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

2024-12-14 04:00:34 +00:00 · 2019-11-17 21:13:19 +01:00 · 2019-11-17 21:13:19 +01:00 · ee8eed758a
commit ee8eed758a
parent 6f338d7af6 17fd01ee3f
8 changed files with 107 additions and 58 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -970,11 +970,23 @@ if(NOT VOLKGNSSSDR_FOUND)
    else()
        set(VOLK_GNSSSDR_COMPILER -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER} -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER})
    endif()
+
+    find_package(ORC)
+    set_package_properties(ORC PROPERTIES
+        PURPOSE "Used by volk_gnsssdr."
+        TYPE OPTIONAL
+    )
+    if(ORC_FOUND)
+        set(ORC_ENABLED ON)
+    else()
+        set(ORC_ENABLED OFF)
+    endif()
+
    set(VOLK_GNSSSDR_CMAKE_ARGS ${VOLK_GNSSSDR_COMPILER}
        -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install
        -DENABLE_STATIC_LIBS=ON
        -DENABLE_PROFILING=${ENABLE_PROFILING}
-        -DENABLE_ORC=OFF
+        -DENABLE_ORC=${ORC_ENABLED}
        ${STRIP_VOLK_GNSSSDR_PROFILE}
        ${USE_THIS_PYTHON}
    )
@ -1017,11 +1029,6 @@ if(NOT VOLKGNSSSDR_FOUND)
            INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}/volk_gnsssdr_module/install
        )
    endif()
-    find_package(ORC)
-    set_package_properties(ORC PROPERTIES
-        PURPOSE "Used by volk_gnsssdr."
-        TYPE OPTIONAL
-    )

    if(NOT ORC_FOUND)
        set(ORC_LIBRARIES "")
--- a/README.md
+++ b/README.md
@ -160,13 +160,13 @@ This option is adequate if you are interested in development, in working with th
 First of all, install some basic packages:

 ~~~~~~
-$ sudo apt-get install git python-pip
+$ sudo apt-get install git python3-pip
 ~~~~~~

 Download, build and install PyBOMBS:

 ~~~~~~
-$ sudo pip install git+https://github.com/gnuradio/pybombs.git
+$ sudo pip3 install --upgrade git+https://github.com/gnuradio/pybombs.git
 ~~~~~~

 Apply a configuration:
@ -302,9 +302,9 @@ $ sudo apt-get install autoconf automake libtool curl make g++ unzip
 and then:

 ~~~~~~
-$ wget https://github.com/protocolbuffers/protobuf/releases/download/v3.10.0/protobuf-cpp-3.10.0.tar.gz
-$ tar xvfz protobuf-cpp-3.10.0.tar.gz
-$ cd protobuf-3.10.0
+$ wget https://github.com/protocolbuffers/protobuf/releases/download/v3.10.1/protobuf-cpp-3.10.1.tar.gz
+$ tar xvfz protobuf-cpp-3.10.1.tar.gz
+$ cd protobuf-3.10.1
 $ ./autogen.sh
 $ ./configure
 $ make
--- a/cmake/Modules/FindORC.cmake
+++ b/cmake/Modules/FindORC.cmake
@ -38,8 +38,9 @@ find_path(ORC_INCLUDE_DIR
    PATHS /usr/include
          /usr/local/include
          /opt/local/include
-          ${ORC_ROOT}/include/orc-0.4
-          ${CMAKE_INSTALL_PREFIX}/include/orc-0.4
+          ${ORC_ROOT}/include
+          ${CMAKE_INSTALL_PREFIX}/include
+    PATH_SUFFIXES orc-0.4
 )

 find_path(ORC_LIBRARY_DIR
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindORC.cmake
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindORC.cmake
@ -16,45 +16,62 @@
 # along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.


-find_package(PkgConfig)
+set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
+include(FindPkgConfig)
 pkg_check_modules(PC_ORC "orc-0.4 > 0.4.22")

 find_program(ORCC_EXECUTABLE orcc
    HINTS ${PC_ORC_TOOLSDIR}
-    PATHS ${ORC_ROOT}/bin ${CMAKE_INSTALL_PREFIX}/bin
+    PATHS /usr/bin
+          /usr/local/bin
+          /opt/local/bin
+          ${ORC_ROOT}/bin
+          ${CMAKE_INSTALL_PREFIX}/bin
 )

-find_path(ORC_INCLUDE_DIR NAMES orc/orc.h
+find_path(ORC_INCLUDE_DIR
+    NAMES orc/orc.h
    HINTS ${PC_ORC_INCLUDEDIR}
-    PATHS ${ORC_ROOT}/include/orc-0.4 ${CMAKE_INSTALL_PREFIX}/include/orc-0.4
+    PATHS /usr/include
+          /usr/local/include
+          /opt/local/include
+          ${ORC_ROOT}/include
+          ${CMAKE_INSTALL_PREFIX}/include
+    PATH_SUFFIXES orc-0.4
 )

-
 find_path(ORC_LIBRARY_DIR
    NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHARED_LIBRARY_SUFFIX}
    HINTS ${PC_ORC_LIBDIR}
-        /usr/local/lib
-        /usr/lib/x86_64-linux-gnu
-        /usr/lib/i386-linux-gnu
-        /usr/lib/arm-linux-gnueabihf
-        /usr/lib/arm-linux-gnueabi
-        /usr/lib/aarch64-linux-gnu
-        /usr/lib/mipsel-linux-gnu
-        /usr/lib/mips-linux-gnu
-        /usr/lib/mips64el-linux-gnuabi64
-        /usr/lib/powerpc-linux-gnu
-        /usr/lib/powerpc64-linux-gnu
-        /usr/lib/powerpc64le-linux-gnu
-        /usr/lib/hppa-linux-gnu
-        /usr/lib/s390x-linux-gnu
-        /usr/lib64
-        /usr/lib
-    PATHS ${ORC_ROOT}/lib${LIB_SUFFIX} ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+    PATHS /usr/lib
+          /usr/lib64
+          /usr/lib/x86_64-linux-gnu
+          /usr/lib/i386-linux-gnu
+          /usr/lib/arm-linux-gnueabihf
+          /usr/lib/arm-linux-gnueabi
+          /usr/lib/aarch64-linux-gnu
+          /usr/lib/mipsel-linux-gnu
+          /usr/lib/mips-linux-gnu
+          /usr/lib/mips64el-linux-gnuabi64
+          /usr/lib/powerpc-linux-gnu
+          /usr/lib/powerpc64-linux-gnu
+          /usr/lib/powerpc64le-linux-gnu
+          /usr/lib/hppa-linux-gnu
+          /usr/lib/s390x-linux-gnu
+          /usr/local/lib
+          /usr/local/lib64
+          /opt/local/lib
+          ${ORC_ROOT}/lib
+          $ENV{ORC_ROOT}/lib
+          ${ORC_ROOT}/lib${LIB_SUFFIX}
+          ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
 )

 find_library(ORC_LIB orc-0.4
    HINTS ${PC_ORC_LIBRARY_DIRS}
-    PATHS ${ORC_ROOT}/lib${LIB_SUFFIX} ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX})
+    PATHS ${ORC_ROOT}/lib${LIB_SUFFIX}
+          ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+)

 list(APPEND ORC_LIBRARY
    ${ORC_LIB}
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake
@ -133,7 +133,7 @@ file(TO_CMAKE_PATH ${VOLK_PYTHON_DIR} VOLK_PYTHON_DIR)
 function(VOLK_UNIQUE_TARGET desc)
    file(RELATIVE_PATH reldir ${PROJECT_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR})
    execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import re, hashlib
-unique = hashlib.md5(b'${reldir}${ARGN}').hexdigest()[:5]
+unique = hashlib.sha256(b'${reldir}${ARGN}').hexdigest()[:5]
 print(re.sub('\\W', '_', '${desc} ${reldir} ' + unique))"
    OUTPUT_VARIABLE _target OUTPUT_STRIP_TRAILING_WHITESPACE)
    add_custom_target(${_target} ALL DEPENDS ${ARGN})
--- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/include/volk_gnsssdr/volk_gnsssdr_common.h
+++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/include/volk_gnsssdr/volk_gnsssdr_common.h
@ -27,7 +27,10 @@
 //
 // Cross-platform attribute macros not included in VOLK
 //
-#if defined __GNUC__
+#if defined __clang__
+#define __VOLK_GNSSSDR_PREFETCH(addr) __builtin_prefetch(addr)
+#define __VOLK_GNSSSDR_PREFETCH_LOCALITY(addr, rw, locality) __builtin_prefetch(addr, rw, locality)
+#elif defined __GNUC__
 #define __VOLK_GNSSSDR_PREFETCH(addr) __builtin_prefetch(addr)
 #define __VOLK_GNSSSDR_PREFETCH_LOCALITY(addr, rw, locality) __builtin_prefetch(addr, rw, locality)
 #elif _MSC_VER
@ -44,7 +47,20 @@
 //
 // Cross-platform attribute macros
 //
-#if defined __GNUC__
+#if defined __clang__
+// AppleClang also defines __GNUC__, so do this check first.  These
+// will probably be the same as for __GNUC__, but let's keep them
+// separate just to be safe.
+#define __VOLK_ATTR_ALIGNED(x) __attribute__((aligned(x)))
+#define __VOLK_ATTR_UNUSED __attribute__((unused))
+#define __VOLK_ATTR_INLINE __attribute__((always_inline))
+#define __VOLK_ATTR_DEPRECATED __attribute__((deprecated))
+#define __VOLK_ASM __asm__
+#define __VOLK_VOLATILE __volatile__
+#define __VOLK_ATTR_EXPORT __attribute__((visibility("default")))
+#define __VOLK_ATTR_IMPORT __attribute__((visibility("default")))
+#define __VOLK_PREFETCH(addr) __builtin_prefetch(addr)
+#elif defined __GNUC__
 #define __VOLK_ATTR_ALIGNED(x) __attribute__((aligned(x)))
 #define __VOLK_ATTR_UNUSED __attribute__((unused))
 #define __VOLK_ATTR_INLINE __attribute__((always_inline))
@ -58,6 +74,7 @@
 #define __VOLK_ATTR_EXPORT
 #define __VOLK_ATTR_IMPORT
 #endif
+#define __VOLK_PREFETCH(addr) __builtin_prefetch(addr)
 #elif _MSC_VER
 #define __VOLK_ATTR_ALIGNED(x) __declspec(align(x))
 #define __VOLK_ATTR_UNUSED
@ -65,6 +82,7 @@
 #define __VOLK_ATTR_DEPRECATED __declspec(deprecated)
 #define __VOLK_ATTR_EXPORT __declspec(dllexport)
 #define __VOLK_ATTR_IMPORT __declspec(dllimport)
+#define __VOLK_PREFETCH(addr)
 #define __VOLK_ASM __asm
 #define __VOLK_VOLATILE
 #else
@ -74,6 +92,7 @@
 #define __VOLK_ATTR_DEPRECATED
 #define __VOLK_ATTR_EXPORT
 #define __VOLK_ATTR_IMPORT
+#define __VOLK_PREFETCH(addr)
 #define __VOLK_ASM __asm__
 #define __VOLK_VOLATILE __volatile__
 #endif
--- a/src/tests/common-files/tracking_tests_flags.h
+++ b/src/tests/common-files/tracking_tests_flags.h
@ -58,6 +58,10 @@ DEFINE_double(DLL_bw_hz_start, 1.0, "DLL Wide configuration start sweep value [H
 DEFINE_double(DLL_bw_hz_stop, 1.0, "DLL Wide configuration stop sweep value [Hz]");
 DEFINE_double(DLL_bw_hz_step, 0.25, "DLL Wide configuration sweep step value [Hz]");

+DEFINE_double(fll_bw_hz, 4.0, "FLL filter bandwidth [Hz]");
+DEFINE_bool(enable_fll_pull_in, false, "Enable FLL in pull-in phase");
+DEFINE_bool(enable_fll_steady_state, false, "Enable FLL in steady-state phase");
+
 DEFINE_double(PLL_narrow_bw_hz, 5.0, "PLL Narrow configuration value [Hz]");
 DEFINE_double(DLL_narrow_bw_hz, 0.75, "DLL Narrow configuration value [Hz]");

--- a/src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
@ -661,7 +661,6 @@ void HybridObservablesTest::configure_receiver(
    bool high_dyn)
 {
    config = std::make_shared<InMemoryConfiguration>();
-    config->set_property("Tracking.dump", "true");
    if (high_dyn)
        {
            config->set_property("Tracking.high_dyn", "true");
@ -670,8 +669,6 @@ void HybridObservablesTest::configure_receiver(
        {
            config->set_property("Tracking.high_dyn", "false");
        }
-    config->set_property("Tracking.smoother_length", std::to_string(smoother_length));
-    config->set_property("Tracking.dump_filename", "./tracking_ch_");
    config->set_property("Tracking.implementation", implementation);
    config->set_property("Tracking.item_type", "gr_complex");
    config->set_property("Tracking.pll_bw_hz", std::to_string(PLL_wide_bw_hz));
@ -679,6 +676,12 @@ void HybridObservablesTest::configure_receiver(
    config->set_property("Tracking.extend_correlation_symbols", std::to_string(extend_correlation_symbols));
    config->set_property("Tracking.pll_bw_narrow_hz", std::to_string(PLL_narrow_bw_hz));
    config->set_property("Tracking.dll_bw_narrow_hz", std::to_string(DLL_narrow_bw_hz));
+    config->set_property("Tracking.fll_bw_hz", std::to_string(FLAGS_fll_bw_hz));
+    config->set_property("Tracking.enable_fll_pull_in", FLAGS_enable_fll_pull_in ? "true" : "false");
+    config->set_property("Tracking.enable_fll_steady_state", FLAGS_enable_fll_steady_state ? "true" : "false");
+    config->set_property("Tracking.smoother_length", std::to_string(smoother_length));
+    config->set_property("Tracking.dump", "true");
+    config->set_property("Tracking.dump_filename", "./tracking_ch_");
    config->set_property("Observables.implementation", "Hybrid_Observables");
    config->set_property("Observables.dump", "true");
    config->set_property("TelemetryDecoder.dump", "true");
@ -696,7 +699,7 @@ void HybridObservablesTest::configure_receiver(
            std::memcpy(static_cast<void*>(gnss_synchro_master.Signal), str, 3);  // copy string into synchro char array: 2 char + null

            config->set_property("Tracking.early_late_space_chips", "0.5");
-            config->set_property("Tracking.early_late_space_narrow_chips", "0.5");
+            config->set_property("Tracking.early_late_space_narrow_chips", "0.1");

            config->set_property("TelemetryDecoder.implementation", "GPS_L1_CA_Telemetry_Decoder");
        }
@ -743,8 +746,8 @@ void HybridObservablesTest::configure_receiver(
                }
            config->set_property("Tracking.early_late_space_chips", "0.5");
            config->set_property("Tracking.track_pilot", "true");
-            config->set_property("Tracking.pll_filter_order", "2");
-            config->set_property("Tracking.dll_filter_order", "2");
+            //config->set_property("Tracking.pll_filter_order", "2");
+            //config->set_property("Tracking.dll_filter_order", "2");

            config->set_property("TelemetryDecoder.implementation", "Galileo_E5a_Telemetry_Decoder");
        }
@ -758,8 +761,8 @@ void HybridObservablesTest::configure_receiver(

            config->set_property("Tracking.early_late_space_chips", "0.5");
            config->set_property("Tracking.track_pilot", "true");
-            config->set_property("Tracking.pll_filter_order", "2");
-            config->set_property("Tracking.dll_filter_order", "2");
+            //config->set_property("Tracking.pll_filter_order", "2");
+            //config->set_property("Tracking.dll_filter_order", "2");

            config->set_property("TelemetryDecoder.implementation", "GPS_L5_Telemetry_Decoder");
        }
@ -776,6 +779,9 @@ void HybridObservablesTest::configure_receiver(
    std::cout << "implementation: " << config->property("Tracking.implementation", std::string("undefined")) << " \n";
    std::cout << "pll_bw_hz: " << config->property("Tracking.pll_bw_hz", 0.0) << " Hz\n";
    std::cout << "dll_bw_hz: " << config->property("Tracking.dll_bw_hz", 0.0) << " Hz\n";
+    std::cout << "fll_bw_hz: " << config->property("Tracking.fll_bw_hz", 0.0) << " Hz\n";
+    std::cout << "enable_fll_pull_in: " << config->property("Tracking.enable_fll_pull_in", false) << "\n";
+    std::cout << "enable_fll_steady_state: " << config->property("Tracking.enable_fll_steady_state", false) << "\n";
    std::cout << "pll_bw_narrow_hz: " << config->property("Tracking.pll_bw_narrow_hz", 0.0) << " Hz\n";
    std::cout << "dll_bw_narrow_hz: " << config->property("Tracking.dll_bw_narrow_hz", 0.0) << " Hz\n";
    std::cout << "extend_correlation_symbols: " << config->property("Tracking.extend_correlation_symbols", 0) << " Symbols\n";
@ -785,6 +791,7 @@ void HybridObservablesTest::configure_receiver(
    std::cout << "*****************************************\n";
 }

+
 void HybridObservablesTest::check_results_carrier_phase(
    arma::mat& true_ch0,
    arma::vec& true_tow_s,
@ -792,7 +799,6 @@ void HybridObservablesTest::check_results_carrier_phase(
    const std::string& data_title)
 {
    // 1. True value interpolation to match the measurement times
-
    double t0 = measured_ch0(0, 0);
    int size1 = measured_ch0.col(0).n_rows;
    double t1 = measured_ch0(size1 - 1, 0);
@ -873,7 +879,6 @@ void HybridObservablesTest::check_results_carrier_phase_double_diff(
    const std::string& data_title)
 {
    // 1. True value interpolation to match the measurement times
-
    double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
    int size1 = measured_ch0.col(0).n_rows;
    int size2 = measured_ch1.col(0).n_rows;
@ -969,7 +974,6 @@ void HybridObservablesTest::check_results_carrier_doppler_double_diff(
    const std::string& data_title)
 {
    // 1. True value interpolation to match the measurement times
-
    double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
    int size1 = measured_ch0.col(0).n_rows;
    int size2 = measured_ch1.col(0).n_rows;
@ -1062,7 +1066,6 @@ void HybridObservablesTest::check_results_carrier_doppler(
    const std::string& data_title)
 {
    // 1. True value interpolation to match the measurement times
-
    double t0 = measured_ch0(0, 0);
    int size1 = measured_ch0.col(0).n_rows;
    double t1 = measured_ch0(size1 - 1, 0);
@ -1137,6 +1140,7 @@ void HybridObservablesTest::check_results_carrier_doppler(
        }
 }

+
 void HybridObservablesTest::check_results_duplicated_satellite(
    arma::mat& measured_sat1,
    arma::mat& measured_sat2,
@ -1389,6 +1393,7 @@ void HybridObservablesTest::check_results_duplicated_satellite(
        }
 }

+
 bool HybridObservablesTest::save_mat_xy(std::vector<double>& x, std::vector<double>& y, std::string filename)
 {
    try
@ -1435,7 +1440,6 @@ void HybridObservablesTest::check_results_code_pseudorange(
    const std::string& data_title)
 {
    // 1. True value interpolation to match the measurement times
-
    double t0 = std::max(measured_ch0(0, 0), measured_ch1(0, 0));
    int size1 = measured_ch0.col(0).n_rows;
    int size2 = measured_ch1.col(0).n_rows;
@ -1522,6 +1526,7 @@ void HybridObservablesTest::check_results_code_pseudorange(
        }
 }

+
 bool HybridObservablesTest::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_Synchro gnss)
 {
    // Open and read reference RINEX observables file
@ -1662,6 +1667,8 @@ bool HybridObservablesTest::ReadRinexObs(std::vector<arma::mat>* obs_vec, Gnss_S
        }
    return true;
 }
+
+
 TEST_F(HybridObservablesTest, ValidationOfResults)
 {
    // Configure the signal generator
@ -1699,7 +1706,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
                }
        }

-
    configure_receiver(FLAGS_PLL_bw_hz_start,
        FLAGS_DLL_bw_hz_start,
        FLAGS_PLL_narrow_bw_hz,
@ -1708,7 +1714,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
        FLAGS_smoother_length,
        FLAGS_high_dyn);

-
    for (auto& n : gnss_synchro_vec)
        {
            // setup the signal synchronization, simulating an acquisition
@ -1814,7 +1819,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
            }) << "Failure connecting tracking to the top_block.";
        }

-
    ASSERT_NO_THROW({
        std::string file;
        if (!FLAGS_enable_external_signal_file)
@ -1982,7 +1986,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
                }
        }

-
    if (FLAGS_duplicated_satellites_test)
        {
            // special test mode for duplicated satellites
@ -2083,7 +2086,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
                        << "Error finding observation time epoch in the reference data";
                }

-
            for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
                {
                    // debug save to .mat
@ -2123,7 +2125,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
                        measured_obs_vec.at(n).col(3).colptr(0) + measured_obs_vec.at(n).col(3).n_rows);
                    save_mat_xy(tmp_vector_x6, tmp_vector_y6, std::string("measured_cp_ch_" + std::to_string(n)));

-
                    if (epoch_counters_vec.at(n) > 100)  // discard non-valid channels
                        {
                            arma::vec true_TOW_ref_ch_s = true_obs_vec.at(min_pr_ch_id).col(0) - receiver_time_offset_ref_channel_s(0);