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

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This commit is contained in:
Javier Arribas
2020-12-04 11:24:18 +01:00
parent bb256c0650 e981b1ea89
commit d710eb946f
16 changed files with 238 additions and 38 deletions
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2
src/algorithms/libs/CMakeLists.txt
View File

@@ -114,7 +114,7 @@ target_link_libraries(algorithms_libs
Gnuradio::blocks
PRIVATE
core_system_parameters
Volk::volk ${ORC_LIBRARIES}
Volk::volk
Volkgnsssdr::volkgnsssdr
Gflags::gflags
Glog::glog

2
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
View File

@@ -11,7 +11,7 @@
########################################################################
# Project setup
########################################################################
cmake_minimum_required(VERSION 2.8.12)
cmake_minimum_required(VERSION 2.8.12...3.19)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Release")
endif()

60
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindORC.cmake
View File

@@ -56,6 +56,8 @@ find_path(ORC_LIBRARY_DIR
HINTS ${PC_ORC_LIBDIR}
PATHS ${ORC_ROOT_USER_PROVIDED}/lib
${ORC_ROOT_USER_PROVIDED}/lib64
${CMAKE_INSTALL_PREFIX}/lib
${CMAKE_INSTALL_PREFIX}/lib64
/usr/lib
/usr/lib64
/usr/lib/x86_64-linux-gnu
@@ -80,6 +82,54 @@ find_library(ORC_LIB orc-0.4
HINTS ${PC_ORC_LIBRARY_DIRS}
PATHS ${ORC_ROOT_USER_PROVIDED}/lib
${ORC_ROOT_USER_PROVIDED}/lib64
${CMAKE_INSTALL_PREFIX}/lib
${CMAKE_INSTALL_PREFIX}/lib64
/usr/lib
/usr/lib64
/usr/lib/x86_64-linux-gnu
/usr/lib/i386-linux-gnu
/usr/lib/arm-linux-gnueabihf
/usr/lib/arm-linux-gnueabi
/usr/lib/aarch64-linux-gnu
/usr/lib/mipsel-linux-gnu
/usr/lib/mips-linux-gnu
/usr/lib/mips64el-linux-gnuabi64
/usr/lib/powerpc-linux-gnu
/usr/lib/powerpc64-linux-gnu
/usr/lib/powerpc64le-linux-gnu
/usr/lib/hppa-linux-gnu
/usr/lib/s390x-linux-gnu
/usr/local/lib
/usr/local/lib64
/opt/local/lib
)
find_library(ORC_LIBRARY_STATIC ${CMAKE_STATIC_LIBRARY_PREFIX}orc-0.4${CMAKE_STATIC_LIBRARY_SUFFIX}
HINTS ${PC_ORC_LIBRARY_DIRS}
PATHS ${ORC_ROOT}/lib
${ORC_ROOT}/lib64
${CMAKE_INSTALL_PREFIX}/lib
${CMAKE_INSTALL_PREFIX}/lib64
${ORC_ROOT_USER_PROVIDED}/lib
${ORC_ROOT_USER_PROVIDED}/lib64
/usr/lib
/usr/lib64
/usr/lib/x86_64-linux-gnu
/usr/lib/i386-linux-gnu
/usr/lib/arm-linux-gnueabihf
/usr/lib/arm-linux-gnueabi
/usr/lib/aarch64-linux-gnu
/usr/lib/mipsel-linux-gnu
/usr/lib/mips-linux-gnu
/usr/lib/mips64el-linux-gnuabi64
/usr/lib/powerpc-linux-gnu
/usr/lib/powerpc64-linux-gnu
/usr/lib/powerpc64le-linux-gnu
/usr/lib/hppa-linux-gnu
/usr/lib/s390x-linux-gnu
/usr/local/lib
/usr/local/lib64
/opt/local/lib
)
if(PC_ORC_VERSION)
@@ -91,8 +141,12 @@ list(APPEND ORC_LIBRARY ${ORC_LIB})
set(ORC_INCLUDE_DIRS ${ORC_INCLUDE_DIR})
set(ORC_LIBRARIES ${ORC_LIBRARY})
set(ORC_LIBRARY_DIRS ${ORC_LIBRARY_DIR})
set(ORC_LIBRARIES_STATIC ${ORC_LIBRARY_STATIC})
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(ORC "orc files" ORC_LIBRARY ORC_INCLUDE_DIR ORCC_EXECUTABLE)
mark_as_advanced(ORC_INCLUDE_DIR ORC_LIBRARY ORCC_EXECUTABLE)
if(ENABLE_STATIC_LIBS)
find_package_handle_standard_args(ORC "orc files" ORC_LIBRARY ORC_INCLUDE_DIR ORCC_EXECUTABLE ORC_LIBRARY_STATIC)
else()
find_package_handle_standard_args(ORC "orc files" ORC_LIBRARY ORC_INCLUDE_DIR ORCC_EXECUTABLE)
endif()
mark_as_advanced(ORC_INCLUDE_DIR ORC_LIBRARY ORCC_EXECUTABLE ORC_LIBRARY_STATIC)

28
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt
View File

@@ -576,6 +576,9 @@ if(USE_CPU_FEATURES)
)
endif()
# Configure target properties
if(ORC_FOUND)
target_link_libraries(volk_gnsssdr PRIVATE ${ORC_LIBRARIES})
endif()
if(NOT MSVC)
target_link_libraries(volk_gnsssdr PUBLIC m)
endif()
@@ -597,12 +600,16 @@ if(ENABLE_STATIC_LIBS)
else()
add_library(volk_gnsssdr_static STATIC $<TARGET_OBJECTS:volk_gnsssdr_obj>)
endif()
target_link_libraries(volk_gnsssdr_static PUBLIC ${volk_gnsssdr_libraries})
if(USE_CPU_FEATURES)
target_link_libraries(volk_gnsssdr_static
PRIVATE cpu_features
)
endif()
target_link_libraries(volk_gnsssdr_static PUBLIC ${volk_gnsssdr_libraries} pthread)
if(ORC_FOUND)
target_link_libraries(volk_gnsssdr_static PUBLIC ${ORC_LIBRARIES_STATIC})
endif()
target_link_libraries(volk_gnsssdr_static PRIVATE pthread)
if(NOT MSVC)
target_link_libraries(volk_gnsssdr_static PUBLIC m)
endif()
@@ -630,12 +637,19 @@ if(ENABLE_TESTING)
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/.unittest)
include(VolkAddTest)
volk_gen_test(volk_gnsssdr_test_all
SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/testqa.cc
${CMAKE_CURRENT_SOURCE_DIR}/qa_utils.cc
TARGET_DEPS volk_gnsssdr
)
if(ENABLE_STATIC_LIBS)
volk_gen_test(volk_gnsssdr_test_all
SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/testqa.cc
${CMAKE_CURRENT_SOURCE_DIR}/qa_utils.cc
TARGET_DEPS volk_gnsssdr_static
)
else()
volk_gen_test(volk_gnsssdr_test_all
SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/testqa.cc
${CMAKE_CURRENT_SOURCE_DIR}/qa_utils.cc
TARGET_DEPS volk_gnsssdr
)
endif()
foreach(kernel ${h_files})
get_filename_component(kernel ${kernel} NAME)
string(REPLACE ".h" "" kernel ${kernel})

12
src/tests/CMakeLists.txt
View File

@@ -322,11 +322,6 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
############################################################################
# Local installation of GPSTk https://github.com/SGL-UT/GPSTk
############################################################################
find_package(GPSTK)
set_package_properties(GPSTK PROPERTIES
PURPOSE "Used in some Extra Tests."
TYPE REQUIRED
)
if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
set_package_properties(GPSTK PROPERTIES
PURPOSE "GPSTk v${GNSSSDR_GPSTK_LOCAL_VERSION} will be automatically downloaded and built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'."
@@ -348,7 +343,7 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
SOURCE_DIR ${CMAKE_BINARY_DIR}/thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}
BINARY_DIR ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}
PATCH_COMMAND cd ${CMAKE_BINARY_DIR}/thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION} && ${Patch_EXECUTABLE} ${CMAKE_BINARY_DIR}/thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/CMakeLists.txt < ${CMAKE_SOURCE_DIR}/src/tests/data/gpstk_static.patch
CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG} -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install -DBUILD_EXT=OFF -DBUILD_PYTHON=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_CXX_STANDARD=11 -DCMAKE_CXX_EXTENSIONS=ON -DCMAKE_C_STANDARD=11 -DCMAKE_C_EXTENSIONS=ON
CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG} -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install -DBUILD_EXT=ON -DBUILD_PYTHON=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_CXX_STANDARD=11 -DCMAKE_CXX_EXTENSIONS=ON -DCMAKE_C_STANDARD=11 -DCMAKE_C_EXTENSIONS=ON
BUILD_COMMAND ${GPSTK_BUILD_COMMAND}
UPDATE_COMMAND ""
PATCH_COMMAND ""
@@ -368,7 +363,7 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
SOURCE_DIR ${CMAKE_BINARY_DIR}/thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}
BINARY_DIR ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}
PATCH_COMMAND cd ${CMAKE_BINARY_DIR}/thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION} && ${Patch_EXECUTABLE} ${CMAKE_BINARY_DIR}/thirdparty/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/CMakeLists.txt < ${CMAKE_SOURCE_DIR}/src/tests/data/gpstk_static.patch
CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG} -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install -DBUILD_EXT=OFF -DBUILD_PYTHON=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_CXX_STANDARD=14 -DCMAKE_CXX_EXTENSIONS=ON -DCMAKE_C_STANDARD=11 -DCMAKE_C_EXTENSIONS=ON
CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG} -DCMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install -DBUILD_EXT=ON -DBUILD_PYTHON=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_CXX_STANDARD=14 -DCMAKE_CXX_EXTENSIONS=ON -DCMAKE_C_STANDARD=11 -DCMAKE_C_EXTENSIONS=ON
BUILD_COMMAND ${GPSTK_BUILD_COMMAND} ${GPSTK_PARALLEL_BUILD}
BUILD_BYPRODUCTS ${CMAKE_BINARY_DIR}/gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}/install/${CMAKE_INSTALL_LIBDIR}/${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${CMAKE_STATIC_LIBRARY_SUFFIX}
UPDATE_COMMAND ""
@@ -526,6 +521,9 @@ if(ENABLE_UNIT_TESTING)
endif()
if(ENABLE_UNIT_TESTING_EXTRA)
target_link_libraries(run_tests PRIVATE Gpstk::gpstk)
if(GPSTK_OLDER_THAN_8)
target_compile_definitions(run_tests PRIVATE -DOLD_GPSTK=1)
endif()
endif()
if(ENABLE_STRIP)
set_target_properties(run_tests PROPERTIES LINK_FLAGS "-s")

2
src/tests/data/gpstk_static.patch
View File

@@ -2,7 +2,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
SPDX-FileCopyrightText: 2020 Carles Fernandez-Prades <carles.fernandez@cttc.es>
--- CMakeLists.txt 2020-10-25 10:06:26.000000000 +0100
+++ CMakeLists.txt 2020-10-25 10:06:11.000000000 +0100
@@ -74,7 +74,16 @@
@@ -77,7 +77,16 @@
include( BuildSetup.cmake )

18
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@@ -1577,13 +1577,25 @@ bool HybridObservablesTest::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_S
switch (gnss.System)
{
case 'G':
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS);
#endif
break;
case 'E':
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGalileo);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::Galileo);
#endif
break;
default:
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS);
#endif
}
gpstk::CommonTime time = r_ref_data.time;
@@ -1741,7 +1753,7 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
{
// based on true observables metadata (for custom sdr generator)
// open true observables log file written by the simulator or based on provided RINEX obs
std::vector<std::shared_ptr<Tracking_True_Obs_Reader>> true_reader_vec;
std::vector<std::shared_ptr<Tracking_True_Obs_Reader> > true_reader_vec;
// read true data from the generator logs
true_reader_vec.push_back(std::make_shared<Tracking_True_Obs_Reader>());
std::cout << "Loading true observable data for PRN " << n.PRN << '\n';
@@ -1782,8 +1794,8 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
}
}
std::vector<std::shared_ptr<TrackingInterface>> tracking_ch_vec;
std::vector<std::shared_ptr<TelemetryDecoderInterface>> tlm_ch_vec;
std::vector<std::shared_ptr<TrackingInterface> > tracking_ch_vec;
std::vector<std::shared_ptr<TelemetryDecoderInterface> > tlm_ch_vec;
std::vector<gr::blocks::null_sink::sptr> null_sink_vec;
for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)

12
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test_fpga.cc
View File

@@ -1668,13 +1668,25 @@ bool HybridObservablesTestFpga::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gn
switch (gnss.System)
{
case 'G':
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS);
#endif
break;
case 'E':
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGalileo);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::Galileo);
#endif
break;
default:
#if OLD_GPSTK
prn = gpstk::SatID(myprn, gpstk::SatID::systemGPS);
#else
prn = gpstk::SatID(myprn, gpstk::SatelliteSystem::GPS);
#endif
}
gpstk::CommonTime time = r_ref_data.time;

4
src/utils/rinex-tools/CMakeLists.txt
View File

@@ -72,6 +72,10 @@ if("${ARMADILLO_VERSION_STRING}" VERSION_GREATER "9.800" OR (NOT ARMADILLO_FOUND
${GPSTK_INCLUDE_DIR}
)
if(GPSTK_OLDER_THAN_8)
target_compile_definitions(obsdiff PUBLIC -DOLD_GPSTK=1)
endif()
if(ENABLE_STRIP)
set_target_properties(obsdiff PROPERTIES LINK_FLAGS "-s")
endif()

21
src/utils/rinex-tools/obsdiff.cc
View File

@@ -113,15 +113,27 @@ std::map<int, arma::mat> ReadRinexObs(const std::string& rinex_file, char system
switch (system)
{
case 'G':
#if OLD_GPSTK
prn.system = gpstk::SatID::systemGPS;
#else
prn.system = gpstk::SatelliteSystem::GPS;
#endif
PRN_set = available_gps_prn;
break;
case 'E':
#if OLD_GPSTK
prn.system = gpstk::SatID::systemGalileo;
#else
prn.system = gpstk::SatelliteSystem::Galileo;
#endif
PRN_set = available_galileo_prn;
break;
default:
#if OLD_GPSTK
prn.system = gpstk::SatID::systemGPS;
#else
prn.system = gpstk::SatelliteSystem::GPS;
#endif
PRN_set = available_gps_prn;
}
@@ -1241,12 +1253,19 @@ double compute_rx_clock_error(const std::string& rinex_nav_filename, const std::
// pointer to the tropospheric model to be applied
try
{
#if OLD_GPSTK
std::vector<gpstk::SatID::SatelliteSystem> Syss;
#endif
gpstk::Matrix<double> invMC;
int iret;
// Call RAIMCompute.
// Call RAIMCompute
#if OLD_GPSTK
iret = raimSolver.RAIMCompute(rod.time, prnVec, Syss, rangeVec, invMC,
&bcestore, tropModelPtr);
#else
iret = raimSolver.RAIMCompute(rod.time, prnVec, rangeVec, invMC,
&bcestore, tropModelPtr);
#endif
switch (iret)
{
/// @return Return values: