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bds_b3i: Updating branch with new changes from upstream repo

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This commit is contained in:
Damian Miralles 2019-03-12 10:54:17 -05:00
commit dc65760122
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104 changed files with 1229 additions and 624 deletions
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657
CMakeLists.txt
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File diff suppressed because it is too large Load Diff

2
README.md
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@ -542,7 +542,7 @@ In a terminal, type:
~~~~~~
$ sudo port selfupdate
$ sudo port upgrade outdated
$ sudo port install doxygen +latex
$ sudo port install doxygen +docs
$ sudo port install gnuradio
$ sudo port install armadillo
$ sudo port install gnutls

7
cmake/Modules/FindGNURADIO.cmake
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@ -43,6 +43,9 @@ macro(LIST_CONTAINS var value)
endforeach()
endmacro()
# Trick for feature_summary
set(GNURADIO_FOUND TRUE)
function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
list_contains(REQUIRED_MODULE ${EXTVAR} ${GR_REQUIRED_COMPONENTS})
if(NOT REQUIRED_MODULE)
@ -140,6 +143,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
# generate an error if the module is missing
if(NOT GNURADIO_${EXTVAR}_FOUND)
message(STATUS "Required GNU Radio Component: ${EXTVAR} missing!")
set(GNURADIO_FOUND FALSE) # Trick for feature_summary
endif()
mark_as_advanced(GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
@ -200,3 +204,6 @@ if(NOT PC_GNURADIO_RUNTIME_VERSION)
set(PC_GNURADIO_RUNTIME_VERSION "3.8.0+")
endif()
endif()
# Trick for feature_summary
set(GNURADIO_FOUND TRUE)

51
cmake/Modules/FindGOOGLETEST.cmake Normal file
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@ -0,0 +1,51 @@
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
# GNSS-SDR is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# GNSS-SDR is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
# - Try to find Googletest source code
#
# The following environment variable is optionally searched for:
# GTEST_DIR: Base directory where Googletest source code is found.
#
# The following are set after configuration is done:
# GOOGLETEST_FOUND
# LIBGTEST_DEV_DIR
# GTEST_INCLUDE_DIRS
find_path(LIBGTEST_DEV_DIR
NAMES src/gtest-all.cc
PATHS
${GTEST_DIR}
${GTEST_DIR}/googletest
/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
${GTEST_DIR}/googletest/include
/usr/include
/opt/local/src/gtest-1.7.0/include
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GOOGLETEST DEFAULT_MSG LIBGTEST_DEV_DIR GTEST_INCLUDE_DIRS)
mark_as_advanced(LIBGTEST_DEV_DIR GTEST_INCLUDE_DIRS)

1
cmake/Modules/SetupPython.cmake
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@ -82,7 +82,6 @@ if(CMAKE_VERSION VERSION_LESS 3.12)
gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
endif()
find_package(PythonLibs ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR} EXACT)
else()
find_package(Python3 COMPONENTS Interpreter)
if(Python3_FOUND)

4
conf/gnss-sdr_BDS_B1I_byte.conf
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@ -16,7 +16,7 @@ ControlThread.wait_for_flowgraph=false
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/home/dmiralles/Documents/GNSS-Metadata-Standard/install/BdsB1IStr01.dat
SignalSource.filename=/home/dmiralles/Documents/gnss-metadata-standard/install/BdsB1IStr01.dat
SignalSource.item_type=byte
SignalSource.sampling_frequency=25000000
SignalSource.samples=0
@ -89,7 +89,7 @@ Tracking_B1.implementation=BEIDOU_B1I_DLL_PLL_Tracking
Tracking_B1.item_type=gr_complex
Tracking_B1.pll_bw_hz=25.0;
Tracking_B1.dll_bw_hz=2.50;
Tracking_B1.dump=false;
Tracking_B1.dump=true;
Tracking_B1.dump_filename=./epl_tracking_ch_

10
docs/changelog
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@ -8,19 +8,22 @@
### Improvements in Efficiency
- Improved preamble detection implementation in the decoding of navigation messages (acceleration by x1.6 on average).
- Applied clang-tidy checks and fixes related to performance.
- Applied clang-tidy checks and fixes related to performance: 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-string-compare.
### Improvements in Interoperability:
- Added the BeiDou B1I receiver chain.
- Fix bug in GLONASS dual frequency receiver.
- Added a custom UDP/IP output for PVT data streaming.
- Improved Monitor block with UDP/IP output for internal receiver's data streaming.
### 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.
- Applied clang-tidy checks and fixes related to readability: readability-container-size-empty, readability-identifier-naming, readability-inconsistent-declaration-parameter-name, readability-named-parameter, readability-non-const-parameter, readability-string-compare.
- Improved includes selection following suggestions by include-what-you-use (see https://include-what-you-use.org/), allowing faster compiles, fewer recompiles and making refactoring easier.
### Improvements in Portability:
@ -31,13 +34,14 @@
### Improvements in Reliability
- Applied clang-tidy checks and fixes related to High Integrity C++.
- Applied clang-tidy checks and fixes related to High Integrity C++: performance-move-const-arg, modernize-use-auto, modernize-use-equals-default, modernize-use-equals-delete, modernize-use-noexcept, modernize-use-nullptr, cert-dcl21-cpp, misc-new-delete-overloads, cert-dcl58-cpp, cert-err52-cpp, cert-err60-cpp.
### Improvements in Usability
- The receiver now admits FPGA off-loading, allowing for real time operation at high sampling rates and higher number of signals and channels.
- Fixed program termination (avoiding hangs and segfaults in some platforms/configurations).
- CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory.
- Improved information provided to the user in case of failure.

11
src/algorithms/PVT/libs/geojson_printer.cc
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@ -31,14 +31,19 @@
#include "geojson_printer.h"
#include "pvt_solution.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#include <glog/logging.h>
#include <exception>
#include <iomanip>
#include <sstream>
#include <cstdio> // for remove
#include <ctime> // for tm
#include <exception> // for exception
#include <iomanip> // for operator<<
#include <iostream> // for cout, cerr
#include <sstream> // for stringstream
GeoJSON_Printer::GeoJSON_Printer(const std::string& base_path)

3
src/algorithms/PVT/libs/geojson_printer.h
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@ -33,11 +33,12 @@
#ifndef GNSS_SDR_GEOJSON_PRINTER_H_
#define GNSS_SDR_GEOJSON_PRINTER_H_
#include "pvt_solution.h"
#include <fstream>
#include <memory>
#include <string>
class Pvt_Solution;
/*!
* \brief Prints PVT solutions in GeoJSON format file

10
src/algorithms/PVT/libs/gpx_printer.cc
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@ -31,13 +31,19 @@
#include "gpx_printer.h"
#include "rtklib_solver.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#include <glog/logging.h>
#include <exception>
#include <sstream>
#include <cstdio> // for remove
#include <ctime> // for tm
#include <exception> // for exception
#include <iomanip> // for operator<<
#include <iostream> // for cout, cerr
#include <sstream> // for stringstream
Gpx_Printer::Gpx_Printer(const std::string& base_path)

3
src/algorithms/PVT/libs/gpx_printer.h
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@ -33,11 +33,12 @@
#ifndef GNSS_SDR_GPX_PRINTER_H_
#define GNSS_SDR_GPX_PRINTER_H_
#include "rtklib_solver.h"
#include <fstream>
#include <memory>
#include <string>
class Rtklib_Solver;
/*!
* \brief Prints PVT information to GPX format file

2
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
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@ -1,5 +1,5 @@
/*!
* \file galileo_e1_ls_pvt.cc
* \file hybrid_ls_pvt.cc
* \brief Implementation of a Least Squares Position, Velocity, and Time
* (PVT) solver, based on K.Borre's Matlab receiver.
* \author Javier Arribas, 2011. jarribas(at)cttc.es

2
src/algorithms/PVT/libs/hybrid_ls_pvt.h
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@ -1,5 +1,5 @@
/*!
* \file galileo_e1_ls_pvt.h
* \file hybrid_ls_pvt.h
* \brief Interface of a Least Squares Position, Velocity, and Time (PVT)
* solver, based on K.Borre's Matlab receiver.
* \author Javier Arribas, 2011. jarribas(at)cttc.es

8
src/algorithms/PVT/libs/kml_printer.cc
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@ -31,13 +31,19 @@
*/
#include "kml_printer.h"
#include "rtklib_solver.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#include <glog/logging.h>
#include <exception>
#include <cstdio> // for remove
#include <ctime> // for tm
#include <exception> // for exception
#include <iostream> // for cout, cerr
#include <sstream>
#include <string>
Kml_Printer::Kml_Printer(const std::string& base_path)

8
src/algorithms/PVT/libs/kml_printer.h
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@ -33,12 +33,12 @@
#ifndef GNSS_SDR_KML_PRINTER_H_
#define GNSS_SDR_KML_PRINTER_H_
#include "rtklib_solver.h"
#include <fstream>
#include <memory>
#include <string>
#include <fstream> // for ofstream
#include <memory> // for shared_ptr
class Rtklib_Solver;
/*!
* \brief Prints PVT information to OGC KML format file (can be viewed with Google Earth)
*

4
src/algorithms/PVT/libs/nmea_printer.cc
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@ -35,14 +35,16 @@
#include "nmea_printer.h"
#include "rtklib_solution.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include "rtklib_solver.h"
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#include <glog/logging.h>
#include <cstdint>
#include <exception>
#include <fcntl.h>
#include <iostream> // for cout, cerr
#include <termios.h>

9
src/algorithms/PVT/libs/nmea_printer.h
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@ -36,11 +36,12 @@
#ifndef GNSS_SDR_NMEA_PRINTER_H_
#define GNSS_SDR_NMEA_PRINTER_H_
#include "rtklib_solver.h"
#include <fstream>
#include <memory>
#include <string>
#include <boost/date_time/posix_time/ptime.hpp> // for ptime
#include <fstream> // for ofstream
#include <memory> // for shared_ptr
#include <string> // for string
class Rtklib_Solver;
/*!
* \brief This class provides a implementation of a subset of the NMEA-0183 standard for interfacing

24
src/algorithms/PVT/libs/rinex_printer.cc
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@ -29,6 +29,27 @@
*/
#include "rinex_printer.h"
#include "Beidou_B1I.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
#include "galileo_ephemeris.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "glonass_gnav_almanac.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include "gnss_synchro.h"
#include "gps_cnav_ephemeris.h"
#include "gps_cnav_iono.h"
#include "gps_cnav_utc_model.h"
#include "gps_ephemeris.h"
#include "gps_iono.h"
#include "gps_navigation_message.h"
#include "gps_utc_model.h"
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/local_time/local_time.hpp>
#include <boost/date_time/time_zone_base.hpp>
@ -38,8 +59,9 @@
#include <glog/logging.h>
#include <algorithm> // for min and max
#include <cmath> // for floor
#include <cstdlib> // for getenv()
#include <cstring> // for memcpy
#include <exception>
#include <iostream> // for cout
#include <iterator>
#include <ostream>
#include <set>

60
src/algorithms/PVT/libs/rinex_printer.h
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@ -51,25 +51,33 @@
#ifndef GNSS_SDR_RINEX_PRINTER_H_
#define GNSS_SDR_RINEX_PRINTER_H_
#include "Beidou_B1I.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "beidou_dnav_navigation_message.h"
#include "galileo_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "gnss_synchro.h"
#include "gps_cnav_navigation_message.h"
#include "gps_navigation_message.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <cstdint>
#include <fstream>
#include <cstdint> // for int32_t
#include <cstdlib> // for strtol, strtod
#include <fstream> // for fstream
#include <iomanip> // for setprecision
#include <map>
#include <map> // for map
#include <sstream> // for stringstream
#include <string>
#include <string> // for string
class Beidou_Dnav_Ephemeris;
class Beidou_Dnav_Iono;
class Beidou_Dnav_Utc_Model;
class Galileo_Ephemeris;
class Galileo_Iono;
class Galileo_Utc_Model;
class Glonass_Gnav_Almanac;
class Glonass_Gnav_Ephemeris;
class Glonass_Gnav_Utc_Model;
class Gnss_Synchro;
class Gps_CNAV_Ephemeris;
class Gps_CNAV_Iono;
class Gps_CNAV_Utc_Model;
class Gps_Ephemeris;
class Gps_Iono;
class Gps_Navigation_Message;
class Gps_Utc_Model;
class Sbas_Raw_Msg;
/*!
* \brief Class that handles the generation of Receiver
@ -88,13 +96,13 @@ public:
*/
~Rinex_Printer();
std::fstream obsFile; //<! Output file stream for RINEX observation file
std::fstream navFile; //<! Output file stream for RINEX navigation data file
std::fstream sbsFile; //<! Output file stream for RINEX SBAS raw data file
std::fstream navGalFile; //<! Output file stream for RINEX Galileo navigation data file
std::fstream navGloFile; //<! Output file stream for RINEX GLONASS navigation data file
std::fstream navBdsFile; //<! Output file stream for RINEX Galileo navigation data file
std::fstream navMixFile; //<! Output file stream for RINEX Mixed navigation data file
std::fstream obsFile; //!< Output file stream for RINEX observation file
std::fstream navFile; //!< Output file stream for RINEX navigation data file
std::fstream sbsFile; //!< Output file stream for RINEX SBAS raw data file
std::fstream navGalFile; //!< Output file stream for RINEX Galileo navigation data file
std::fstream navGloFile; //!< Output file stream for RINEX GLONASS navigation data file
std::fstream navBdsFile; //!< Output file stream for RINEX Galileo navigation data file
std::fstream navMixFile; //!< Output file stream for RINEX Mixed navigation data file
/*!
* \brief Generates the GPS L1 C/A Navigation Data header
@ -404,10 +412,10 @@ public:
void update_obs_header(std::fstream& out, const Beidou_Dnav_Utc_Model& utc_model);
std::map<std::string, std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Beidou
std::map<std::string, std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
std::map<std::string, std::string> observationCode; //<! GNSS observation descriptors
std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02)
std::map<std::string, std::string> satelliteSystem; //!< GPS, GLONASS, SBAS payload, Galileo or Beidou
std::map<std::string, std::string> observationType; //!< PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
std::map<std::string, std::string> observationCode; //!< GNSS observation descriptors
std::string stringVersion; //!< RINEX version (2.10/2.11 or 3.01/3.02)
std::string navfilename;
std::string obsfilename;

4
src/algorithms/PVT/libs/rtcm.cc
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@ -29,8 +29,11 @@
*/
#include "rtcm.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include <boost/algorithm/string.hpp> // for to_upper_copy
#include <boost/crc.hpp>
#include <boost/date_time/gregorian/gregorian.hpp>
@ -39,6 +42,7 @@
#include <chrono> // std::chrono::seconds
#include <cmath> // for std::fmod
#include <cstdlib> // for strtol
#include <iostream> // for cout
#include <sstream> // for std::stringstream

55
src/algorithms/PVT/libs/rtcm.h
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@ -34,11 +34,12 @@
#include "concurrent_queue.h"
#include "galileo_fnav_message.h"
#include "glonass_gnav_navigation_message.h"
#include "gnss_synchro.h"
#include "gps_cnav_navigation_message.h"
#include "gps_navigation_message.h"
#include <galileo_ephemeris.h>
#include <gps_ephemeris.h>
#include <gps_cnav_ephemeris.h>
#include <glonass_gnav_ephemeris.h>
#include <glonass_gnav_utc_model.h>
#include <boost/asio.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h>
@ -57,7 +58,7 @@
/*!
* This class implements the generation and reading of some Message Types
* \brief This class implements the generation and reading of some Message Types
* defined in the RTCM 3.2 Standard, plus some utilities to handle messages.
*
* Generation of the following Message Types:
@ -88,7 +89,7 @@
class Rtcm
{
public:
Rtcm(uint16_t port = 2101); //<! Default constructor that sets TCP port of the RTCM message server and RTCM Station ID. 2101 is the standard RTCM port according to the Internet Assigned Numbers Authority (IANA). See https://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xml
Rtcm(uint16_t port = 2101); //!< Default constructor that sets TCP port of the RTCM message server and RTCM Station ID. 2101 is the standard RTCM port according to the Internet Assigned Numbers Authority (IANA). See https://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xml
~Rtcm();
/*!
@ -126,7 +127,7 @@ public:
*/
std::string print_MT1006(uint32_t ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, uint32_t quarter_cycle_indicator, double height);
std::string print_MT1005_test(); //<! For testing purposes
std::string print_MT1005_test(); //!< For testing purposes
/*!
* \brief Prints message type 1008 (Antenna Descriptor & Serial Number)
@ -331,9 +332,9 @@ public:
bool divergence_free,
bool more_messages);
uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //<! Returns the time period in which GPS L1 signals have been continually tracked.
uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //<! Returns the time period in which GPS L2 signals have been continually tracked.
uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //<! Returns the time period in which Galileo signals have been continually tracked.
uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L1 signals have been continually tracked.
uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L2 signals have been continually tracked.
uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which Galileo signals have been continually tracked.
/*!
* \brief Locks time period in which GLONASS signals have been continually tracked.
* \note Code added as part of GSoC 2017 program
@ -344,34 +345,26 @@ public:
*/
uint32_t lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
std::string bin_to_hex(const std::string& s) const; //<! Returns a string of hexadecimal symbols from a string of binary symbols
std::string hex_to_bin(const std::string& s) const; //<! Returns a string of binary symbols from a string of hexadecimal symbols
std::string bin_to_hex(const std::string& s) const; //!< Returns a string of hexadecimal symbols from a string of binary symbols
std::string hex_to_bin(const std::string& s) const; //!< Returns a string of binary symbols from a string of hexadecimal symbols
std::string bin_to_binary_data(const std::string& s) const; //<! Returns a string of binary data from a string of binary symbols
std::string binary_data_to_bin(const std::string& s) const; //<! Returns a string of binary symbols from a string of binary data
std::string bin_to_binary_data(const std::string& s) const; //!< Returns a string of binary data from a string of binary symbols
std::string binary_data_to_bin(const std::string& s) const; //!< Returns a string of binary symbols from a string of binary data
uint32_t bin_to_uint(const std::string& s) const; //<! Returns an uint32_t from a string of binary symbols
uint32_t bin_to_uint(const std::string& s) const; //!< Returns an uint32_t from a string of binary symbols
int32_t bin_to_int(const std::string& s) const;
double bin_to_double(const std::string& s) const; //<! Returns double from a string of binary symbols
/*!
* \brief Locks time period in which GLONASS signals have been continually tracked.
* \note Code added as part of GSoC 2017 program
* \param eph GLONASS GNAV Broadcast Ephemeris
* \param obs_time Time of observation at the moment of printing
* \param observables Set of observables as defined by the platform
* \return //<! Returns a int64_t from a string of binary symbols
*/
double bin_to_double(const std::string& s) const; //!< Returns double from a string of binary symbols
int32_t bin_to_sint(const std::string& s) const;
uint64_t hex_to_uint(const std::string& s) const; //<! Returns an uint64_t from a string of hexadecimal symbols
int64_t hex_to_int(const std::string& s) const; //<! Returns a int64_t from a string of hexadecimal symbols
uint64_t hex_to_uint(const std::string& s) const; //!< Returns an uint64_t from a string of hexadecimal symbols
int64_t hex_to_int(const std::string& s) const; //!< Returns a int64_t from a string of hexadecimal symbols
bool check_CRC(const std::string& message) const; //<! Checks that the CRC of a RTCM package is correct
bool check_CRC(const std::string& message) const; //!< Checks that the CRC of a RTCM package is correct
void run_server(); //<! Starts running the server
void stop_server(); //<! Stops the server
void run_server(); //!< Starts running the server
void stop_server(); //!< Stops the server
void send_message(const std::string& msg); //<! Sends a message through the server to all connected clients
bool is_server_running() const; //<! Returns true if the server is running, false otherwise
void send_message(const std::string& msg); //!< Sends a message through the server to all connected clients
bool is_server_running() const; //!< Returns true if the server is running, false otherwise
private:
//

19
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -32,17 +32,26 @@
*/
#include "rtcm_printer.h"
#include "galileo_ephemeris.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include "gnss_synchro.h"
#include "gps_cnav_ephemeris.h"
#include "gps_ephemeris.h"
#include "rtcm.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_codes
#include <glog/logging.h>
#include <cstdint>
#include <exception>
#include <fcntl.h> // for O_RDWR
#include <iomanip>
#include <cstdio> // for remove
#include <ctime> // for tm
#include <exception> // for exception
#include <fcntl.h> // for O_RDWR
#include <iostream> // for cout, cerr
#include <termios.h> // for tcgetattr
#include <utility>
#include <unistd.h> // for close, write
Rtcm_Printer::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, const std::string& base_path)

28
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -34,10 +34,18 @@
#ifndef GNSS_SDR_RTCM_PRINTER_H_
#define GNSS_SDR_RTCM_PRINTER_H_
#include "rtcm.h"
#include <fstream> // std::ofstream
#include <map>
#include <memory> // std::shared_ptr
#include <cstdint> // for int32_t
#include <fstream> // for std::ofstream
#include <map> // for std::map
#include <memory> // std::shared_ptr
class Galileo_Ephemeris;
class Glonass_Gnav_Ephemeris;
class Glonass_Gnav_Utc_Model;
class Gnss_Synchro;
class Gps_CNAV_Ephemeris;
class Gps_Ephemeris;
class Rtcm;
/*!
* \brief This class provides a implementation of a subset of the RTCM Standard 10403.2 messages
@ -59,6 +67,7 @@ public:
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints L1-Only GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
@ -69,6 +78,7 @@ public:
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
@ -79,6 +89,7 @@ public:
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
@ -90,6 +101,7 @@ public:
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
@ -102,8 +114,9 @@ public:
*/
bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph); //!< GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph); //!< Galileo Ephemeris, should be broadcast every 2 minutes
/*!
* \brief Prints GLONASS GNAV Ephemeris
* \details This GLONASS message should be broadcast every 2 minutes
@ -127,10 +140,11 @@ public:
bool divergence_free,
bool more_messages);
std::string print_MT1005_test(); //<! For testing purposes
std::string print_MT1005_test(); //!< For testing purposes
uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
/*!
* \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
* \note Code added as part of GSoC 2017 program

4
src/algorithms/acquisition/adapters/CMakeLists.txt
View File

@ -95,15 +95,17 @@ add_library(acquisition_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS})
target_link_libraries(acquisition_adapters
PUBLIC
Gnuradio::blocks
algorithms_libs
gnss_sdr_flags
acquisition_gr_blocks
core_system_parameters
Gnuradio::blocks
Volk::volk
PRIVATE
Boost::boost
Gflags::gflags
Glog::glog
Gnuradio::fft
Volkgnsssdr::volkgnsssdr
acquisition_libs
)

2
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
View File

@ -8,7 +8,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver

4
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
View File

@ -1,5 +1,5 @@
/*!
* \file beidou_bi1_pcps_acquisition.h
* \file beidou_b1i_pcps_acquisition.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Beidou B1I signals
* \authors <ul>
@ -8,7 +8,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver

15
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
View File

@ -34,7 +34,15 @@
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
@ -69,12 +77,12 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
uint32_t sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 4);
acq_parameters.sampled_ms = sampled_ms;
acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false); //will be true in future versions
acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false); // could be true in future versions
//--- Find number of samples per spreading code (4 ms) -----------------
// Find number of samples per spreading code (4 ms)
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_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));
uint32_t nsamples_total = pow(2, nbits);
@ -246,6 +254,7 @@ void GalileoE1PcpsAmbiguousAcquisitionFpga::set_state(int state)
acquisition_fpga_->set_state(state);
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
if (top_block)

19
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
View File

@ -1,7 +1,7 @@
/*!
* \file galileo_e1_pcps_ambiguous_acquisition_fpga.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E1 Signals
* Galileo E1 Signals for the FPGA
* \author Marc Majoral, 2019. mmajoral(at)cttc.es
*
* -------------------------------------------------------------------------
@ -34,19 +34,20 @@
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an
* AcquisitionInterface for Galileo E1 Signals
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
* to an AcquisitionInterface for Galileo E1 Signals
*/
class GalileoE1PcpsAmbiguousAcquisitionFpga : public AcquisitionInterface
{
@ -85,7 +86,7 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@ -135,8 +136,8 @@ public:
void set_state(int state) override;
/*!
* \brief Stop running acquisition
*/
* \brief Stop running acquisition
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};

10
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@ -34,9 +34,15 @@
#include "configuration_interface.h"
#include "galileo_e5_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
#include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for strcpy, memcpy
GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,

17
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@ -34,14 +34,22 @@
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <cstdint>
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
* to an AcquisitionInterface for Galileo E5a signals
*/
class GalileoE5aPcpsAcquisitionFpga : public AcquisitionInterface
{
public:
@ -67,7 +75,7 @@ public:
inline size_t item_size() override
{
return sizeof(int);
return sizeof(lv_16sc_t);
}
void connect(gr::top_block_sptr top_block) override;
@ -78,7 +86,7 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@ -146,7 +154,6 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;

8
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -36,10 +36,16 @@
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
#include <gnuradio/fft/fft.h>
#include <new>
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#define NUM_PRNs 32

14
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -36,16 +36,18 @@
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <string> // for string
class Gnss_Synchro;
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
* to an AcquisitionInterface for GPS L1 C/A signals
*/
class GpsL1CaPcpsAcquisitionFpga : public AcquisitionInterface
{
@ -84,7 +86,7 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;

23
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -1,14 +1,14 @@
/*!
* \file gps_l2_m_pcps_acquisition.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L2 M signals
* \file gps_l2_m_pcps_acquisition_fpga.cc
* \brief Adapts an FPGA-offloaded PCPS acquisition block
* to an AcquisitionInterface for GPS L2 M signals
* \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es
* <li> Javier Arribas, 2019. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -35,9 +35,16 @@
#include "GPS_L2C.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_l2c_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#define NUM_PRNs 32
@ -80,14 +87,13 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
std::string device_name = configuration_->property(role + ".devicename", default_device_name);
acq_parameters.device_name = device_name;
acq_parameters.samples_per_ms = nsamples_total / acq_parameters.sampled_ms;
//acq_parameters.samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
acq_parameters.samples_per_code = nsamples_total;
acq_parameters.downsampling_factor = configuration_->property(role + ".downsampling_factor", 1.0);
acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 14);
acq_parameters.excludelimit = static_cast<uint32_t>(std::round(static_cast<double>(fs_in_) / GPS_L2_M_CODE_RATE_HZ));
// compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// compute all the GPS L2C PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
auto* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
// allocate memory to compute all the PRNs and compute all the possible codes
@ -125,7 +131,6 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
}
}
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete

32
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@ -1,14 +1,14 @@
/*!
* \file gps_l2_m_pcps_acquisition.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L2 M signals
* \file gps_l2_m_pcps_acquisition_fpga.h
* \brief Adapts an FPGA-offloaded PCPS acquisition block
* to an AcquisitionInterface for GPS L2 M signals
* \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es
* <li> Javier Arribas, 2019. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -36,19 +36,20 @@
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <string> // for string
class Gnss_Synchro;
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L2 M signals
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
* to an AcquisitionInterface for GPS L2 M signals
*/
class GpsL2MPcpsAcquisitionFpga : public AcquisitionInterface
{
@ -66,16 +67,16 @@ public:
}
/*!
* \brief Returns "GPS_L2_M_PCPS_Acquisition"
* \brief Returns "GPS_L2_M_PCPS_Acquisition_Fpga"
*/
inline std::string implementation() override
{
return "GPS_L2_M_PCPS_Acquisition";
return "GPS_L2_M_PCPS_Acquisition_Fpga";
}
inline size_t item_size() override
{
return sizeof(int);
return sizeof(lv_16sc_t);
}
void connect(gr::top_block_sptr top_block) override;
@ -86,7 +87,7 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@ -144,7 +145,6 @@ public:
private:
ConfigurationInterface* configuration_;
//pcps_acquisition_sptr acquisition_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;

12
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -1,5 +1,5 @@
/*!
* \file gps_l5i pcps_acquisition_fpga.cc
* \file gps_l5i_pcps_acquisition_fpga.cc
* \brief Adapts a PCPS acquisition block to an Acquisition Interface for
* GPS L5i signals for the FPGA
* \authors <ul>
@ -36,9 +36,16 @@
#include "GPS_L5.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_l5_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#define NUM_PRNs 32
@ -133,7 +140,6 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
}
}
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
// reference for the FPGA FFT-IFFT attenuation factor

25
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -1,5 +1,5 @@
/*!
* \file GPS_L5i_PCPS_Acquisition_fpga.h
* \file gps_l5i_pcps_acquisition_fpga.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L5i signals for the FPGA
* \authors <ul>
@ -32,24 +32,25 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_FPGA_H_
#ifndef GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H_
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L5i signals
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
* to an AcquisitionInterface for GPS L5i signals
*/
class GpsL5iPcpsAcquisitionFpga : public AcquisitionInterface
{
@ -76,7 +77,7 @@ public:
inline size_t item_size() override
{
return sizeof(int);
return sizeof(lv_16sc_t);
}
void connect(gr::top_block_sptr top_block) override;
@ -87,7 +88,7 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@ -117,7 +118,7 @@ public:
void init() override;
/*!
* \brief Sets local code for GPS L2/M PCPS acquisition algorithm.
* \brief Sets local code for GPS L5 PCPS acquisition algorithm.
*/
void set_local_code() override;
@ -164,4 +165,4 @@ private:
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_FPGA_H_ */
#endif /* GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H_ */

11
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -36,13 +36,22 @@
#include "pcps_acquisition.h"
#include "GLONASS_L1_L2_CA.h" // for GLONASS_TWO_PI
#include "GPS_L1_CA.h" // for GPS_TWO_PI
#include "gnss_frequencies.h"
#include "gnss_sdr_create_directory.h"
#include "gnss_synchro.h"
#include <boost/filesystem/path.hpp>
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h> // for from_long
#include <pmt/pmt_sugar.h> // for mp
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstring>
#include <algorithm> // for fill_n, min
#include <cmath> // for floor, fmod, rint, ceil
#include <cstring> // for memcpy
#include <iostream>
#include <map>
pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_)

9
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -53,14 +53,17 @@
#define GNSS_SDR_PCPS_ACQUISITION_H_
#include "acq_conf.h"
#include "gnss_synchro.h"
#include <armadillo>
#include <gnuradio/block.h>
#include <gnuradio/fft/fft.h>
#include <volk/volk.h>
#include <gnuradio/gr_complex.h> // for gr_complex
#include <gnuradio/thread/thread.h> // for scoped_lock
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstdint>
#include <string>
class Gnss_Synchro;
class pcps_acquisition;
using pcps_acquisition_sptr = boost::shared_ptr<pcps_acquisition>;

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -1,5 +1,5 @@
/*!
* \file pcps_acquisition_fine_doppler_acquisition_cc.cc
* \file pcps_acquisition_fine_doppler_cc.cc
* \brief This class implements a Parallel Code Phase Search Acquisition with multi-dwells and fine Doppler estimation
* \authors <ul>
* <li> Javier Arribas, 2013. jarribas(at)cttc.es

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
View File

@ -1,5 +1,5 @@
/*!
* \file pcps_acquisition_fine_doppler_acquisition_cc.h
* \file pcps_acquisition_fine_doppler_cc.h
* \brief This class implements a Parallel Code Phase Search Acquisition with multi-dwells and fine Doppler estimation
* for GPS L1 C/A signal
*

10
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@ -33,9 +33,15 @@
#include "pcps_acquisition_fpga.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <utility>
#include <pmt/pmt.h> // for from_long
#include <pmt/pmt_sugar.h> // for mp
#include <cmath> // for ceil
#include <iostream> // for operator<<
#include <utility> // for move
#define AQ_DOWNSAMPLING_DELAY 40 // delay due to the downsampling filter in the acquisition
@ -133,7 +139,7 @@ void pcps_acquisition_fpga::set_state(int32_t state)
void pcps_acquisition_fpga::send_positive_acquisition()
{
// Declare positive acquisition using a message port
//0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
// 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "positive acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter

89
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
View File

@ -42,8 +42,15 @@
#include "fpga_acquisition.h"
#include "gnss_synchro.h"
#include <gnuradio/block.h>
#include <boost/shared_ptr.hpp>
#include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstdint> // for uint32_t
#include <memory> // for shared_ptr
#include <string> // for string
class Gnss_Synchro;
typedef struct
{
@ -78,9 +85,7 @@ pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
class pcps_acquisition_fpga : public gr::block
{
private:
friend pcps_acquisition_fpga_sptr
pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
friend pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
pcps_acquisition_fpga(pcpsconf_fpga_t conf_);
@ -115,10 +120,10 @@ public:
~pcps_acquisition_fpga();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
inline void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
@ -133,53 +138,53 @@ public:
}
/*!
* \brief Initializes acquisition algorithm.
*/
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code();
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int32_t state);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
void set_active(bool active);
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
inline void set_channel(uint32_t channel)
{
d_channel = channel;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
inline void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
inline void set_doppler_max(uint32_t doppler_max)
{
acq_parameters.doppler_max = doppler_max;
@ -187,22 +192,15 @@ public:
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
inline void set_doppler_step(uint32_t doppler_step)
{
d_doppler_step = doppler_step;
acquisition_fpga->set_doppler_step(doppler_step);
}
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
/*!
* \brief This funciton triggers a HW reset of the FPGA PL.
*/
@ -212,6 +210,13 @@ public:
* \brief This funciton is only used for the unit tests
*/
void read_fpga_total_scale_factor(uint32_t* total_scale_factor, uint32_t* fw_scale_factor);
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
};
#endif /* GNSS_SDR_PCPS_ACQUISITION_FPGA_H_*/

1
src/algorithms/acquisition/libs/CMakeLists.txt
View File

@ -37,7 +37,6 @@ add_library(acquisition_libs
target_link_libraries(acquisition_libs
PUBLIC
Volk::volk
Gnuradio::fft
PRIVATE
Gflags::gflags
Glog::glog

2
src/algorithms/acquisition/libs/acq_conf.h
View File

@ -1,5 +1,5 @@
/*!
* \file acq_conf.cc
* \file acq_conf.h
* \brief Class that contains all the configuration parameters for generic
* acquisition block based on the PCPS algoritm.
* \author Carles Fernandez, 2018. cfernandez(at)cttc.es

68
src/algorithms/acquisition/libs/fpga_acquisition.cc
View File

@ -1,16 +1,16 @@
/*!
* \file fpga_acquisition.cc
* \brief High optimized FPGA vector correlator class
* \brief Highly optimized FPGA vector correlator class
* \authors <ul>
* <li> Marc Majoral, 2019. mmajoral(at)cttc.cat
* </ul>
*
* Class that controls and executes a high optimized acquisition HW
* Class that controls and executes a highly optimized acquisition HW
* accelerator in the FPGA
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -34,13 +34,14 @@
*/
#include "fpga_acquisition.h"
#include "GPS_L1_CA.h"
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
#include <fcntl.h> // libraries used by the GIPO
#include <iostream>
#include <sys/mman.h> // libraries used by the GIPO
#include <utility>
#include "GPS_L1_CA.h" // for GPS_TWO_PI
#include <glog/logging.h> // for LOG
#include <cmath> // for log2
#include <fcntl.h> // libraries used by the GIPO
#include <iostream> // for operator<<
#include <sys/mman.h> // libraries used by the GIPO
#include <unistd.h> // for write, close, read, ssize_t
#include <utility> // for move
// FPGA register parameters
@ -75,26 +76,6 @@
})
#endif
bool Fpga_Acquisition::init()
{
return true;
}
bool Fpga_Acquisition::set_local_code(uint32_t PRN)
{
// select the code with the chosen PRN
d_PRN = PRN;
return true;
}
void Fpga_Acquisition::write_local_code()
{
Fpga_Acquisition::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_nsamples_total * (d_PRN - 1)]);
}
Fpga_Acquisition::Fpga_Acquisition(std::string device_name,
uint32_t nsamples,
@ -132,6 +113,30 @@ Fpga_Acquisition::Fpga_Acquisition(std::string device_name,
}
Fpga_Acquisition::~Fpga_Acquisition() = default;
bool Fpga_Acquisition::init()
{
return true;
}
bool Fpga_Acquisition::set_local_code(uint32_t PRN)
{
// select the code with the chosen PRN
d_PRN = PRN;
return true;
}
void Fpga_Acquisition::write_local_code()
{
Fpga_Acquisition::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_nsamples_total * (d_PRN - 1)]);
}
void Fpga_Acquisition::open_device()
{
// open communication with HW accelerator
@ -151,9 +156,6 @@ void Fpga_Acquisition::open_device()
}
Fpga_Acquisition::~Fpga_Acquisition() = default;
bool Fpga_Acquisition::free()
{
return true;

8
src/algorithms/acquisition/libs/fpga_acquisition.h
View File

@ -1,11 +1,11 @@
/*!
* \file fpga_acquisition.h
* \brief High optimized FPGA vector correlator class
* \brief Highly optimized FPGA vector correlator class
* \authors <ul>
* <li> Marc Majoral, 2019. mmajoral(at)cttc.cat
* </ul>
*
* Class that controls and executes a high optimized acquisition HW
* Class that controls and executes a highly optimized acquisition HW
* accelerator in the FPGA
*
* -------------------------------------------------------------------------
@ -36,9 +36,9 @@
#ifndef GNSS_SDR_FPGA_ACQUISITION_H_
#define GNSS_SDR_FPGA_ACQUISITION_H_
#include <gnuradio/fft/fft.h>
#include <volk/volk.h>
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstdint>
#include <string>
/*!
* \brief Class that implements carrier wipe-off and correlators.

19
src/algorithms/libs/CMakeLists.txt
View File

@ -22,7 +22,6 @@ set(GNSS_SPLIBS_SOURCES
gps_l2c_signal.cc
gps_l5_signal.cc
galileo_e1_signal_processing.cc
gnss_sdr_sample_counter.cc
gnss_signal_processing.cc
gps_sdr_signal_processing.cc
glonass_l1_signal_processing.cc
@ -47,7 +46,6 @@ set(GNSS_SPLIBS_HEADERS
gps_l2c_signal.h
gps_l5_signal.h
galileo_e1_signal_processing.h
gnss_sdr_sample_counter.h
gnss_signal_processing.h
gps_sdr_signal_processing.h
glonass_l1_signal_processing.h
@ -69,29 +67,12 @@ set(GNSS_SPLIBS_HEADERS
geofunctions.h
)
if(ENABLE_FPGA)
set(GNSS_SPLIBS_SOURCES
${GNSS_SPLIBS_SOURCES}
gnss_sdr_time_counter.cc
gnss_sdr_fpga_sample_counter.cc
)
set(GNSS_SPLIBS_HEADERS
${GNSS_SPLIBS_HEADERS}
gnss_sdr_time_counter.h
gnss_sdr_fpga_sample_counter.h
)
endif()
if(OPENCL_FOUND)
set(GNSS_SPLIBS_SOURCES ${GNSS_SPLIBS_SOURCES}
opencl/fft_execute.cc # Needs OpenCL
opencl/fft_setup.cc # Needs OpenCL
opencl/fft_kernelstring.cc # Needs OpenCL
)
endif()
if(OPENCL_FOUND)
include_directories(${OPENCL_INCLUDE_DIRS})
if(OS_IS_MACOSX)
set(OPT_LIBRARIES ${OPT_LIBRARIES} "-framework OpenCL")

2
src/algorithms/libs/beidou_b1i_signal_processing.h
View File

@ -35,7 +35,7 @@
#include <complex>
#include <cstdint>
#include <iostream>
//! Generates int32_t GPS L1 C/A code for the desired SV ID and code shift
void beidou_b1i_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift);

2
src/algorithms/libs/galileo_e5_signal_processing.h
View File

@ -1,5 +1,5 @@
/*!
* \file galileo_e5_signal_processing.cc
* \file galileo_e5_signal_processing.h
* \brief This library implements various functions for Galileo E5 signals such
* as replica code generation
* \author Marc Sales, 2014. marcsales92(at)gmail.com

1
src/algorithms/libs/geofunctions.cc
View File

@ -30,6 +30,7 @@
*/
#include "geofunctions.h"
#include <cmath> // for sin, cos, sqrt, abs, pow
const double STRP_PI = 3.1415926535898; // Pi as defined in IS-GPS-200E

6
src/algorithms/libs/gnss_sdr_create_directory.cc
View File

@ -28,13 +28,13 @@
* -------------------------------------------------------------------------
*/
#include "gnss_sdr_create_directory.h"
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <fstream>
#include <boost/system/error_code.hpp> // for error_code
#include <exception> // for exception
#include <fstream> // for ofstream
bool gnss_sdr_create_directory(const std::string& foldername)
{

28
src/algorithms/libs/gnss_sdr_flags.h
View File

@ -34,29 +34,29 @@
#include <gflags/gflags.h>
DECLARE_string(c); //<! Path to the configuration file.
DECLARE_string(config_file); //<! Path to the configuration file.
DECLARE_string(c); //!< Path to the configuration file.
DECLARE_string(config_file); //!< Path to the configuration file.
DECLARE_string(log_dir); //<! Path to the folder in which logging will be stored.
DECLARE_string(log_dir); //!< Path to the folder in which logging will be stored.
// Declare flags for signal sources
DECLARE_string(s); //<! Path to the file containing the signal samples.
DECLARE_string(signal_source); //<! Path to the file containing the signal samples.
DECLARE_string(s); //!< Path to the file containing the signal samples.
DECLARE_string(signal_source); //!< Path to the file containing the signal samples.
// Declare flags for acquisition blocks
DECLARE_int32(doppler_max); //<! If defined, maximum Doppler value in the search grid, in Hz (overrides the configuration file).
DECLARE_int32(doppler_step); //<! If defined, sets the frequency step in the search grid, in Hz, in Hz (overrides the configuration file).
DECLARE_int32(doppler_max); //!< If defined, maximum Doppler value in the search grid, in Hz (overrides the configuration file).
DECLARE_int32(doppler_step); //!< If defined, sets the frequency step in the search grid, in Hz, in Hz (overrides the configuration file).
// Declare flags for tracking blocks
DECLARE_int32(cn0_samples); //<! Number of correlator outputs used for CN0 estimation.
DECLARE_int32(cn0_min); //<! Minimum valid CN0 (in dB-Hz).
DECLARE_int32(max_lock_fail); //<! Maximum number of lock failures before dropping a satellite.
DECLARE_double(carrier_lock_th); //<! Carrier lock threshold (in rad).
DECLARE_double(dll_bw_hz); //<! Bandwidth of the DLL low pass filter, in Hz (overrides the configuration file).
DECLARE_double(pll_bw_hz); //<! Bandwidth of the PLL low pass filter, in Hz (overrides the configuration file).
DECLARE_int32(cn0_samples); //!< Number of correlator outputs used for CN0 estimation.
DECLARE_int32(cn0_min); //!< Minimum valid CN0 (in dB-Hz).
DECLARE_int32(max_lock_fail); //!< Maximum number of lock failures before dropping a satellite.
DECLARE_double(carrier_lock_th); //!< Carrier lock threshold (in rad).
DECLARE_double(dll_bw_hz); //!< Bandwidth of the DLL low pass filter, in Hz (overrides the configuration file).
DECLARE_double(pll_bw_hz); //!< Bandwidth of the PLL low pass filter, in Hz (overrides the configuration file).
// Declare flags for PVT
DECLARE_string(RINEX_version); //<! If defined, specifies the RINEX version (2.11 or 3.02). Overrides the configuration file.
DECLARE_string(RINEX_version); //!< If defined, specifies the RINEX version (2.11 or 3.02). Overrides the configuration file.
#endif

4
src/algorithms/libs/rtklib/rtklib_stream.h
View File

@ -1,6 +1,6 @@
/*!
* \file rtklib_sbas.h
* \brief sbas functions
* \file rtklib_stream.h
* \brief streaming functions
* \authors <ul>
* <li> 2007-2013, T. Takasu
* <li> 2017, Javier Arribas

16
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake
View File

@ -41,15 +41,23 @@ if(CMAKE_VERSION VERSION_LESS 3.12)
find_package(PythonInterp ${VOLK_PYTHON3_MIN_VERSION} REQUIRED)
endif()
endif()
find_package(PythonLibs ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR} EXACT)
else()
if(PYTHON_EXECUTABLE)
message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
find_package(PythonInterp ${VOLK_PYTHON_MIN_VERSION} REQUIRED)
else()
find_package(Python COMPONENTS Interpreter)
set(PYTHON_VERSION_MAJOR ${Python_VERSION_MAJOR})
set(PYTHON_EXECUTABLE ${Python_EXECUTABLE})
find_package(Python3 COMPONENTS Interpreter)
if(Python3_FOUND)
set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
set(PYTHON_VERSION_MAJOR ${Python3_VERSION_MAJOR})
endif()
if(NOT Python3_FOUND OR NOT MAKO_FOUND OR NOT SIX_FOUND)
find_package(Python2 COMPONENTS Interpreter)
if(Python2_FOUND)
set(PYTHON_EXECUTABLE ${Python2_EXECUTABLE})
set(PYTHON_VERSION_MAJOR ${Python2_VERSION_MAJOR})
endif()
endif()
endif()
endif()

15
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt
View File

@ -313,6 +313,9 @@ if(NOT CROSSCOMPILE_MULTILIB AND CPU_IS_x86)
#MSVC 64 bit does not have MMX, overrule it
if(${SIZEOF_CPU} EQUAL 64 AND MSVC)
overrule_arch(mmx "No MMX for Win64")
if(MSVC_VERSION GREATER 1700)
OVERRULE_ARCH(sse "No SSE for Win64 Visual Studio 2013")
endif()
endif()
endif()
@ -582,7 +585,7 @@ target_include_directories(volk_gnsssdr_obj
#Add dynamic library
add_library(volk_gnsssdr SHARED $<TARGET_OBJECTS:volk_gnsssdr_obj>)
target_link_libraries(volk_gnsssdr ${volk_gnsssdr_libraries} m)
target_link_libraries(volk_gnsssdr ${volk_gnsssdr_libraries})
target_include_directories(volk_gnsssdr
PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
@ -593,7 +596,10 @@ target_include_directories(volk_gnsssdr
)
#Configure target properties
set_target_properties(volk_gnsssdr_obj PROPERTIES COMPILE_FLAGS "-fPIC")
if(NOT MSVC)
set_target_properties(volk_gnsssdr_obj PROPERTIES COMPILE_FLAGS "-fPIC")
target_link_libraries(volk_gnsssdr m)
endif()
set_target_properties(volk_gnsssdr PROPERTIES SOVERSION ${LIBVER})
set_target_properties(volk_gnsssdr PROPERTIES DEFINE_SYMBOL "volk_gnsssdr_EXPORTS")
@ -608,7 +614,10 @@ install(TARGETS volk_gnsssdr
#Configure static library
if(ENABLE_STATIC_LIBS)
add_library(volk_gnsssdr_static STATIC $<TARGET_OBJECTS:volk_gnsssdr_obj>)
target_link_libraries(volk_gnsssdr_static ${volk_gnsssdr_libraries} pthread m)
target_link_libraries(volk_gnsssdr_static ${volk_gnsssdr_libraries} pthread)
if(NOT MSVC)
target_link_libraries(volk_gnsssdr_static m)
endif()
target_include_directories(volk_gnsssdr_static
PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>

3
src/algorithms/signal_source/adapters/custom_udp_signal_source.cc
View File

@ -1,6 +1,5 @@
/*!
* \file udp_signal_source.cc
*
* \file custom_udp_signal_source.cc
* \brief Receives ip frames containing samples in UDP frame encapsulation
* using a high performance packet capture library (libpcap)
* \author Javier Arribas jarribas (at) cttc.es

5
src/algorithms/signal_source/adapters/custom_udp_signal_source.h
View File

@ -1,6 +1,5 @@
/*!
* \file udp_signal_source.h
*
* \file custom_udp_signal_source.h
* \brief Receives ip frames containing samples in UDP frame encapsulation
* using a high performance packet capture library (libpcap)
* \author Javier Arribas jarribas (at) cttc.es
@ -65,7 +64,7 @@ public:
}
/*!
* \brief Returns "UDP_Signal_Source"
* \brief Returns "Custom_UDP_Signal_Source"
*/
inline std::string implementation() override
{

4
src/algorithms/signal_source/adapters/gn3s_signal_source.h
View File

@ -59,11 +59,11 @@ public:
}
/*!
* \brief Returns "Gn3sSignalSource".
* \brief Returns "Gn3s_Signal_Source".
*/
inline std::string implementation() override
{
return "Gn3sSignalSource";
return "Gn3s_Signal_Source";
}
inline size_t item_size() override

6
src/algorithms/telemetry_decoder/adapters/beidou_b3i_telemetry_decoder.cc
View File

@ -34,14 +34,8 @@
#include "configuration_interface.h"
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
using google::LogMessage;
BeidouB3iTelemetryDecoder::BeidouB3iTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,

7
src/algorithms/telemetry_decoder/adapters/beidou_b3i_telemetry_decoder.h
View File

@ -33,11 +33,12 @@
#ifndef GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_
#define GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_
#include "beidou_b3i_telemetry_decoder_gs.h"
#include "gnss_satellite.h" // for Gnss_Satellite
#include "telemetry_decoder_interface.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <cstddef> // for size_t
#include <string>
#include "../gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h"
class ConfigurationInterface;
/*!

4
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.cc
View File

@ -33,11 +33,9 @@
#include "beidou_b1i_telemetry_decoder_gs.h"
#include "Beidou_B1I.h"
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
#include "convolutional.h"
#include "display.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>

15
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_gs.h
View File

@ -1,8 +1,7 @@
/*!
* \file beidou_b1i_telemetry_decoder_gs.h
* \brief Implementation of a BEIDOU BI1 DNAV data decoder block
* \details Code added as part of GSoC 2018 program. However new modifications
* included to mimic decoding of existing signals
* \details Code added as part of GSoC 2018 program.
* \author Damian Miralles, 2018. dmiralles2009(at)gmail.com
* \author Sergi Segura, 2018. sergi.segura.munoz(at)gmail.es
*
@ -35,15 +34,15 @@
#define GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_GS_H
#include "gnss_satellite.h"
#include "beidou_dnav_navigation_message.h"
#include "gnss_satellite.h"
#include <boost/circular_buffer.hpp>
#include <gnuradio/block.h>
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <cstdint>
#include <fstream>
#include <string>
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <cstdint>
class beidou_b1i_telemetry_decoder_gs;
@ -52,10 +51,10 @@ using beidou_b1i_telemetry_decoder_gs_sptr = boost::shared_ptr<beidou_b1i_teleme
beidou_b1i_telemetry_decoder_gs_sptr beidou_b1i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
/*!
* \brief This class implements a block that decodes the BeiDou DNAV data.
* \brief This class implements a block that decodes the GNAV data defined in BEIDOU ICD v5.1
* \note Code added as part of GSoC 2018 program
*
*/
class beidou_b1i_telemetry_decoder_gs : public gr::block
{

2
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.cc
View File

@ -35,8 +35,6 @@
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_utc_model.h"
#include "convolutional.h"
#include "display.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>

2
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b3i_telemetry_decoder_gs.h
View File

@ -31,8 +31,8 @@
#ifndef GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_GS_H
#define GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_GS_H
#include "gnss_satellite.h"
#include "beidou_dnav_navigation_message.h"
#include "gnss_satellite.h"
#include <boost/circular_buffer.hpp>
#include <gnuradio/block.h>
#include <gnuradio/types.h> // for gr_vector_const_void_star

8
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
View File

@ -34,15 +34,15 @@
#include "galileo_fnav_message.h"
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include "galileo_navigation_message.h"
#include "gnss_satellite.h"
#include <boost/circular_buffer.hpp>
#include <gnuradio/block.h>
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <cstdint>
#include <fstream>
#include <string>
#include <cstdint>
class galileo_telemetry_decoder_gs;

1
src/algorithms/tracking/adapters/CMakeLists.txt
View File

@ -100,6 +100,7 @@ target_link_libraries(tracking_adapters
tracking_gr_blocks
algorithms_libs
gnss_sdr_flags
Gnuradio::runtime
PRIVATE
Volkgnsssdr::volkgnsssdr
)

5
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
View File

@ -38,10 +38,15 @@
#include "Galileo_E1.h"
#include "configuration_interface.h"
#include "display.h"
#include "dll_pll_conf_fpga.h"
#include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <iostream> // for operator<<,
GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(

14
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.h
View File

@ -1,7 +1,7 @@
/*!
* \file galileo_e1_dll_pll_veml_tracking_fpga.h
* \brief Adapts a DLL+PLL VEML (Very Early Minus Late) tracking loop block
* to a TrackingInterface for Galileo E1 signals for the FPGA
* \brief Adapts a DLL+PLL VEML (Very Early Minus Late) tracking loop block
* to a TrackingInterface for Galileo E1 signals for the FPGA
* \author Marc Majoral, 2019. mmajoral(at)cttc.cat
*
* Code DLL + carrier PLL according to the algorithms described in:
@ -39,9 +39,12 @@
#include "dll_pll_veml_tracking_fpga.h"
#include "tracking_interface.h"
#include <string>
#include <gnuradio/runtime_types.h> // for basic_block_sptr, basic_block_sptr
#include <cstddef> // for size_t
#include <cstdint> // for uint32_t
#include <string> // for string
class Gnss_Synchro;
class ConfigurationInterface;
/*!
@ -87,7 +90,7 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@ -98,7 +101,6 @@ public:
*/
void stop_tracking() override;
private:
dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
uint32_t channel_;

7
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
View File

@ -33,10 +33,17 @@
#include "Galileo_E5a.h"
#include "configuration_interface.h"
#include "display.h"
#include "dll_pll_conf_fpga.h"
#include "galileo_e5_signal_processing.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for round
#include <complex>
#include <cstring> // for memcpy
#include <iostream>
GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(

5
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.h
View File

@ -34,9 +34,12 @@
#include "dll_pll_veml_tracking_fpga.h"
#include "tracking_interface.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr
#include <cstdint> // For uint32_t
#include <stddef.h> // for size_t
#include <string>
#include <cstdint>
class Gnss_Synchro;
class ConfigurationInterface;
/*!

5
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
View File

@ -38,10 +38,15 @@
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "display.h"
#include "dll_pll_conf_fpga.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <iostream>
#define NUM_PRNs 32

3
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h
View File

@ -39,9 +39,12 @@
#include "dll_pll_veml_tracking_fpga.h"
#include "tracking_interface.h"
#include <gnuradio/runtime_types.h>
#include <cstddef>
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!

10
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.cc
View File

@ -1,7 +1,7 @@
/*!
* \file gps_l2_m_dll_pll_tracking_fpga.cc
* \brief Implementation of an adapter of a DLL+PLL tracking loop block
* for GPS L2C to a TrackingInterface
* for GPS L2C to a TrackingInterface for the FPGA
* \author Javier Arribas, 2019. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
@ -11,7 +11,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -39,10 +39,16 @@
#include "GPS_L2C.h"
#include "configuration_interface.h"
#include "display.h"
#include "dll_pll_conf_fpga.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_l2c_signal.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <iostream>
#define NUM_PRNs 32

18
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.h
View File

@ -1,7 +1,7 @@
/*!
* \file gps_l2_m_dll_pll_tracking_fpga.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for GPS L2C to a TrackingInterface
* for GPS L2C to a TrackingInterface for the FPGA
* \author Marc Majoral, 2019, mmajoral(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
@ -11,7 +11,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -34,14 +34,16 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_gps_l2_m_dll_pll_tracking_FPGA_H_
#define GNSS_SDR_gps_l2_m_dll_pll_tracking_FPGA_H_
#ifndef GNSS_SDR_GPS_L2_M_DLL_PLL_TRACKING_FPGA_H_
#define GNSS_SDR_GPS_L2_M_DLL_PLL_TRACKING_FPGA_H_
#include "tracking_interface.h"
//#include "dll_pll_veml_tracking.h"
#include "dll_pll_veml_tracking_fpga.h"
#include "tracking_interface.h"
#include <gnuradio/runtime_types.h>
#include <cstddef>
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
@ -90,13 +92,13 @@ public:
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
/*!
* \brief Stop running tracking
*/
void stop_tracking() override;
private:
//dll_pll_veml_tracking_sptr tracking_;
dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
unsigned int channel_;
std::string role_;
@ -105,4 +107,4 @@ private:
int* d_ca_codes;
};
#endif // GNSS_SDR_gps_l2_m_dll_pll_tracking_FPGA_H_
#endif // GNSS_SDR_GPS_L2_M_DLL_PLL_TRACKING_FPGA_H_

7
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
View File

@ -1,7 +1,7 @@
/*!
* \file gps_l5_dll_pll_tracking_fpga.cc
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for GPS L5 to a TrackingInterface
* for GPS L5 to a TrackingInterface for the FPGA
* \author Marc Majoral, 2019. mmajoral(at)cttc.cat
* Javier Arribas, 2019. jarribas(at)cttc.es
*
@ -40,10 +40,15 @@
#include "GPS_L5.h"
#include "configuration_interface.h"
#include "display.h"
#include "dll_pll_conf_fpga.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_l5_signal.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <iostream>
#define NUM_PRNs 32

11
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.h
View File

@ -1,7 +1,7 @@
/*!
* \file gps_l5_dll_pll_tracking_fpga.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for GPS L5 to a TrackingInterface
* for GPS L5 to a TrackingInterface for the FPGA
* \author Marc Majoral, 2019. mmajoral(at)cttc.cat
* Javier Arribas, 2019. jarribas(at)cttc.es
*
@ -40,8 +40,12 @@
#include "dll_pll_veml_tracking_fpga.h"
#include "tracking_interface.h"
#include <gnuradio/runtime_types.h>
#include <cstddef>
#include <cstdint>
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
@ -62,10 +66,10 @@ public:
return role_;
}
//! Returns "GPS_L5_DLL_PLL_Tracking"
//! Returns "GPS_L5_DLL_PLL_Tracking_Fpga"
inline std::string implementation() override
{
return "GPS_L5_DLL_PLL_Tracking";
return "GPS_L5_DLL_PLL_Tracking_Fpga";
}
inline size_t item_size() override
@ -90,6 +94,7 @@ public:
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
/*!
* \brief Stop running tracking
*/

5
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -47,6 +47,7 @@
#include "beidou_b1i_signal_processing.h"
#include "galileo_e1_signal_processing.h"
#include "galileo_e5_signal_processing.h"
#include "gnss_satellite.h"
#include "gnss_sdr_create_directory.h"
#include "gnss_synchro.h"
#include "gps_l2c_signal.h"
@ -63,9 +64,11 @@
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm> // for fill_n
#include <cmath> // for fmod, round, floor
#include <complex> // for complex
#include <cstdlib> // for abs, size_t
#include <exception> // for exception
#include <iostream> // for cout, cerr
#include <map>
#include <map> // for map
dll_pll_veml_tracking_sptr dll_pll_veml_make_tracking(const Dll_Pll_Conf &conf_)

2
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h
View File

@ -44,8 +44,10 @@
#include <pmt/pmt.h> // for pmt_t
#include <cstdint> // for int32_t
#include <fstream> // for string, ofstream
#include <string> // for string
#include <utility> // for pair
class Gnss_Synchro;
class dll_pll_veml_tracking;

14
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
View File

@ -41,25 +41,25 @@
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "MATH_CONSTANTS.h"
#include "galileo_e1_signal_processing.h"
#include "galileo_e5_signal_processing.h"
#include "fpga_multicorrelator.h"
#include "gnss_satellite.h"
#include "gnss_sdr_create_directory.h"
#include "gps_l2c_signal.h"
#include "gps_l5_signal.h"
#include "gps_sdr_signal_processing.h"
#include "gnss_synchro.h"
#include "lock_detectors.h"
#include "tracking_discriminators.h"
#include <boost/filesystem/path.hpp>
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt_sugar.h> // for mp
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm>
#include <cmath>
#include <complex>
#include <cstdlib> // for abs, size_t
#include <exception>
#include <iostream>
#include <numeric>
#include <sstream>
#include <map>
dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_)

17
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.h
View File

@ -33,18 +33,23 @@
#define GNSS_SDR_DLL_PLL_VEML_TRACKING_FPGA_H
#include "dll_pll_conf_fpga.h"
#include "fpga_multicorrelator.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include <boost/circular_buffer.hpp>
#include <boost/shared_ptr.hpp>
#include <gnuradio/block.h>
#include <fstream>
#include <map>
#include <queue>
#include <gnuradio/gr_complex.h> // for gr_complex
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <pmt/pmt.h> // for pmt_t
#include <cstdint>
#include <deque> // for deque
#include <fstream> // for ofstream
#include <memory> // for shared_ptr
#include <string>
#include <utility>
//#include <string>
class Fpga_Multicorrelator_8sc;
class Gnss_Synchro;
class dll_pll_veml_tracking_fpga;
using dll_pll_veml_tracking_fpga_sptr = boost::shared_ptr<dll_pll_veml_tracking_fpga>;

17
src/core/libs/CMakeLists.txt
View File

@ -23,6 +23,7 @@ set(CORE_LIBS_SOURCES
INIReader.cc
string_converter.cc
gnss_sdr_supl_client.cc
gnss_sdr_sample_counter.cc
)
set(CORE_LIBS_HEADERS
@ -30,8 +31,22 @@ set(CORE_LIBS_HEADERS
INIReader.h
string_converter.h
gnss_sdr_supl_client.h
gnss_sdr_sample_counter.h
)
if(ENABLE_FPGA)
set(CORE_LIBS_SOURCES
${CORE_LIBS_SOURCES}
gnss_sdr_fpga_sample_counter.cc
gnss_sdr_time_counter.cc
)
set(CORE_LIBS_HEADERS
${CORE_LIBS_HEADERS}
gnss_sdr_fpga_sample_counter.h
gnss_sdr_time_counter.h
)
endif()
list(SORT CORE_LIBS_HEADERS)
list(SORT CORE_LIBS_SOURCES)
@ -42,6 +57,7 @@ add_library(core_libs ${CORE_LIBS_SOURCES} ${CORE_LIBS_HEADERS})
target_link_libraries(core_libs
PUBLIC
Boost::boost
Gnuradio::runtime
core_libs_supl
core_system_parameters
PRIVATE
@ -51,6 +67,7 @@ target_link_libraries(core_libs
Pugixml::pugixml
)
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(core_libs

13
src/algorithms/libs/gnss_sdr_fpga_sample_counter.cc → src/core/libs/gnss_sdr_fpga_sample_counter.cc
View File

@ -33,12 +33,13 @@
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <cinttypes>
#include <cmath>
#include <fcntl.h> // libraries used by the GIPO
#include <iostream>
#include <string>
#include <sys/mman.h> // libraries used by the GIPO
#include <pmt/pmt.h> // for from_double
#include <pmt/pmt_sugar.h> // for mp
#include <cmath> // for round
#include <fcntl.h> // for O_RDWR, libraries used by the GIPO
#include <iostream> // for operator<<, endl
#include <sys/mman.h> // libraries used by the GIPO
#include <unistd.h> // for write, close, read, ssize_t
#define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map

3
src/algorithms/libs/gnss_sdr_fpga_sample_counter.h → src/core/libs/gnss_sdr_fpga_sample_counter.h
View File

@ -35,6 +35,7 @@
#include <boost/shared_ptr.hpp>
#include <gnuradio/block.h>
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <cstdint>
#include <string>
@ -47,6 +48,7 @@ gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs,
class gnss_sdr_fpga_sample_counter : public gr::block
{
private:
friend gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int32_t _interval_ms);
gnss_sdr_fpga_sample_counter(double _fs, int32_t _interval_ms);
uint32_t test_register(uint32_t writeval);
void configure_samples_per_output(uint32_t interval);
@ -75,7 +77,6 @@ private:
bool is_open;
public:
friend gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int32_t _interval_ms);
~gnss_sdr_fpga_sample_counter();
int general_work(int noutput_items,
gr_vector_int &ninput_items,

11
src/algorithms/libs/gnss_sdr_sample_counter.cc → src/core/libs/gnss_sdr_sample_counter.cc
View File

@ -32,9 +32,11 @@
#include "gnss_sdr_sample_counter.h"
#include "gnss_synchro.h"
#include <gnuradio/io_signature.h>
#include <cmath>
#include <iostream>
#include <string>
#include <pmt/pmt.h> // for from_double
#include <pmt/pmt_sugar.h> // for mp
#include <cmath> // for round
#include <iostream> // for operator<<
#include <string> // for string
gnss_sdr_sample_counter::gnss_sdr_sample_counter(
double _fs,
@ -63,6 +65,9 @@ gnss_sdr_sample_counter::gnss_sdr_sample_counter(
}
gnss_sdr_sample_counter::~gnss_sdr_sample_counter() = default;
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs, int32_t _interval_ms, size_t _size)
{
gnss_sdr_sample_counter_sptr sample_counter_(new gnss_sdr_sample_counter(_fs, _interval_ms, _size));

12
src/algorithms/libs/gnss_sdr_sample_counter.h → src/core/libs/gnss_sdr_sample_counter.h
View File

@ -28,11 +28,14 @@
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_SAMPLE_COUNTER_H_
#define GNSS_SDR_SAMPLE_COUNTER_H_
#ifndef GNSS_SDR_GNSS_SDR_SAMPLE_COUNTER_H_
#define GNSS_SDR_GNSS_SDR_SAMPLE_COUNTER_H_
#include <boost/shared_ptr.hpp>
#include <gnuradio/sync_decimator.h>
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <cstddef> // for size_t
#include <cstdint>
@ -48,6 +51,7 @@ gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(
class gnss_sdr_sample_counter : public gr::sync_decimator
{
private:
friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs, int32_t _interval_ms, size_t _size);
gnss_sdr_sample_counter(double _fs, int32_t _interval_ms, size_t _size);
uint32_t samples_per_output;
double fs;
@ -65,10 +69,10 @@ private:
bool flag_enable_send_msg;
public:
friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs, int32_t _interval_ms, size_t _size);
~gnss_sdr_sample_counter();
int work(int noutput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
};
#endif /*GNSS_SDR_SAMPLE_COUNTER_H_*/
#endif /*GNSS_SDR_GNSS_SDR_SAMPLE_COUNTER_H_*/

4
src/algorithms/libs/gnss_sdr_time_counter.cc → src/core/libs/gnss_sdr_time_counter.cc
View File

@ -32,7 +32,6 @@
#include "gnss_sdr_time_counter.h"
#include "gnss_synchro.h"
#include <gnuradio/io_signature.h>
#include <cmath>
#include <iostream>
#include <string>
@ -53,6 +52,9 @@ gnss_sdr_time_counter::gnss_sdr_time_counter() : gr::block("time_counter",
}
gnss_sdr_time_counter::~gnss_sdr_time_counter() = default;
gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter()
{
gnss_sdr_time_counter_sptr counter_(new gnss_sdr_time_counter());

11
src/algorithms/libs/gnss_sdr_time_counter.h → src/core/libs/gnss_sdr_time_counter.h
View File

@ -28,11 +28,13 @@
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_TIME_COUNTER_H_
#define GNSS_SDR_TIME_COUNTER_H_
#ifndef GNSS_SDR_GNSS_SDR_TIME_COUNTER_H_
#define GNSS_SDR_GNSS_SDR_TIME_COUNTER_H_
#include <boost/shared_ptr.hpp>
#include <gnuradio/block.h>
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <cstdint>
class gnss_sdr_time_counter;
@ -54,11 +56,12 @@ private:
bool flag_days; // True if the receiver has been running for at least 1 day
uint32_t current_days; // Receiver time in days since the beginning of the run
int32_t report_interval_ms;
friend gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter();
public:
friend gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter();
~gnss_sdr_time_counter();
int general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items __attribute__((unused)), gr_vector_void_star &output_items);
};
#endif /*GNSS_SDR_SAMPLE_COUNTER_H_*/
#endif /*GNSS_SDR_GNSS_SDR_SAMPLE_COUNTER_H_*/

22
src/core/monitor/gnss_synchro_monitor.h
View File

@ -35,6 +35,8 @@
#define GNSS_SDR_GNSS_SYNCHRO_MONITOR_H
#include "gnss_synchro_udp_sink.h"
#include <boost/shared_ptr.hpp>
#include <gnuradio/runtime_types.h> // for gr_vector_void_star
#include <gnuradio/sync_block.h>
#include <memory>
#include <string>
@ -51,7 +53,9 @@ gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
const std::vector<std::string>& udp_addresses);
/*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
* \brief This class implements a monitoring block which allows sending
* a data stream with the receiver internal parameters (Gnss_Synchro objects)
* to local or remote clients over UDP.
*/
class gnss_synchro_monitor : public gr::sync_block
{
@ -61,21 +65,17 @@ private:
int udp_port,
const std::vector<std::string>& udp_addresses);
unsigned int d_nchannels;
int d_decimation_factor;
std::unique_ptr<Gnss_Synchro_Udp_Sink> udp_sink_ptr;
int count;
public:
gnss_synchro_monitor(unsigned int n_channels,
int decimation_factor,
int udp_port,
const std::vector<std::string>& udp_addresses);
unsigned int d_nchannels;
int d_decimation_factor;
std::unique_ptr<Gnss_Synchro_Udp_Sink> udp_sink_ptr;
int count;
public:
~gnss_synchro_monitor(); //!< Default destructor
int work(int noutput_items, gr_vector_const_void_star& input_items,

1
src/core/monitor/gnss_synchro_udp_sink.cc
View File

@ -44,6 +44,7 @@ Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses,
}
}
bool Gnss_Synchro_Udp_Sink::write_gnss_synchro(const std::vector<Gnss_Synchro>& stocks)
{
std::ostringstream archive_stream;

5
src/core/monitor/gnss_synchro_udp_sink.h
View File

@ -35,10 +35,15 @@
#include "gnss_synchro.h"
#include <boost/asio.hpp>
#include <boost/system/error_code.hpp>
#include <cstdint>
#include <string>
#include <vector>
/*!
* \brief This class sends serialized Gnss_Synchro objects
* over UDP to one or multiple endpoints.
*/
class Gnss_Synchro_Udp_Sink
{
public:

4
src/core/receiver/gnss_flowgraph.cc
View File

@ -1699,10 +1699,10 @@ void GNSSFlowgraph::init()
if (enable_monitor_)
{
GnssSynchroMonitor_ = gr::basic_block_sptr(new gnss_synchro_monitor(channels_count_,
GnssSynchroMonitor_ = gnss_synchro_make_monitor(channels_count_,
configuration_->property("Monitor.decimation_factor", 1),
configuration_->property("Monitor.udp_port", 1234),
udp_addr_vec));
udp_addr_vec);
}
}

4
src/core/system_parameters/GLONASS_L1_L2_CA.h
View File

@ -52,7 +52,7 @@ const double GLONASS_F_M_A = 0.35e9; //!< Gravitationa
const double GLONASS_SEMI_MAJOR_AXIS = 6378136; //!< Semi-major axis of Earth [m]
const double GLONASS_FLATTENING = 1 / 29825784; //!< Flattening parameter
const double GLONASS_GRAVITY = 97803284; //!< Equatorial acceleration of gravity [mGal]
const double GLONASS_GRAVITY_CORRECTION = 0.87; //!< Correction to acceleration of gravity at sea-level due to Atmosphere[мGal]
const double GLONASS_GRAVITY_CORRECTION = 0.87; //!< Correction to acceleration of gravity at sea-level due to Atmosphere[uGal]
const double GLONASS_J2 = 1082625.75e-9; //!< Second zonal harmonic of the geopotential
const double GLONASS_J4 = -2370.89e-9; //!< Fourth zonal harmonic of the geopotential
const double GLONASS_J6 = 6.08e-9; //!< Sixth zonal harmonic of the geopotential
@ -74,7 +74,7 @@ const double GLONASS_MOON_SEMI_MAJOR_AXIS = 3.84385243e5; //!< Semi-major ax
const double GLONASS_MOON_ECCENTRICITY = 0.054900489; //!< Eccentricity of lunar orbit
const double GLONASS_MOON_INCLINATION = 0.000089803977407e3; //!< Inclination of lunar orbit to ecliptic plane (5 deg 08 min 43.4 sec) [rad]
const double GLONASS_SUN_OMEGA = 0.004908229466869e3; //!< TODO What is this operation in the seconds with T?(281 deg 13 min 15.0 + 6189.03*Т sec) [rad]
const double GLONASS_SUN_OMEGA = 0.004908229466869e3; //!< TODO What is this operation in the seconds with T?(281 deg 13 min 15.0 + 6189.03 x T sec) [rad]
const double GLONASS_SUN_Q0 = 0.006256583774423e3; //!< (358 deg 28 min 33.04 sec) [rad]
const double GLONASS_SUN_Q1 = 0e3; //!< TODO Why is the value greater than 60?(129596579.10 sec) [rad]
const double GLONASS_SUN_GM = 0.1325263e12; //!< Solar gravitational constant [km^3/s^2]

2
src/core/system_parameters/Galileo_E5a.h
View File

@ -1,4 +1,4 @@
/*
/*!
* \file Galileo_E5a.h
* \brief Defines system parameters for Galileo E5a signal and NAV data
* \author Marc Sales, 2014. marcsales92@gmail.com

2
src/core/system_parameters/gps_cnav_utc_model.cc
View File

@ -1,5 +1,5 @@
/*
* \file gps_cnav_utc_model.h
* \file gps_cnav_utc_model.cc
* \brief Interface of a GPS CNAV UTC MODEL storage
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*

2
src/core/system_parameters/gps_cnav_utc_model.h
View File

@ -1,5 +1,5 @@
/*!
* \file gps_utc_model.h
* \file gps_cnav_utc_model.h
* \brief Interface of a GPS UTC MODEL storage
* \author Javier Arribas, 2013. jarribas(at)cttc.es
*

36
src/tests/CMakeLists.txt
View File

@ -184,6 +184,12 @@ find_package(Gnuplot)
if(GNUPLOT_FOUND)
add_definitions(-DGNUPLOT_EXECUTABLE="${GNUPLOT_EXECUTABLE}")
endif()
set_package_properties(Gnuplot PROPERTIES
URL "http://www.gnuplot.info"
DESCRIPTION "A portable command-line driven graphing utility"
PURPOSE "Used to generate plots in some tests."
TYPE OPTIONAL
)
if(ENABLE_UNIT_TESTING_MINIMAL)
add_definitions(-DUNIT_TESTING_MINIMAL=1)
@ -194,6 +200,15 @@ endif()
# Optional generator
################################################################################
option(ENABLE_GNSS_SIM_INSTALL "Enable the installation of gnss_sim on the fly" ON)
add_feature_info(ENABLE_GNSS_SIM_INSTALL ENABLE_GNSS_SIM_INSTALL "Enables downloading and building of gnss-sim.")
find_package(GPSTK)
set_package_properties(GPSTK PROPERTIES
URL "http://www.gpstk.org"
DESCRIPTION "Library and suite of applications for satellite navigation"
PURPOSE "Used in some Extra Tests."
TYPE OPTIONAL
)
if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
if(ENABLE_FPGA)
set(CROSS_INSTALL_DIR "-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}")
@ -239,7 +254,6 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
################################################################################
# Local installation of GPSTk http://www.gpstk.org/
################################################################################
find_package(GPSTK)
if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
message(STATUS " GPSTk v${GNSSSDR_GPSTK_LOCAL_VERSION} will be automatically downloaded and built when doing 'make'.")
if("${TOOLCHAIN_ARG}" STREQUAL "")
@ -550,7 +564,7 @@ endif()
set(CMAKE_CTEST_COMMAND ctest -V)
add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND})
if(NOT ENABLE_PACKAGING)
if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
add_executable(flowgraph_test
${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/control-plane/gnss_flowgraph_test.cc
@ -589,7 +603,7 @@ endif()
#########################################################
if(NOT ENABLE_PACKAGING)
if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
add_executable(gnss_block_test
${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/sources/file_signal_source_test.cc
@ -640,7 +654,7 @@ endif()
#########################################################
if(NOT ENABLE_PACKAGING)
if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
add_executable(gnuradio_block_test
${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/sources/unpack_2bit_samples_test.cc
@ -696,7 +710,7 @@ set_property(TEST matio_test PROPERTY TIMEOUT 30)
#########################################################
if(NOT ENABLE_PACKAGING)
if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
add_executable(acq_test
${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc
@ -734,7 +748,7 @@ endif()
#########################################################
if(NOT ENABLE_PACKAGING)
if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
add_executable(trk_test
${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc
@ -773,7 +787,7 @@ endif()
#########################################################
if(NOT ENABLE_PACKAGING)
if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
add_executable(control_thread_test
${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/control-plane/control_message_factory_test.cc
@ -807,6 +821,10 @@ endif()
if(ENABLE_PACKAGING)
add_dependencies(check matio_test)
else()
add_dependencies(check control_thread_test flowgraph_test gnss_block_test
gnuradio_block_test acq_test trk_test matio_test)
if(ENABLE_FPGA)
add_dependencies(check matio_test)
else()
add_dependencies(check control_thread_test flowgraph_test gnss_block_test
gnuradio_block_test acq_test trk_test matio_test)
endif()
endif()

2
src/tests/common-files/observable_tests_flags.h
View File

@ -1,5 +1,5 @@
/*!
* \file tracking_tests_flags.h
* \file observable_tests_flags.h
* \brief Helper file for unit testing
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*

2
src/tests/system-tests/libs/position_test_flags.h
View File

@ -1,5 +1,5 @@
/*!
* \file signal_generator_flags.h
* \file position_test_flags.h
* \brief Helper file for unit testing
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*

2
src/tests/unit-tests/signal-processing-blocks/libs/true_observables_reader.h
View File

@ -1,5 +1,5 @@
/*!
* \file tlm_dump_reader.h
* \file true_observables_reader.h
* \brief Helper file for unit testing
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*

1
src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
View File

@ -31,6 +31,7 @@
#include "nmea_printer.h"
#include "rtklib_rtkpos.h"
#include "rtklib_solver.h"
#include <cstdio>
#include <fstream>
#include <string>

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