>(ceil((1.0 / GPS_L5i_CODE_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
+    acq_parameters.excludelimit = static_cast<unsigned int>(ceil((1.0 / GPS_L5I_CODE_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
 
     //printf("L5 ACQ CLASS MID 01\n");
     // compute all the GPS L5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time

src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2012-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -49,21 +49,6 @@ if(OPENCL_FOUND)
     set(ACQ_GR_BLOCKS_HEADERS ${ACQ_GR_BLOCKS_HEADERS} pcps_opencl_acquisition_cc.h)
 endif()
 
-include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_SOURCE_DIR}/src/core/system_parameters
-    ${CMAKE_SOURCE_DIR}/src/core/interfaces
-    ${CMAKE_SOURCE_DIR}/src/core/receiver
-    ${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/libs
-    ${CMAKE_SOURCE_DIR}/src/algorithms/libs
-    ${Boost_INCLUDE_DIRS}
-    ${GLOG_INCLUDE_DIRS}
-    ${GFlags_INCLUDE_DIRS}
-    ${ARMADILLO_INCLUDE_DIRS}
-    ${GNURADIO_RUNTIME_INCLUDE_DIRS}
-    ${VOLK_GNSSSDR_INCLUDE_DIRS}
-    ${MATIO_INCLUDE_DIRS}
-)
 
 if(OPENCL_FOUND)
     include_directories(${OPENCL_INCLUDE_DIRS})
@@ -76,35 +61,49 @@ endif()
 
 list(SORT ACQ_GR_BLOCKS_HEADERS)
 list(SORT ACQ_GR_BLOCKS_SOURCES)
-add_library(acq_gr_blocks ${ACQ_GR_BLOCKS_SOURCES} ${ACQ_GR_BLOCKS_HEADERS})
+
 source_group(Headers FILES ${ACQ_GR_BLOCKS_HEADERS})
 
-if(ENABLE_FPGA)
+add_library(acquisition_gr_blocks ${ACQ_GR_BLOCKS_SOURCES} ${ACQ_GR_BLOCKS_HEADERS})
-    target_link_libraries(acq_gr_blocks
+
-        acquisition_lib
+target_link_libraries(acquisition_gr_blocks
-        gnss_sp_libs
+    PUBLIC
-        gnss_system_parameters
+        Gnuradio::runtime
-        ${GNURADIO_RUNTIME_LIBRARIES}
+        Gnuradio::fft
-        ${GNURADIO_FFT_LIBRARIES}
+        Volk::volk
-        ${VOLK_LIBRARIES}
+        acquisition_libs
-        ${VOLK_GNSSSDR_LIBRARIES}
+        core_system_parameters
         ${OPT_LIBRARIES}
-        ${OPT_ACQUISITION_LIBRARIES}
+    PRIVATE
-    )
+        Boost::filesystem
-else()
+        Gflags::gflags
-    target_link_libraries(acq_gr_blocks
+        Glog::glog
-        gnss_sp_libs
+        Matio::matio
-        gnss_system_parameters
+        Volkgnsssdr::volkgnsssdr
-        ${GNURADIO_RUNTIME_LIBRARIES}
+        algorithms_libs
-        ${GNURADIO_FFT_LIBRARIES}
+)
-        ${VOLK_LIBRARIES}
+
-        ${VOLK_GNSSSDR_LIBRARIES}
+target_include_directories(acquisition_gr_blocks
-        ${OPT_LIBRARIES}
+    PUBLIC
-        ${MATIO_LIBRARIES}
+        ${CMAKE_SOURCE_DIR}/src/algorithms/libs
-        ${OPT_ACQUISITION_LIBRARIES}
+    PRIVATE
-    )
+        ${CMAKE_SOURCE_DIR}/src/core/receiver
+)
+
+if(OPENCL_FOUND)
+    target_include_directories(acquisition_gr_blocks PUBLIC ${OPENCL_INCLUDE_DIRS})
 endif()
 
-if(NOT VOLKGNSSSDR_FOUND)
+if(ENABLE_CLANG_TIDY)
-    add_dependencies(acq_gr_blocks volk_gnsssdr_module)
+    if(CLANG_TIDY_EXE)
+        set_target_properties(acquisition_gr_blocks
+            PROPERTIES
+                CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
+        )
+    endif()
 endif()
+
+set_property(TARGET acquisition_gr_blocks
+    APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+)

src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc

@@ -36,11 +36,11 @@
  */
 
 #include "galileo_e5a_noncoherent_iq_acquisition_caf_cc.h"
-#include "control_message_factory.h"
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <volk/volk.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
+#include <exception>
 #include <sstream>
 #include <utility>
 
@@ -214,10 +214,21 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::~galileo_e5a_noncoherentIQ_acquisi
     delete d_fft_if;
     delete d_ifft;
 
+    try
+        {
             if (d_dump)
                 {
                     d_dump_file.close();
                 }
+        }
+    catch (const std::ofstream::failure &e)
+        {
+            std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
+        }
+    catch (const std::exception &e)
+        {
+            std::cerr << e.what() << '\n';
+        }
 }
 
 

src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h

@@ -47,7 +47,7 @@
 
 class galileo_e5a_noncoherentIQ_acquisition_caf_cc;
 
-typedef boost::shared_ptr<galileo_e5a_noncoherentIQ_acquisition_caf_cc> galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr;
+using galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr = boost::shared_ptr<galileo_e5a_noncoherentIQ_acquisition_caf_cc>;
 
 galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
 galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(unsigned int sampled_ms,

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc

@@ -30,11 +30,11 @@
  */
 
 #include "galileo_pcps_8ms_acquisition_cc.h"
-#include "control_message_factory.h"
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <volk/volk.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
+#include <exception>
 #include <sstream>
 #include <utility>
 
@@ -54,6 +54,7 @@ galileo_pcps_8ms_acquisition_cc_sptr galileo_pcps_8ms_make_acquisition_cc(
             samples_per_code, dump, std::move(dump_filename)));
 }
 
+
 galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
     uint32_t sampled_ms,
     uint32_t max_dwells,
@@ -126,10 +127,21 @@ galileo_pcps_8ms_acquisition_cc::~galileo_pcps_8ms_acquisition_cc()
     delete d_ifft;
     delete d_fft_if;
 
+    try
+        {
             if (d_dump)
                 {
                     d_dump_file.close();
                 }
+        }
+    catch (const std::ofstream::failure &e)
+        {
+            std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
+        }
+    catch (const std::exception &e)
+        {
+            std::cerr << e.what() << '\n';
+        }
 }
 
 

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h

@@ -41,7 +41,7 @@
 
 class galileo_pcps_8ms_acquisition_cc;
 
-typedef boost::shared_ptr<galileo_pcps_8ms_acquisition_cc> galileo_pcps_8ms_acquisition_cc_sptr;
+using galileo_pcps_8ms_acquisition_cc_sptr = boost::shared_ptr<galileo_pcps_8ms_acquisition_cc>;
 
 galileo_pcps_8ms_acquisition_cc_sptr
 galileo_pcps_8ms_make_acquisition_cc(uint32_t sampled_ms,

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -317,7 +317,10 @@ void pcps_acquisition::init()
     d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
 
     // Create the carrier Doppler wipeoff signals
-    if (d_grid_doppler_wipeoffs == nullptr) d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
+    if (d_grid_doppler_wipeoffs == nullptr)
+        {
+            d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
+        }
     if (acq_parameters.make_2_steps && (d_grid_doppler_wipeoffs_step_two == nullptr))
         {
             d_grid_doppler_wipeoffs_step_two = new gr_complex*[d_num_doppler_bins_step2];
@@ -629,7 +632,10 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
         {
             d_tmp_buffer[idx] = 0.0;
             idx++;
-            if (idx == static_cast<int32_t>(d_fft_size)) idx = 0;
+            if (idx == static_cast<int32_t>(d_fft_size))
+                {
+                    idx = 0;
+                }
         }
     while (idx != excludeRangeIndex2);
 
@@ -842,7 +848,10 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
 
             if (d_num_noncoherent_integrations_counter == acq_parameters.max_dwells)
                 {
-                    if (d_state != 0) send_negative_acquisition();
+                    if (d_state != 0)
+                        {
+                            send_negative_acquisition();
+                        }
                     d_state = 0;
                     d_active = false;
                     d_step_two = false;

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h

@@ -63,7 +63,7 @@
 
 class pcps_acquisition;
 
-typedef boost::shared_ptr<pcps_acquisition> pcps_acquisition_sptr;
+using pcps_acquisition_sptr = boost::shared_ptr<pcps_acquisition>;
 
 pcps_acquisition_sptr
 pcps_make_acquisition(const Acq_Conf& conf_);

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc

@@ -32,7 +32,6 @@
 
 #include "pcps_acquisition_fine_doppler_cc.h"
 #include "GPS_L1_CA.h"
-#include "control_message_factory.h"
 #include "gnss_sdr_create_directory.h"
 #include "gps_sdr_signal_processing.h"
 #include <boost/filesystem/path.hpp>
@@ -314,7 +313,10 @@ double pcps_acquisition_fine_doppler_cc::compute_CAF()
         {
             d_grid_data[index_doppler][idx] = 0.0;
             idx++;
-            if (idx == static_cast<int>(d_fft_size)) idx = 0;
+            if (idx == static_cast<int>(d_fft_size))
+                {
+                    idx = 0;
+                }
         }
     while (idx != excludeRangeIndex2);
 

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h

@@ -55,13 +55,13 @@
 #include <gnuradio/block.h>
 #include <gnuradio/fft/fft.h>
 #include <gnuradio/gr_complex.h>
+#include <cstdint>
 #include <fstream>
 #include <string>
 
 class pcps_acquisition_fine_doppler_cc;
 
-typedef boost::shared_ptr<pcps_acquisition_fine_doppler_cc>
+using pcps_acquisition_fine_doppler_cc_sptr = boost::shared_ptr<pcps_acquisition_fine_doppler_cc>;
-    pcps_acquisition_fine_doppler_cc_sptr;
 
 pcps_acquisition_fine_doppler_cc_sptr
 pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
@@ -87,7 +87,7 @@ private:
     bool start();
 
     Acq_Conf acq_parameters;
-    long d_fs_in;
+    int64_t d_fs_in;
     int d_samples_per_ms;
     int d_max_dwells;
     int d_gnuradio_forecast_samples;

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc

@@ -33,16 +33,16 @@
 #include "pcps_assisted_acquisition_cc.h"
 #include "GPS_L1_CA.h"
 #include "concurrent_map.h"
-#include "control_message_factory.h"
 #include "gps_acq_assist.h"
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <volk/volk.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
+#include <exception>
 #include <sstream>
 #include <utility>
 
-extern concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
+extern Concurrent_Map<Gps_Acq_Assist> global_gps_acq_assist_map;
 
 using google::LogMessage;
 
@@ -132,10 +132,21 @@ pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc()
     volk_gnsssdr_free(d_fft_codes);
     delete d_ifft;
     delete d_fft_if;
+    try
+        {
             if (d_dump)
                 {
                     d_dump_file.close();
                 }
+        }
+    catch (const std::ofstream::failure &e)
+        {
+            std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
+        }
+    catch (const std::exception &e)
+        {
+            std::cerr << e.what() << '\n';
+        }
 }
 
 
@@ -381,7 +392,10 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
     switch (d_state)
         {
         case 0:  // S0. StandBy
-            if (d_active == true) d_state = 1;
+            if (d_active == true)
+                {
+                    d_state = 1;
+                }
             d_sample_counter += static_cast<uint64_t>(ninput_items[0]);  // sample counter
             consume_each(ninput_items[0]);
             break;

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h

@@ -57,8 +57,7 @@
 
 class pcps_assisted_acquisition_cc;
 
-typedef boost::shared_ptr<pcps_assisted_acquisition_cc>
+using pcps_assisted_acquisition_cc_sptr = boost::shared_ptr<pcps_assisted_acquisition_cc>;
-    pcps_assisted_acquisition_cc_sptr;
 
 pcps_assisted_acquisition_cc_sptr
 pcps_make_assisted_acquisition_cc(

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc

@@ -36,11 +36,11 @@
 
 #include "pcps_cccwsr_acquisition_cc.h"
 #include "GPS_L1_CA.h"  // GPS_TWO_PI
-#include "control_message_factory.h"
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <volk/volk.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
+#include <exception>
 #include <sstream>
 #include <utility>
 
@@ -118,6 +118,7 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
     d_channel = 0;
 }
 
+
 pcps_cccwsr_acquisition_cc::~pcps_cccwsr_acquisition_cc()
 {
     if (d_num_doppler_bins > 0)
@@ -140,12 +141,24 @@ pcps_cccwsr_acquisition_cc::~pcps_cccwsr_acquisition_cc()
     delete d_ifft;
     delete d_fft_if;
 
+    try
+        {
             if (d_dump)
                 {
                     d_dump_file.close();
                 }
+        }
+    catch (const std::ofstream::failure &e)
+        {
+            std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
+        }
+    catch (const std::exception &e)
+        {
+            std::cerr << e.what() << '\n';
+        }
 }
 
+
 void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float> *code_data,
     std::complex<float> *code_pilot)
 {
@@ -166,6 +179,7 @@ void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float> *code_data,
     volk_32fc_conjugate_32fc(d_fft_code_pilot, d_fft_if->get_outbuf(), d_fft_size);
 }
 
+
 void pcps_cccwsr_acquisition_cc::init()
 {
     d_gnss_synchro->Flag_valid_acquisition = false;

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h

@@ -47,7 +47,7 @@
 
 class pcps_cccwsr_acquisition_cc;
 
-typedef boost::shared_ptr<pcps_cccwsr_acquisition_cc> pcps_cccwsr_acquisition_cc_sptr;
+using pcps_cccwsr_acquisition_cc_sptr = boost::shared_ptr<pcps_cccwsr_acquisition_cc>;
 
 pcps_cccwsr_acquisition_cc_sptr
 pcps_cccwsr_make_acquisition_cc(

src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc

@@ -50,7 +50,6 @@
 
 #include "pcps_opencl_acquisition_cc.h"
 #include "GPS_L1_CA.h"  //GPS_TWO_PI
-#include "control_message_factory.h"
 #include "opencl/fft_base_kernels.h"
 #include "opencl/fft_internal.h"
 #include <glog/logging.h>
@@ -58,6 +57,7 @@
 #include <volk/volk.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <algorithm>
+#include <exception>
 #include <fstream>
 #include <iostream>
 #include <sstream>
@@ -187,10 +187,21 @@ pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc()
             delete d_fft_if;
         }
 
+    try
+        {
             if (d_dump)
                 {
                     d_dump_file.close();
                 }
+        }
+    catch (const std::ofstream::failure &e)
+        {
+            std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
+        }
+    catch (const std::exception &e)
+        {
+            std::cerr << e.what() << '\n';
+        }
 }
 
 

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc

@@ -30,12 +30,12 @@
 
 #include "pcps_quicksync_acquisition_cc.h"
 #include "GPS_L1_CA.h"
-#include "control_message_factory.h"
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <volk/volk.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <cmath>
+#include <exception>
 #include <sstream>
 #include <utility>
 
@@ -159,11 +159,21 @@ pcps_quicksync_acquisition_cc::~pcps_quicksync_acquisition_cc()
     delete d_corr_output_f;
     delete[] d_code_folded;
 
+    try
+        {
             if (d_dump)
                 {
                     d_dump_file.close();
                 }
-    // DLOG(INFO) << "END DESTROYER";
+        }
+    catch (const std::ofstream::failure& e)
+        {
+            std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
+        }
+    catch (const std::exception& e)
+        {
+            std::cerr << e.what() << '\n';
+        }
 }
 
 
@@ -208,7 +218,10 @@ void pcps_quicksync_acquisition_cc::init()
     d_mag = 0.0;
     d_input_power = 0.0;
 
-    if (d_doppler_step == 0) d_doppler_step = 250;
+    if (d_doppler_step == 0)
+        {
+            d_doppler_step = 250;
+        }
 
     // Count the number of bins
     d_num_doppler_bins = 0;
@@ -535,7 +548,10 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
                 DLOG(INFO) << "test statistics threshold " << d_threshold;
                 DLOG(INFO) << "folding factor " << d_folding_factor;
                 DLOG(INFO) << "possible delay correlation output";
-                for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
+                for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++)
+                    {
+                        DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
+                    }
                 DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
                 DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
                 DLOG(INFO) << "magnitude folded " << d_mag;
@@ -564,7 +580,10 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
                 DLOG(INFO) << "test statistics threshold " << d_threshold;
                 DLOG(INFO) << "folding factor " << d_folding_factor;
                 DLOG(INFO) << "possible delay    corr output";
-                for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
+                for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++)
+                    {
+                        DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
+                    }
                 DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
                 DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
                 DLOG(INFO) << "magnitude folded " << d_mag;

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h

@@ -63,8 +63,7 @@
 
 class pcps_quicksync_acquisition_cc;
 
-typedef boost::shared_ptr<pcps_quicksync_acquisition_cc>
+using pcps_quicksync_acquisition_cc_sptr = boost::shared_ptr<pcps_quicksync_acquisition_cc>;
-    pcps_quicksync_acquisition_cc_sptr;
 
 pcps_quicksync_acquisition_cc_sptr
 pcps_quicksync_make_acquisition_cc(

src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc

@@ -50,11 +50,11 @@
 
 #include "pcps_tong_acquisition_cc.h"
 #include "GPS_L1_CA.h"  // for GPS_TWO_PI
-#include "control_message_factory.h"
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <volk/volk.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
+#include <exception>
 #include <sstream>
 #include <utility>
 
@@ -76,6 +76,7 @@ pcps_tong_acquisition_cc_sptr pcps_tong_make_acquisition_cc(
             tong_init_val, tong_max_val, tong_max_dwells, dump, std::move(dump_filename)));
 }
 
+
 pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
     uint32_t sampled_ms,
     uint32_t doppler_max,
@@ -153,12 +154,24 @@ pcps_tong_acquisition_cc::~pcps_tong_acquisition_cc()
     delete d_ifft;
     delete d_fft_if;
 
+    try
+        {
             if (d_dump)
                 {
                     d_dump_file.close();
                 }
+        }
+    catch (const std::ofstream::failure &e)
+        {
+            std::cerr << "Problem closing Acquisition dump file: " << d_dump_filename << '\n';
+        }
+    catch (const std::exception &e)
+        {
+            std::cerr << e.what() << '\n';
+        }
 }
 
+
 void pcps_tong_acquisition_cc::set_local_code(std::complex<float> *code)
 {
     memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_fft_size);
@@ -169,6 +182,7 @@ void pcps_tong_acquisition_cc::set_local_code(std::complex<float> *code)
     volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
 }
 
+
 void pcps_tong_acquisition_cc::init()
 {
     d_gnss_synchro->Flag_valid_acquisition = false;
@@ -213,6 +227,7 @@ void pcps_tong_acquisition_cc::init()
         }
 }
 
+
 void pcps_tong_acquisition_cc::set_state(int32_t state)
 {
     d_state = state;
@@ -245,6 +260,7 @@ void pcps_tong_acquisition_cc::set_state(int32_t state)
         }
 }
 
+
 int pcps_tong_acquisition_cc::general_work(int noutput_items,
     gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
     gr_vector_void_star &output_items __attribute__((unused)))

src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h

@@ -61,7 +61,7 @@
 
 class pcps_tong_acquisition_cc;
 
-typedef boost::shared_ptr<pcps_tong_acquisition_cc> pcps_tong_acquisition_cc_sptr;
+using pcps_tong_acquisition_cc_sptr = boost::shared_ptr<pcps_tong_acquisition_cc>;
 
 pcps_tong_acquisition_cc_sptr
 pcps_tong_make_acquisition_cc(

src/algorithms/acquisition/libs/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2012-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -19,17 +19,6 @@
 if(ENABLE_FPGA)
     set(ACQUISITION_LIB_SOURCES fpga_acquisition.cc)
     set(ACQUISITION_LIB_HEADERS fpga_acquisition.h)
-    include_directories(
-        ${CMAKE_CURRENT_SOURCE_DIR}
-        ${CMAKE_SOURCE_DIR}/src/core/system_parameters
-        ${CMAKE_SOURCE_DIR}/src/core/interfaces
-        ${CMAKE_SOURCE_DIR}/src/core/receiver
-        ${CMAKE_SOURCE_DIR}/src/algorithms/libs
-        ${VOLK_INCLUDE_DIRS}
-        ${GLOG_INCLUDE_DIRS}
-        ${GFlags_INCLUDE_DIRS}
-        ${VOLK_GNSSSDR_INCLUDE_DIRS}
-    )
 endif()
 
 set(ACQUISITION_LIB_HEADERS ${ACQUISITION_LIB_HEADERS} acq_conf.h)
@@ -38,21 +27,34 @@ set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} acq_conf.cc)
 list(SORT ACQUISITION_LIB_HEADERS)
 list(SORT ACQUISITION_LIB_SOURCES)
 
-add_library(acquisition_lib
+source_group(Headers FILES ${ACQUISITION_LIB_HEADERS})
+
+add_library(acquisition_libs
     ${ACQUISITION_LIB_SOURCES}
     ${ACQUISITION_LIB_HEADERS}
 )
 
-source_group(Headers FILES ${ACQUISITION_LIB_HEADERS})
+target_link_libraries(acquisition_libs
-
+    PUBLIC
-target_link_libraries(acquisition_lib
+        Volk::volk
-    ${VOLK_LIBRARIES}
+        Gnuradio::fft
-    ${VOLK_GNSSSDR_LIBRARIES}
+    PRIVATE
-    ${GNURADIO_RUNTIME_LIBRARIES}
+        Gflags::gflags
+        Glog::glog
+        algorithms_libs
+        core_system_parameters
 )
 
-if(VOLKGNSSSDR_FOUND)
+if(ENABLE_CLANG_TIDY)
-    add_dependencies(acquisition_lib glog-${glog_RELEASE})
+    if(CLANG_TIDY_EXE)
-else()
+        set_target_properties(acquisition_libs
-    add_dependencies(acquisition_lib glog-${glog_RELEASE} volk_gnsssdr_module)
+            PROPERTIES
+                CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
+        )
+    endif()
 endif()
+
+set_property(TARGET acquisition_libs
+    APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+)

src/algorithms/channel/adapters/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2012-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -19,19 +19,6 @@
 set(CHANNEL_ADAPTER_SOURCES channel.cc)
 set(CHANNEL_ADAPTER_HEADERS channel.h)
 
-include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_SOURCE_DIR}/src/core/system_parameters
-    ${CMAKE_SOURCE_DIR}/src/core/interfaces
-    ${CMAKE_SOURCE_DIR}/src/core/receiver
-    ${CMAKE_SOURCE_DIR}/src/algorithms/channel/libs
-    ${CMAKE_SOURCE_DIR}/src/algorithms/libs
-    ${GLOG_INCLUDE_DIRS}
-    ${GFlags_INCLUDE_DIRS}
-    ${Boost_INCLUDE_DIRS}
-    ${GNURADIO_RUNTIME_INCLUDE_DIRS}
-)
-
 add_library(channel_adapters
     ${CHANNEL_ADAPTER_SOURCES}
     ${CHANNEL_ADAPTER_HEADERS}
@@ -40,8 +27,30 @@ add_library(channel_adapters
 source_group(Headers FILES ${CHANNEL_ADAPTER_HEADERS})
 
 target_link_libraries(channel_adapters
-    channel_fsm
+    PUBLIC
-    ${GNURADIO_RUNTIME_LIBRARIES}
+        Gnuradio::runtime
-    ${Boost_LIBRARIES}
+        channel_libs
+    PRIVATE
+        Gflags::gflags
+        Glog::glog
         gnss_sdr_flags
 )
+
+target_include_directories(channel_adapters
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/core/interfaces
+)
+
+if(ENABLE_CLANG_TIDY)
+    if(CLANG_TIDY_EXE)
+        set_target_properties(channel_adapters
+            PROPERTIES
+                CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
+        )
+    endif()
+endif()
+
+set_property(TARGET channel_adapters
+    APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+)

src/algorithms/channel/adapters/channel.cc

@@ -75,14 +75,23 @@ Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::s
     // IMPORTANT: Do not change the order between set_doppler_step and set_threshold
 
     uint32_t doppler_step = configuration->property("Acquisition_" + implementation_ + std::to_string(channel_) + ".doppler_step", 0);
-    if (doppler_step == 0) doppler_step = configuration->property("Acquisition_" + implementation_ + ".doppler_step", 500);
+    if (doppler_step == 0)
-    if (FLAGS_doppler_step != 0) doppler_step = static_cast<uint32_t>(FLAGS_doppler_step);
+        {
+            doppler_step = configuration->property("Acquisition_" + implementation_ + ".doppler_step", 500);
+        }
+    if (FLAGS_doppler_step != 0)
+        {
+            doppler_step = static_cast<uint32_t>(FLAGS_doppler_step);
+        }
     DLOG(INFO) << "Channel " << channel_ << " Doppler_step = " << doppler_step;
 
     acq_->set_doppler_step(doppler_step);
 
     float threshold = configuration->property("Acquisition_" + implementation_ + std::to_string(channel_) + ".threshold", 0.0);
-    if (threshold == 0.0) threshold = configuration->property("Acquisition_" + implementation_ + ".threshold", 0.0);
+    if (threshold == 0.0)
+        {
+            threshold = configuration->property("Acquisition_" + implementation_ + ".threshold", 0.0);
+        }
 
     acq_->set_threshold(threshold);
 

src/algorithms/channel/libs/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2012-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -26,23 +26,33 @@ set(CHANNEL_FSM_HEADERS
     channel_msg_receiver_cc.h
 )
 
-include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_SOURCE_DIR}/src/core/system_parameters
-    ${CMAKE_SOURCE_DIR}/src/core/interfaces
-    ${CMAKE_SOURCE_DIR}/src/core/receiver
-    ${CMAKE_SOURCE_DIR}/src/algorithms/channel/adapters
-    ${Boost_INCLUDE_DIRS}
-    ${GLOG_INCLUDE_DIRS}
-    ${GFlags_INCLUDE_DIRS}
-    ${GNURADIO_RUNTIME_INCLUDE_DIRS}
-)
-
 list(SORT CHANNEL_FSM_HEADERS)
 list(SORT CHANNEL_FSM_SOURCES)
 
-add_library(channel_fsm ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
 source_group(Headers FILES ${CHANNEL_FSM_HEADERS})
-add_dependencies(channel_fsm glog-${glog_RELEASE})
 
-target_link_libraries(channel_fsm gnss_rx)
+add_library(channel_libs ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
+
+target_link_libraries(channel_libs
+    PUBLIC
+        Gnuradio::runtime
+        core_system_parameters
+    PRIVATE
+        Gflags::gflags
+        Glog::glog
+        core_receiver
+)
+
+if(ENABLE_CLANG_TIDY)
+    if(CLANG_TIDY_EXE)
+        set_target_properties(channel_libs
+            PROPERTIES
+                CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
+        )
+    endif()
+endif()
+
+set_property(TARGET channel_libs
+    APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+)

src/algorithms/channel/libs/channel_msg_receiver_cc.h

@@ -36,7 +36,7 @@
 
 class channel_msg_receiver_cc;
 
-typedef boost::shared_ptr<channel_msg_receiver_cc> channel_msg_receiver_cc_sptr;
+using channel_msg_receiver_cc_sptr = boost::shared_ptr<channel_msg_receiver_cc>;
 
 channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat);
 

src/algorithms/conditioner/adapters/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2012-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -27,21 +27,36 @@ set(COND_ADAPTER_HEADERS
     array_signal_conditioner.h
 )
 
-include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_SOURCE_DIR}/src/core/system_parameters
-    ${CMAKE_SOURCE_DIR}/src/core/interfaces
-    ${CMAKE_SOURCE_DIR}/src/core/receiver
-    ${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
-    ${CMAKE_SOURCE_DIR}/src/algorithms/libs
-    ${GLOG_INCLUDE_DIRS}
-    ${GFlags_INCLUDE_DIRS}
-    ${GNURADIO_RUNTIME_INCLUDE_DIRS}
-)
-
 list(SORT COND_ADAPTER_HEADERS)
 list(SORT COND_ADAPTER_SOURCES)
 
-add_library(conditioner_adapters ${COND_ADAPTER_SOURCES} ${COND_ADAPTER_HEADERS})
 source_group(Headers FILES ${COND_ADAPTER_HEADERS})
-add_dependencies(conditioner_adapters glog-${glog_RELEASE})
+
+add_library(conditioner_adapters ${COND_ADAPTER_SOURCES} ${COND_ADAPTER_HEADERS})
+
+target_link_libraries(conditioner_adapters
+    PUBLIC
+        Gnuradio::runtime
+    PRIVATE
+        Gflags::gflags
+        Glog::glog
+)
+
+target_include_directories(conditioner_adapters
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/core/interfaces
+)
+
+if(ENABLE_CLANG_TIDY)
+    if(CLANG_TIDY_EXE)
+        set_target_properties(conditioner_adapters
+            PROPERTIES
+                CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
+        )
+    endif()
+endif()
+
+set_property(TARGET conditioner_adapters
+    APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+)

src/algorithms/data_type_adapter/adapters/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2012-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -35,30 +35,44 @@ set(DATATYPE_ADAPTER_HEADERS
     ishort_to_complex.h
 )
 
-include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_SOURCE_DIR}/src/core/system_parameters
-    ${CMAKE_SOURCE_DIR}/src/core/interfaces
-    ${CMAKE_SOURCE_DIR}/src/algorithms/data_type_adapter/gnuradio_blocks
-    ${CMAKE_SOURCE_DIR}/src/algorithms/libs
-    ${GLOG_INCLUDE_DIRS}
-    ${GFlags_INCLUDE_DIRS}
-    ${GNURADIO_RUNTIME_INCLUDE_DIRS}
-    ${VOLK_INCLUDE_DIRS}
-)
-
 list(SORT DATATYPE_ADAPTER_HEADERS)
 list(SORT DATATYPE_ADAPTER_SOURCES)
 
-add_library(datatype_adapters
+source_group(Headers FILES ${DATATYPE_ADAPTER_HEADERS})
+
+add_library(data_type_adapters
     ${DATATYPE_ADAPTER_SOURCES}
     ${DATATYPE_ADAPTER_HEADERS}
 )
 
-source_group(Headers FILES ${DATATYPE_ADAPTER_HEADERS})
+target_link_libraries(data_type_adapters
-add_dependencies(datatype_adapters glog-${glog_RELEASE})
+    PUBLIC
-target_link_libraries(datatype_adapters
+        Gnuradio::blocks
         data_type_gr_blocks
-    ${GNURADIO_RUNTIME_LIBRARIES}
+        algorithms_libs
-    ${GNURADIO_BLOCKS_LIBRARIES}
+        core_system_parameters
+    PRIVATE
+        Gflags::gflags
+        Glog::glog
+        Volk::volk
+)
+
+target_include_directories(data_type_adapters
+    PUBLIC
+        ${CMAKE_SOURCE_DIR}/src/algorithms/libs
+        ${CMAKE_SOURCE_DIR}/src/core/interfaces
+)
+
+if(ENABLE_CLANG_TIDY)
+    if(CLANG_TIDY_EXE)
+        set_target_properties(data_type_adapters
+            PROPERTIES
+                CXX_CLANG_TIDY "${DO_CLANG_TIDY}"
+        )
+    endif()
+endif()
+
+set_property(TARGET data_type_adapters
+    APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
 )

src/algorithms/data_type_adapter/gnuradio_blocks/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2012-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #
@@ -29,23 +29,26 @@ set(DATA_TYPE_GR_BLOCKS_HEADERS
     interleaved_byte_to_complex_short.h
 )
 
-include_directories(
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${GNURADIO_RUNTIME_INCLUDE_DIRS}
-    ${VOLK_INCLUDE_DIRS}
-)
-
 list(SORT DATA_TYPE_GR_BLOCKS_HEADERS)
 list(SORT DATA_TYPE_GR_BLOCKS_SOURCES)
 
+source_group(Headers FILES ${DATA_TYPE_GR_BLOCKS_HEADERS})
+
 add_library(data_type_gr_blocks
     ${DATA_TYPE_GR_BLOCKS_SOURCES}
     ${DATA_TYPE_GR_BLOCKS_HEADERS}
 )
 
-source_group(Headers FILES ${DATA_TYPE_GR_BLOCKS_HEADERS})
-
 target_link_libraries(data_type_gr_blocks
-    ${GNURADIO_RUNTIME_LIBRARIES}
+    PUBLIC
-    ${VOLK_LIBRARIES}
+        Gnuradio::runtime
+        Boost::boost
+        algorithms_libs
+    PRIVATE
+        Volk::volk
+)
+
+set_property(TARGET data_type_gr_blocks
+    APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
 )