Merge branch 'next' into trk_hi_dyn

CMakeLists.txt

@@ -76,6 +76,7 @@ endif(ENABLE_PACKAGING)
 
 # Testing
 option(ENABLE_UNIT_TESTING "Build unit tests" ON)
+option(ENABLE_UNIT_TESTING_MINIMAL "Build a minimal set of unit tests" OFF)
 option(ENABLE_UNIT_TESTING_EXTRA "Download external files and build extra unit tests" OFF)
 option(ENABLE_SYSTEM_TESTING "Build system tests" OFF)
 option(ENABLE_SYSTEM_TESTING_EXTRA "Download external tools and build extra system tests" OFF)
@@ -341,7 +342,7 @@ set(GNSSSDR_MATIO_MIN_VERSION "1.5.3")
 set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1")
 set(GNSSSDR_GLOG_LOCAL_VERSION "0.3.5")
 set(GNSSSDR_ARMADILLO_LOCAL_VERSION "unstable")
-set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.0")
+set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
 set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10")
 set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.12")

README.md

@@ -229,20 +229,20 @@ $ sudo ldconfig
 #### Build the [Google C++ Testing Framework](https://github.com/google/googletest "Googletest Homepage"), also known as Google Test:
 
 ~~~~~~
-$ wget https://github.com/google/googletest/archive/release-1.8.0.zip
+$ wget https://github.com/google/googletest/archive/release-1.8.1.zip
-$ unzip release-1.8.0.zip
+$ unzip release-1.8.1.zip
-$ cd googletest-release-1.8.0
+$ cd googletest-release-1.8.1
-$ cmake -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF .
+$ cmake -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF .
 $ make
 ~~~~~~
 
 Please **DO NOT install** Google Test (do *not* type ```sudo make install```). Every user needs to compile his tests using the same compiler flags used to compile the installed Google Test libraries; otherwise he may run into undefined behaviors (i.e. the tests can behave strangely and may even crash for no obvious reasons). The reason is that C++ has this thing called the One-Definition Rule: if two C++ source files contain different definitions of the same class/function/variable, and you link them together, you violate the rule. The linker may or may not catch the error (in many cases it is not required by the C++ standard to catch the violation). If it does not, you get strange run-time behaviors that are unexpected and hard to debug. If you compile Google Test and your test code using different compiler flags, they may see different definitions of the same class/function/variable (e.g. due to the use of ```#if``` in Google Test). Therefore, for your sanity, we recommend to avoid installing pre-compiled Google Test libraries. Instead, each project should compile Google Test itself such that it can be sure that the same flags are used for both Google Test and the tests. The building system of GNSS-SDR does the compilation and linking of googletest to its own tests; it is only required that you tell the system where the googletest folder that you downloaded resides. Just add to your ```$HOME/.bashrc``` file the following line:
 
 ~~~~~~
-export GTEST_DIR=/home/username/googletest-release-1.8.0/googletest
+export GTEST_DIR=/home/username/googletest-release-1.8.1/googletest
 ~~~~~~
 
-changing `/home/username/googletest-release-1.8.0/googletest` by the actual directory where you built googletest.
+changing `/home/username/googletest-release-1.8.1/googletest` by the actual directory where you built googletest.
 
 
 

cmake/Modules/FindGFORTRAN.cmake

@@ -135,6 +135,14 @@
                        /usr/lib/sparc64-linux-gnu
                        /usr/lib/x86_64-linux-gnux32
                        /usr/lib/alpha-linux-gnu
+                       /usr/lib/gcc/x86_64-linux-gnu/8     # libgfortran8
+                       /usr/lib/gcc/aarch64-linux-gnu/8
+                       /usr/lib/gcc/arm-linux-gnueabihf/8
+                       /usr/lib/gcc/i686-linux-gnu/8
+                       /usr/lib/gcc/powerpc64le-linux-gnu/8
+                       /usr/lib/gcc/s390x-linux-gnu/8
+                       /usr/lib/gcc/alpha-linux-gnu/8
              )
+
 INCLUDE(FindPackageHandleStandardArgs)
 FIND_PACKAGE_HANDLE_STANDARD_ARGS(GFORTRAN DEFAULT_MSG GFORTRAN)

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc

@@ -364,8 +364,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
     d_rinexobs_rate_ms = rinexobs_rate_ms;
     d_rinexnav_rate_ms = rinexnav_rate_ms;
 
-    d_dump_filename.append("_raw.dat");
+    dump_ls_pvt_filename.append("_pvt.dat");
-    dump_ls_pvt_filename.append("_ls_pvt.dat");
 
     d_ls_pvt = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, rtk);
     d_ls_pvt->set_averaging_depth(1);
@@ -374,23 +373,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
 
     d_last_status_print_seg = 0;
 
-    // ############# ENABLE DATA FILE LOG #################
-    if (d_dump == true)
-        {
-            if (d_dump_file.is_open() == false)
-                {
-                    try
-                        {
-                            d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
-                            d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
-                            LOG(INFO) << "PVT dump enabled Log file: " << d_dump_filename.c_str();
-                        }
-                    catch (const std::ifstream::failure& e)
-                        {
-                            LOG(WARNING) << "Exception opening PVT dump file " << e.what();
-                        }
-                }
-        }
 
     // Create Sys V message queue
     first_fix = true;
@@ -500,18 +482,6 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
         {
             LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
         }
-
-    if (d_dump_file.is_open() == true)
-        {
-            try
-                {
-                    d_dump_file.close();
-                }
-            catch (const std::exception& ex)
-                {
-                    LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
-                }
-        }
 }
 
 
@@ -2102,7 +2072,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                                       << std::fixed << std::setprecision(3)
                                       << " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl;
                             std::cout << std::setprecision(ss);
-                            LOG(INFO) << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]";
+                            DLOG(INFO) << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]";
 
                             // boost::posix_time::ptime p_time;
                             // gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
@@ -2110,36 +2080,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
                             // p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
                             // std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl;
 
-                            LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
+                            DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
-                                      << " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
+                                       << " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
-                                      << " [deg], Height = " << d_ls_pvt->get_height() << " [m]";
+                                       << " [deg], Height = " << d_ls_pvt->get_height() << " [m]";
 
                             /* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
                                          << " UTC using "<< d_ls_pvt->get_num_valid_observations() <<" observations is HDOP = " << d_ls_pvt->get_hdop() << " VDOP = "
                                          << d_ls_pvt->get_vdop()
                                          << " GDOP = " << d_ls_pvt->get_gdop() << std::endl; */
                         }
-
-                    // MULTIPLEXED FILE RECORDING - Record results to file
-                    if (d_dump == true)
-                        {
-                            try
-                                {
-                                    double tmp_double;
-                                    for (uint32_t i = 0; i < d_nchannels; i++)
-                                        {
-                                            tmp_double = in[i][epoch].Pseudorange_m;
-                                            d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
-                                            tmp_double = 0;
-                                            d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
-                                            d_dump_file.write(reinterpret_cast<char*>(&d_rx_time), sizeof(double));
-                                        }
-                                }
-                            catch (const std::ifstream::failure& e)
-                                {
-                                    LOG(WARNING) << "Exception writing observables dump file " << e.what();
-                                }
-                        }
                 }
         }
 

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h

@@ -122,7 +122,6 @@ private:
 
     uint32_t d_nchannels;
     std::string d_dump_filename;
-    std::ofstream d_dump_file;
 
     int32_t d_output_rate_ms;
     int32_t d_display_rate_ms;

src/algorithms/PVT/libs/pvt_solution.cc

@@ -73,16 +73,9 @@ arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec
     omegatau = OMEGA_EARTH_DOT * traveltime;
 
     //--- Build a rotation matrix ----------------------------------------------
-    arma::mat R3 = arma::zeros(3, 3);
+    arma::mat R3 = {{cos(omegatau), sin(omegatau), 0.0},
-    R3(0, 0) = cos(omegatau);
+        {-sin(omegatau), cos(omegatau), 0.0},
-    R3(0, 1) = sin(omegatau);
+        {0.0, 0.0, 1.0}};
-    R3(0, 2) = 0.0;
-    R3(1, 0) = -sin(omegatau);
-    R3(1, 1) = cos(omegatau);
-    R3(1, 2) = 0.0;
-    R3(2, 0) = 0.0;
-    R3(2, 1) = 0.0;
-    R3(2, 2) = 1;
 
     //--- Do the rotation ------------------------------------------------------
     arma::vec X_sat_rot;
@@ -394,19 +387,9 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &x
     double cb = cos(phi * dtr);
     double sb = sin(phi * dtr);
 
-    arma::mat F = arma::zeros(3, 3);
+    arma::mat F = {{-sl, -sb * cl, cb * cl},
-
+        {cl, -sb * sl, cb * sl},
-    F(0, 0) = -sl;
+        {0, 0, cb, sb}};
-    F(0, 1) = -sb * cl;
-    F(0, 2) = cb * cl;
-
-    F(1, 0) = cl;
-    F(1, 1) = -sb * sl;
-    F(1, 2) = cb * sl;
-
-    F(2, 0) = 0;
-    F(2, 1) = cb;
-    F(2, 2) = sb;
 
     arma::vec local_vector;
 

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -86,7 +86,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
                         }
                     catch (const std::ifstream::failure& e)
                         {
-                            LOG(WARNING) << "Exception opening PVT lib dump file " << e.what();
+                            LOG(WARNING) << "Exception opening RTKLIB dump file " << e.what();
                         }
                 }
         }
@@ -103,7 +103,7 @@ rtklib_solver::~rtklib_solver()
                 }
             catch (const std::exception& ex)
                 {
-                    LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
+                    LOG(WARNING) << "Exception in destructor closing the RTKLIB dump file " << ex.what();
                 }
         }
 }
@@ -556,34 +556,78 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
                             try
                                 {
                                     double tmp_double;
+                                    uint32_t tmp_uint32;
+                                    // TOW
+                                    tmp_uint32 = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_uint32), sizeof(uint32_t));
+                                    // WEEK
+                                    tmp_uint32 = adjgpsweek(nav_data.eph[0].week);
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_uint32), sizeof(uint32_t));
                                     // PVT GPS time
                                     tmp_double = gnss_observables_map.begin()->second.RX_time;
                                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
-                                    // ECEF User Position East [m]
-                                    tmp_double = rx_position_and_time(0);
-                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
-                                    // ECEF User Position North [m]
-                                    tmp_double = rx_position_and_time(1);
-                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
-                                    // ECEF User Position Up [m]
-                                    tmp_double = rx_position_and_time(2);
-                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
                                     // User clock offset [s]
                                     tmp_double = rx_position_and_time(3);
                                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+                                    // ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
+                                    tmp_double = pvt_sol.rr[0];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                                    tmp_double = pvt_sol.rr[1];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                                    tmp_double = pvt_sol.rr[2];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                                    tmp_double = pvt_sol.rr[3];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                                    tmp_double = pvt_sol.rr[4];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                                    tmp_double = pvt_sol.rr[5];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+                                    // position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
+                                    tmp_double = pvt_sol.qr[0];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                                    tmp_double = pvt_sol.qr[1];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                                    tmp_double = pvt_sol.qr[2];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                                    tmp_double = pvt_sol.qr[3];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                                    tmp_double = pvt_sol.qr[4];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+                                    tmp_double = pvt_sol.qr[5];
+                                    d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
                                     // GEO user position Latitude [deg]
-                                    tmp_double = this->get_latitude();
+                                    tmp_double = get_latitude();
                                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
                                     // GEO user position Longitude [deg]
-                                    tmp_double = this->get_longitude();
+                                    tmp_double = get_longitude();
                                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
                                     // GEO user position Height [m]
-                                    tmp_double = this->get_height();
+                                    tmp_double = get_height();
                                     d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+
+                                    // NUMBER OF VALID SATS
+                                    d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ns), sizeof(uint8_t));
+                                    // RTKLIB solution status
+                                    d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.stat), sizeof(uint8_t));
+                                    // RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
+                                    d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.type), sizeof(uint8_t));
+                                    // AR ratio factor for validation
+                                    d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.ratio), sizeof(float));
+                                    // AR ratio threshold for validation
+                                    d_dump_file.write(reinterpret_cast<char*>(&pvt_sol.thres), sizeof(float));
+
+                                    // GDOP / PDOP/ HDOP/ VDOP
+                                    d_dump_file.write(reinterpret_cast<char*>(&dop_[0]), sizeof(double));
+                                    d_dump_file.write(reinterpret_cast<char*>(&dop_[1]), sizeof(double));
+                                    d_dump_file.write(reinterpret_cast<char*>(&dop_[2]), sizeof(double));
+                                    d_dump_file.write(reinterpret_cast<char*>(&dop_[3]), sizeof(double));
                                 }
                             catch (const std::ifstream::failure& e)
                                 {
-                                    LOG(WARNING) << "Exception writing PVT LS dump file " << e.what();
+                                    LOG(WARNING) << "Exception writing RTKLIB dump file " << e.what();
                                 }
                         }
                 }

src/algorithms/input_filter/adapters/CMakeLists.txt

@@ -37,6 +37,10 @@ include_directories(
      ${VOLK_INCLUDE_DIRS}
 )
 
+if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
+     add_definitions( -DGR_GREATER_38=1 )
+endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
+
 file(GLOB INPUT_FILTER_ADAPTER_HEADERS "*.h")
 list(SORT INPUT_FILTER_ADAPTER_HEADERS)
 add_library(input_filter_adapters ${INPUT_FILTER_ADAPTER_SOURCES} ${INPUT_FILTER_ADAPTER_HEADERS})

src/algorithms/input_filter/adapters/fir_filter.h

@@ -43,8 +43,12 @@
 #include <gnuradio/blocks/float_to_char.h>
 #include <gnuradio/blocks/float_to_complex.h>
 #include <gnuradio/blocks/float_to_short.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/filter/fir_filter_blk.h>
+#else
 #include <gnuradio/filter/fir_filter_ccf.h>
 #include <gnuradio/filter/fir_filter_fff.h>
+#endif
 #include <cmath>
 #include <string>
 #include <vector>

src/algorithms/input_filter/adapters/freq_xlating_fir_filter.h

@@ -36,9 +36,13 @@
 #include "gnss_block_interface.h"
 #include "short_x2_to_cshort.h"
 #include "complex_float_to_complex_byte.h"
+#ifdef GR_GREATER_38
+#include <gnuradio/filter/freq_xlating_fir_filter.h>
+#else
 #include <gnuradio/filter/freq_xlating_fir_filter_ccf.h>
 #include <gnuradio/filter/freq_xlating_fir_filter_fcf.h>
 #include <gnuradio/filter/freq_xlating_fir_filter_scf.h>
+#endif
 #include <gnuradio/blocks/file_sink.h>
 #include <gnuradio/blocks/complex_to_float.h>
 #include <gnuradio/blocks/char_to_short.h>

src/algorithms/input_filter/adapters/pulse_blanking_filter.h

@@ -35,7 +35,11 @@
 #include "gnss_block_interface.h"
 #include "pulse_blanking_cc.h"
 #include <gnuradio/blocks/file_sink.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/filter/freq_xlating_fir_filter.h>
+#else
 #include <gnuradio/filter/freq_xlating_fir_filter_ccf.h>
+#endif
 #include <string>
 
 class ConfigurationInterface;

src/algorithms/libs/galileo_e1_signal_processing.cc

@@ -108,7 +108,7 @@ void galileo_e1_sinboc_61_gen_int(int* _dest, int* _prn, uint32_t _length_out)
 void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t _prn)
 {
     std::string _galileo_signal = _Signal;
-    const uint32_t _codeLength = static_cast<const uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS);
+    const uint32_t _codeLength = static_cast<uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS);
     int32_t primary_code_E1_chips[4092];                            // _codeLength not accepted by Clang
     galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn);  //generate Galileo E1 code, 1 sample per chip
     for (uint32_t i = 0; i < _codeLength; i++)

src/algorithms/resampler/adapters/CMakeLists.txt

@@ -32,9 +32,9 @@ include_directories(
 )
 
 
-if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
+if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
      add_definitions( -DGR_GREATER_38=1 )
-endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
+endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
 
 
 file(GLOB RESAMPLER_ADAPTER_HEADERS "*.h")

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc

@@ -87,7 +87,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
 
     switch (d_frame_type)
         {
-        case 1:  //INAV
+        case 1:  // INAV
             {
                 d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E1_CODE_PERIOD_MS);
                 d_samples_per_symbol = Galileo_E1_B_SAMPLES_PER_SYMBOL;
@@ -98,12 +98,13 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
                 d_required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + d_samples_per_preamble;
                 // preamble bits to sampled symbols
                 d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
+                d_secondary_code_samples = nullptr;
                 d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
                 CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
                 DataLength = (CodeLength / nn) - mm;
                 break;
             }
-        case 2:  //FNAV
+        case 2:  // FNAV
             {
                 d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5a_CODE_PERIOD_MS);
                 d_samples_per_symbol = GALILEO_FNAV_CODES_PER_SYMBOL;
@@ -114,7 +115,6 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
                 d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) * d_samples_per_symbol + d_samples_per_preamble;
                 // preamble bits to sampled symbols
                 d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
-
                 d_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(Galileo_E5a_I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
                 d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
                 CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
@@ -133,6 +133,17 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
                 break;
             }
         default:
+            d_bits_per_preamble = 0;
+            d_samples_per_preamble = 0;
+            d_preamble_period_symbols = 0;
+            d_preamble_samples = nullptr;
+            d_secondary_code_samples = nullptr;
+            d_samples_per_symbol = 0U;
+            d_PRN_code_period_ms = 0U;
+            d_required_symbols = 0U;
+            d_frame_length_symbols = 0.0;
+            CodeLength = 0;
+            DataLength = 0;
             std::cout << "Galileo unified telemetry decoder error: Unknown frame type " << std::endl;
         }
 
@@ -142,7 +153,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
         {
             switch (d_frame_type)
                 {
-                case 1:  //INAV
+                case 1:  // INAV
                     {
                         if (GALILEO_INAV_PREAMBLE.at(i) == '1')
                             {
@@ -162,7 +173,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
                             }
                         break;
                     }
-                case 2:  //FNAV for E5a-I
+                case 2:  // FNAV for E5a-I
                     {
                         // Galileo E5a data channel (E5a-I) still has a secondary code
                         int m = 0;
@@ -412,6 +423,7 @@ void galileo_telemetry_decoder_cc::decode_FNAV_word(double *page_symbols, int32_
         }
 }
 
+
 void galileo_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
 {
     d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@@ -525,7 +537,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
                         // call the decoder
                         switch (d_frame_type)
                             {
-                            case 1:  //INAV
+                            case 1:  // INAV
                                      // NEW Galileo page part is received
                                 // 0. fetch the symbols into an array
                                 if (corr_value > 0)  //normal PLL lock
@@ -544,7 +556,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
                                     }
                                 decode_INAV_word(d_page_part_symbols, d_frame_length_symbols);
                                 break;
-                            case 2:  //FNAV
+                            case 2:  // FNAV
                                      // NEW Galileo page part is received
                                 // 0. fetch the symbols into an array
                                 if (corr_value > 0)  //normal PLL lock
@@ -620,7 +632,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
         {
             switch (d_frame_type)
                 {
-                case 1:  //INAV
+                case 1:  // INAV
                     {
                         if (d_inav_nav.flag_TOW_set == true)
                             {
@@ -647,7 +659,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
                             }
                         break;
                     }
-                case 2:  //FNAV
+                case 2:  // FNAV
                     {
                         if (d_fnav_nav.flag_TOW_set == true)
                             {
@@ -692,7 +704,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
         {
             switch (d_frame_type)
                 {
-                case 1:  //INAV
+                case 1:  // INAV
                     {
                         if (d_inav_nav.flag_TOW_set == true)
                             {
@@ -700,7 +712,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
                             }
                         break;
                     }
-                case 2:  //FNAV
+                case 2:  // FNAV
                     {
                         if (d_fnav_nav.flag_TOW_set == true)
                             {
@@ -720,7 +732,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
 
     switch (d_frame_type)
         {
-        case 1:  //INAV
+        case 1:  // INAV
             {
                 if (d_inav_nav.flag_TOW_set)
                     {
@@ -734,7 +746,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
                 break;
             }
 
-        case 2:  //FNAV
+        case 2:  // FNAV
             {
                 if (d_fnav_nav.flag_TOW_set)
                     {

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h

@@ -29,8 +29,8 @@
  */
 
 
-#ifndef GNSS_SDR_galileo_telemetry_decoder_cc_H
+#ifndef GNSS_SDR_GALILEO_TELEMETRY_DECODER_CC_H
-#define GNSS_SDR_galileo_telemetry_decoder_cc_H
+#define GNSS_SDR_GALILEO_TELEMETRY_DECODER_CC_H
 
 
 #include "Galileo_E1.h"
@@ -56,7 +56,6 @@ galileo_telemetry_decoder_cc_sptr galileo_make_telemetry_decoder_cc(const Gnss_S
 
 /*!
  * \brief This class implements a block that decodes the INAV and FNAV data defined in Galileo ICD
- *
  */
 class galileo_telemetry_decoder_cc : public gr::block
 {

src/algorithms/tracking/adapters/gps_l1_ca_kf_tracking.h

@@ -1,6 +1,6 @@
 /*!
- * \file GPS_L1_CA_KF_Tracking.h
+ * \file gps_l1_ca_kf_tracking.h
- * \brief  Interface of an adapter of a DLL + Kalman carrier
+ * \brief Interface of an adapter of a DLL + Kalman carrier
  * tracking loop block for GPS L1 C/A signals
  * \author Javier Arribas, 2018. jarribas(at)cttc.es
  * \author Jordi Vila-Valls 2018. jvila(at)cttc.es

src/core/receiver/CMakeLists.txt

@@ -98,9 +98,9 @@ if(ENABLE_AD9361)
     set(OPT_RECEIVER_INCLUDE_DIRS ${OPT_RECEIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
 endif(ENABLE_AD9361)
 
-if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
+if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
      add_definitions( -DGR_GREATER_38=1 )
-endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
+endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
 
 
 include_directories(

src/tests/CMakeLists.txt

@@ -18,6 +18,7 @@
 
 
 add_subdirectory(unit-tests/signal-processing-blocks/libs)
+add_subdirectory(system-tests/libs)
 
 ################################################################################
 # Google Test - https://github.com/google/googletest
@@ -54,7 +55,7 @@ if(NOT ${GTEST_DIR_LOCAL})
          GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION}
          SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
          BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
-         CMAKE_ARGS ${GTEST_COMPILER} -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
+         CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
          UPDATE_COMMAND ""
          PATCH_COMMAND ""
          INSTALL_COMMAND ""
@@ -66,7 +67,7 @@ if(NOT ${GTEST_DIR_LOCAL})
          GIT_TAG release-${GNSSSDR_GTEST_LOCAL_VERSION}
          SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gtest/gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
          BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}
-         CMAKE_ARGS ${GTEST_COMPILER} -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
+         CMAKE_ARGS ${GTEST_COMPILER} -DINSTALL_GTEST=OFF -DBUILD_GMOCK=OFF ${TOOLCHAIN_ARG}
          UPDATE_COMMAND ""
          PATCH_COMMAND ""
          BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/../../gtest-${GNSSSDR_GTEST_LOCAL_VERSION}/googletest/${CMAKE_FIND_LIBRARY_PREFIXES}gtest${CMAKE_STATIC_LIBRARY_SUFFIX}
@@ -135,6 +136,10 @@ if(Boost_VERSION LESS 105000)
      add_definitions(-DOLD_BOOST=1)
 endif(Boost_VERSION LESS 105000)
 
+if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
+     add_definitions( -DGR_GREATER_38=1 )
+endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.13.4" )
+
 if(OPENSSL_FOUND)
     add_definitions( -DUSE_OPENSSL_FALLBACK=1 )
 endif(OPENSSL_FOUND)
@@ -163,9 +168,13 @@ if(GNUPLOT_FOUND)
 endif(GNUPLOT_FOUND)
 
 if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
-     add_definitions( -DGR_GREATER_38=1 )
+    add_definitions( -DGR_GREATER_38=1 )
 endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
 
+if(ENABLE_UNIT_TESTING_MINIMAL)
+    add_definitions(-DUNIT_TESTING_MINIMAL=1)
+endif(ENABLE_UNIT_TESTING_MINIMAL)
+
 
 ################################################################################
 # Optional generator
@@ -342,6 +351,7 @@ set(LIST_INCLUDE_DIRS
      ${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
      ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
      ${CMAKE_SOURCE_DIR}/src/tests/unit-tests/signal-processing-blocks/libs
+     ${CMAKE_SOURCE_DIR}/src/tests/system-tests/libs
      ${CMAKE_SOURCE_DIR}/src/tests/common-files
      ${GLOG_INCLUDE_DIRS}
      ${GFlags_INCLUDE_DIRS}
@@ -489,29 +499,24 @@ if(ENABLE_SYSTEM_TESTING)
                       ${GTEST_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES}
                       ${GNURADIO_BLOCKS_LIBRARIES} ${GNURADIO_FILTER_LIBRARIES}
                       ${GNURADIO_ANALOG_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES}
-                      gnss_sp_libs gnss_rx gnss_system_parameters )
+                      gnss_sp_libs gnss_rx gnss_system_parameters 
+                      system_testing_lib)
 
         add_system_test(position_test)
 
-        if(GPSTK_FOUND OR OWN_GPSTK)
+        #if(GPSTK_FOUND OR OWN_GPSTK)
             ## OBS_SYSTEM_TEST and OBS_GPS_L1_SYSTEM_TEST
-            set(OPT_LIBS_ ${GFlags_LIBS} ${GLOG_LIBRARIES} ${GTEST_LIBRARIES}
+        #    set(OPT_LIBS_ ${GFlags_LIBS} ${GLOG_LIBRARIES} ${GTEST_LIBRARIES}
-                          gnss_sp_libs gnss_rx ${gpstk_libs} )
+        #                  gnss_sp_libs gnss_rx ${gpstk_libs} )
-            set(OPT_INCLUDES_ ${GPSTK_INCLUDE_DIRS} ${GPSTK_INCLUDE_DIRS}/gpstk)
+        #    set(OPT_INCLUDES_ ${GPSTK_INCLUDE_DIRS} ${GPSTK_INCLUDE_DIRS}/gpstk)
-            add_system_test(obs_gps_l1_system_test)
+        #    add_system_test(obs_gps_l1_system_test)
-            add_system_test(obs_system_test)
+        #    add_system_test(obs_system_test)
-        endif(GPSTK_FOUND OR OWN_GPSTK)
+        #endif(GPSTK_FOUND OR OWN_GPSTK)
     else(ENABLE_SYSTEM_TESTING_EXTRA)
         # Avoid working with old executables if they were switched ON and then OFF
         if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
            file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test)
         endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
-        if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
-           file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
-        endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
-        if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
-           file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_system_test)
-        endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
     endif(ENABLE_SYSTEM_TESTING_EXTRA)
 else(ENABLE_SYSTEM_TESTING)
     # Avoid working with old executables if they were switched ON and then OFF
@@ -521,12 +526,6 @@ else(ENABLE_SYSTEM_TESTING)
     if(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
         file(REMOVE ${CMAKE_SOURCE_DIR}/install/position_test)
     endif(EXISTS ${CMAKE_SOURCE_DIR}/install/position_test)
-    if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
-       file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
-    endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
-    if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
-       file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_system_test)
-    endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_system_test)
 endif(ENABLE_SYSTEM_TESTING)
 
 

src/tests/common-files/signal_generator_flags.h

@@ -38,7 +38,7 @@ DEFINE_bool(disable_generator, false, "Disable the signal generator (a external
 DEFINE_string(generator_binary, std::string(SW_GENERATOR_BIN), "Path of software-defined signal generator binary");
 DEFINE_string(rinex_nav_file, std::string(DEFAULT_RINEX_NAV), "Input RINEX navigation file");
 DEFINE_int32(duration, 100, "Duration of the experiment [in seconds, max = 300]");
-DEFINE_string(static_position, "30.286502,120.032669,100", "Static receiver position [log,lat,height]");
+DEFINE_string(static_position, "30.286502,120.032669,100", "Static receiver position [latitude,longitude,height]");
 DEFINE_string(dynamic_position, "", "Observer positions file, in .csv or .nmea format");
 DEFINE_string(filename_rinex_obs, "sim.16o", "Filename of output RINEX navigation file");
 DEFINE_string(filename_raw_data, "signal_out.bin", "Filename of output raw data file");

src/tests/system-tests/libs/CMakeLists.txt

@@ -0,0 +1,44 @@
+# Copyright (C) 2012-2018  (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/>.
+#
+
+
+set(SYSTEM_TESTING_LIB_SOURCES
+    geofunctions.cc
+    spirent_motion_csv_dump_reader.cc
+    rtklib_solver_dump_reader.cc
+)
+
+include_directories(
+     ${CMAKE_CURRENT_SOURCE_DIR}
+     ${GLOG_INCLUDE_DIRS}
+     ${GFlags_INCLUDE_DIRS}
+     ${MATIO_INCLUDE_DIRS}
+     ${ARMADILLO_INCLUDE_DIRS}
+)
+
+
+file(GLOB SYSTEM_TESTING_LIB_HEADERS "*.h")
+list(SORT SYSTEM_TESTING_LIB_HEADERS)
+add_library(system_testing_lib ${SYSTEM_TESTING_LIB_SOURCES} ${SYSTEM_TESTING_LIB_HEADERS})
+source_group(Headers FILES ${SYSTEM_TESTING_LIB_HEADERS})
+
+if(NOT MATIO_FOUND)
+   add_dependencies(system_testing_lib armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
+else(NOT MATIO_FOUND)
+   add_dependencies(system_testing_lib armadillo-${armadillo_RELEASE})
+endif(NOT MATIO_FOUND)

src/tests/system-tests/libs/geofunctions.cc

@@ -0,0 +1,460 @@
+/*!
+ * \file geofunctions.cc
+ * \brief A set of coordinate transformations functions and helpers,
+ * some of them migrated from MATLAB, for geographic information systems.
+ * \author Javier Arribas, 2018. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+#include "geofunctions.h"
+
+const double STRP_G_SI = 9.80665;
+const double STRP_PI = 3.1415926535898;  //!< Pi as defined in IS-GPS-200E
+
+arma::mat Skew_symmetric(const arma::vec &a)
+{
+    arma::mat A = arma::zeros(3, 3);
+
+    A << 0.0 << -a(2) << a(1) << arma::endr
+      << a(2) << 0.0 << -a(0) << arma::endr
+      << -a(1) << a(0) << 0 << arma::endr;
+
+    //    {{0,    -a(2),  a(1)},
+    //     {a(2),     0, -a(0)},
+    //     {-a(1), a(0),     0}};
+    return A;
+}
+
+
+double WGS84_g0(double Lat_rad)
+{
+    const double k = 0.001931853;        // normal gravity constant
+    const double e2 = 0.00669438002290;  // the square of the first numerical eccentricity
+    const double nge = 9.7803253359;     // normal gravity value on the equator (m/sec^2)
+    double b = sin(Lat_rad);             // Lat in degrees
+    b = b * b;
+    double g0 = nge * (1 + k * b) / (sqrt(1 - e2 * b));
+    return g0;
+}
+
+
+double WGS84_geocentric_radius(double Lat_geodetic_rad)
+{
+    // WGS84 earth model Geocentric radius (Eq. 2.88)
+    const double WGS84_A = 6378137.0;         // Semi-major axis of the Earth, a [m]
+    const double WGS84_IF = 298.257223563;    // Inverse flattening of the Earth
+    const double WGS84_F = (1.0 / WGS84_IF);  // The flattening of the Earth
+    // double WGS84_B=(WGS84_A*(1-WGS84_F));  // Semi-minor axis of the Earth [m]
+    double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F));  // Eccentricity of the Earth
+
+    // transverse radius of curvature
+    double R_E = WGS84_A / sqrt(1 - WGS84_E * WGS84_E * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad));  // (Eq. 2.66)
+
+    // geocentric radius at the Earth surface
+    double r_eS = R_E * sqrt(cos(Lat_geodetic_rad) * cos(Lat_geodetic_rad) +
+                             (1 - WGS84_E * WGS84_E) * (1 - WGS84_E * WGS84_E) * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad));  // (Eq. 2.88)
+    return r_eS;
+}
+
+
+int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx)
+{
+    double lambda;
+    double phi;
+    double h;
+    const double dtr = STRP_PI / 180.0;
+    const double a = 6378137.0;         // semi-major axis of the reference ellipsoid WGS-84
+    const double finv = 298.257223563;  // inverse of flattening of the reference ellipsoid WGS-84
+
+    // Transform x into geodetic coordinates
+    togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2));
+
+    double cl = cos(lambda * dtr);
+    double sl = sin(lambda * dtr);
+    double cb = cos(phi * dtr);
+    double sb = sin(phi * dtr);
+
+    arma::mat F = {{-sl, -sb * cl, cb * cl},
+        {cl, -sb * sl, cb * sl},
+        {0.0, cb, sb}};
+
+    arma::vec local_vector;
+
+    local_vector = arma::htrans(F) * dx;
+
+    double E = local_vector(0);
+    double N = local_vector(1);
+    double U = local_vector(2);
+
+    double hor_dis;
+    hor_dis = sqrt(E * E + N * N);
+
+    if (hor_dis < 1.0E-20)
+        {
+            *Az = 0.0;
+            *El = 90.0;
+        }
+    else
+        {
+            *Az = atan2(E, N) / dtr;
+            *El = atan2(U, hor_dis) / dtr;
+        }
+
+    if (*Az < 0)
+        {
+            *Az = *Az + 360.0;
+        }
+
+    *D = sqrt(dx(0) * dx(0) + dx(1) * dx(1) + dx(2) * dx(2));
+    return 0;
+}
+
+
+int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z)
+{
+    *h = 0.0;
+    const double tolsq = 1.e-10;  // tolerance to accept convergence
+    const int maxit = 10;         // max number of iterations
+    const double rtd = 180.0 / STRP_PI;
+
+    // compute square of eccentricity
+    double esq;
+    if (finv < 1.0E-20)
+        {
+            esq = 0.0;
+        }
+    else
+        {
+            esq = (2.0 - 1.0 / finv) / finv;
+        }
+
+    // first guess
+    double P = sqrt(X * X + Y * Y);  // P is distance from spin axis
+
+    // direct calculation of longitude
+    if (P > 1.0E-20)
+        {
+            *dlambda = atan2(Y, X) * rtd;
+        }
+    else
+        {
+            *dlambda = 0.0;
+        }
+
+    // correct longitude bound
+    if (*dlambda < 0)
+        {
+            *dlambda = *dlambda + 360.0;
+        }
+
+    double r = sqrt(P * P + Z * Z);  // r is distance from origin (0,0,0)
+
+    double sinphi;
+    if (r > 1.0E-20)
+        {
+            sinphi = Z / r;
+        }
+    else
+        {
+            sinphi = 0.0;
+        }
+    *dphi = asin(sinphi);
+
+    // initial value of height  =  distance from origin minus
+    // approximate distance from origin to surface of ellipsoid
+    if (r < 1.0E-20)
+        {
+            *h = 0.0;
+            return 1;
+        }
+
+    *h = r - a * (1 - sinphi * sinphi / finv);
+
+    // iterate
+    double cosphi;
+    double N_phi;
+    double dP;
+    double dZ;
+    double oneesq = 1.0 - esq;
+
+    for (int i = 0; i < maxit; i++)
+        {
+            sinphi = sin(*dphi);
+            cosphi = cos(*dphi);
+
+            // compute radius of curvature in prime vertical direction
+            N_phi = a / sqrt(1 - esq * sinphi * sinphi);
+
+            //    compute residuals in P and Z
+            dP = P - (N_phi + (*h)) * cosphi;
+            dZ = Z - (N_phi * oneesq + (*h)) * sinphi;
+
+            //    update height and latitude
+            *h = *h + (sinphi * dZ + cosphi * dP);
+            *dphi = *dphi + (cosphi * dZ - sinphi * dP) / (N_phi + (*h));
+
+            //     test for convergence
+            if ((dP * dP + dZ * dZ) < tolsq)
+                {
+                    break;
+                }
+            if (i == (maxit - 1))
+                {
+                    // LOG(WARNING) << "The computation of geodetic coordinates did not converge";
+                }
+        }
+    *dphi = (*dphi) * rtd;
+    return 0;
+}
+
+
+arma::mat Gravity_ECEF(const arma::vec &r_eb_e)
+{
+    // Parameters
+    const double R_0 = 6378137;           // WGS84 Equatorial radius in meters
+    const double mu = 3.986004418E14;     // WGS84 Earth gravitational constant (m^3 s^-2)
+    const double J_2 = 1.082627E-3;       // WGS84 Earth's second gravitational constant
+    const double omega_ie = 7.292115E-5;  // Earth rotation rate (rad/s)
+    // Calculate distance from center of the Earth
+    double mag_r = sqrt(arma::as_scalar(r_eb_e.t() * r_eb_e));
+    // If the input position is 0,0,0, produce a dummy output
+    arma::vec g = arma::zeros(3, 1);
+    if (mag_r != 0)
+        {
+            // Calculate gravitational acceleration using (2.142)
+            double z_scale = 5 * pow((r_eb_e(2) / mag_r), 2);
+            arma::vec tmp_vec = {(1 - z_scale) * r_eb_e(0),
+                (1 - z_scale) * r_eb_e(1),
+                (3 - z_scale) * r_eb_e(2)};
+            arma::vec gamma_ = (-mu / pow(mag_r, 3)) * (r_eb_e + 1.5 * J_2 * pow(R_0 / mag_r, 2) * tmp_vec);
+
+            // Add centripetal acceleration using (2.133)
+            g(0) = gamma_(0) + pow(omega_ie, 2) * r_eb_e(0);
+            g(1) = gamma_(1) + pow(omega_ie, 2) * r_eb_e(1);
+            g(2) = gamma_(2);
+        }
+    return g;
+}
+
+
+arma::vec LLH_to_deg(arma::vec &LLH)
+{
+    const double rtd = 180.0 / STRP_PI;
+    LLH(0) = LLH(0) * rtd;
+    LLH(1) = LLH(1) * rtd;
+    return LLH;
+}
+
+
+double degtorad(double angleInDegrees)
+{
+    double angleInRadians = (STRP_PI / 180.0) * angleInDegrees;
+    return angleInRadians;
+}
+
+
+double radtodeg(double angleInRadians)
+{
+    double angleInDegrees = (180.0 / STRP_PI) * angleInRadians;
+    return angleInDegrees;
+}
+
+
+double mstoknotsh(double MetersPerSeconds)
+{
+    double knots = mstokph(MetersPerSeconds) * 0.539957;
+    return knots;
+}
+
+
+double mstokph(double MetersPerSeconds)
+{
+    double kph = 3600.0 * MetersPerSeconds / 1e3;
+    return kph;
+}
+
+
+arma::vec CTM_to_Euler(arma::mat &C)
+{
+    // Calculate Euler angles using (2.23)
+    arma::vec eul = arma::zeros(3, 1);
+    eul(0) = atan2(C(1, 2), C(2, 2));  // roll
+    if (C(0, 2) < -1.0) C(0, 2) = -1.0;
+    if (C(0, 2) > 1.0) C(0, 2) = 1.0;
+    eul(1) = -asin(C(0, 2));           // pitch
+    eul(2) = atan2(C(0, 1), C(0, 0));  // yaw
+    return eul;
+}
+
+
+arma::mat Euler_to_CTM(const arma::vec &eul)
+{
+    // Eq.2.15
+    // Euler angles to Attitude matrix is equivalent to rotate the body
+    // in the three axes:
+    //     arma::mat Ax= {{1,0,0}, {0,cos(Att_phi),sin(Att_phi)} ,{0,-sin(Att_phi),cos(Att_phi)}};
+    //     arma::mat Ay= {{cos(Att_theta), 0, -sin(Att_theta)}, {0,1,0} , {sin(Att_theta), 0, cos(Att_theta)}};
+    //     arma::mat Az= {{cos(Att_psi), sin(Att_psi), 0}, {-sin(Att_psi), cos(Att_psi), 0},{0,0,1}};
+    //     arma::mat C_b_n=Ax*Ay*Az; // Attitude expressed in the LOCAL FRAME (NED)
+    //    C_b_n=C_b_n.t();
+
+    // Precalculate sines and cosines of the Euler angles
+    double sin_phi = sin(eul(0));
+    double cos_phi = cos(eul(0));
+    double sin_theta = sin(eul(1));
+    double cos_theta = cos(eul(1));
+    double sin_psi = sin(eul(2));
+    double cos_psi = cos(eul(2));
+
+    // Calculate coordinate transformation matrix using (2.22)
+    arma::mat C = {{cos_theta * cos_psi, cos_theta * sin_psi, -sin_theta},
+        {-cos_phi * sin_psi + sin_phi * sin_theta * cos_psi, cos_phi * cos_psi + sin_phi * sin_theta * sin_psi, sin_phi * cos_theta},
+        {sin_phi * sin_psi + cos_phi * sin_theta * cos_psi, -sin_phi * cos_psi + cos_phi * sin_theta * sin_psi, cos_phi * cos_theta}};
+    return C;
+}
+
+
+arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection)
+{
+    const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
+    const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
+
+    double lambda = atan2(XYZ[1], XYZ[0]);
+    double ex2 = (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1.0 - f[elipsoid_selection]) * (1.0 - f[elipsoid_selection]));
+    double c = a[elipsoid_selection] * sqrt(1.0 + ex2);
+    double phi = atan(XYZ[2] / ((sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) * (1.0 - (2.0 - f[elipsoid_selection])) * f[elipsoid_selection])));
+
+    double h = 0.1;
+    double oldh = 0.0;
+    double N;
+    int iterations = 0;
+    do
+        {
+            oldh = h;
+            N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
+            phi = atan(XYZ[2] / ((sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h)))));
+            h = sqrt(XYZ[0] * XYZ[0] + XYZ[1] * XYZ[1]) / cos(phi) - N;
+            iterations = iterations + 1;
+            if (iterations > 100)
+                {
+                    //std::cout << "Failed to approximate h with desired precision. h-oldh= " << h - oldh;
+                    break;
+                }
+        }
+    while (std::abs(h - oldh) > 1.0e-12);
+
+    arma::vec LLH = {{phi, lambda, h}};  //radians
+    return LLH;
+}
+
+
+void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::mat &C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n)
+{
+    // Compute the Latitude of the ECEF position
+    LLH = cart2geo(r_eb_e, 4);  // ECEF -> WGS84 geographical
+
+    // Calculate ECEF to Geographical coordinate transformation matrix using (2.150)
+    double cos_lat = cos(LLH(0));
+    double sin_lat = sin(LLH(0));
+    double cos_long = cos(LLH(1));
+    double sin_long = sin(LLH(1));
+    // C++11 and arma >= 5.2
+    //    arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long,  cos_lat},
+    //                      {-sin_long, cos_long, 0},
+    //                      {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; //ECEF to Geo
+    arma::mat C_e_n = arma::zeros(3, 3);
+    C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
+          << -sin_long << cos_long << 0 << arma::endr
+          << -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr;  // ECEF to Geo
+    // Transform velocity using (2.73)
+    v_eb_n = C_e_n * v_eb_e;
+
+    C_b_n = C_e_n * C_b_e;  // Attitude conversion from ECEF to NED
+}
+
+
+void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat &C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e)
+{
+    // Parameters
+    double R_0 = 6378137;        // WGS84 Equatorial radius in meters
+    double e = 0.0818191908425;  // WGS84 eccentricity
+
+    // Calculate transverse radius of curvature using (2.105)
+    double R_E = R_0 / sqrt(1 - (e * sin(LLH(0))) * (e * sin(LLH(0))));
+
+    // Convert position using (2.112)
+    double cos_lat = cos(LLH(0));
+    double sin_lat = sin(LLH(0));
+    double cos_long = cos(LLH(1));
+    double sin_long = sin(LLH(1));
+    r_eb_e = {(R_E + LLH(2)) * cos_lat * cos_long,
+        (R_E + LLH(2)) * cos_lat * sin_long,
+        ((1 - e * e) * R_E + LLH(2)) * sin_lat};
+
+    // Calculate ECEF to Geo coordinate transformation matrix using (2.150)
+    // C++11 and arma>=5.2
+    //    arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long,  cos_lat},
+    //                       {-sin_long,            cos_long,        0},
+    //                       {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}};
+    arma::mat C_e_n = arma::zeros(3, 3);
+    C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
+          << -sin_long << cos_long << 0 << arma::endr
+          << -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr;
+
+    // Transform velocity using (2.73)
+    v_eb_e = C_e_n.t() * v_eb_n;
+
+    // Transform attitude using (2.15)
+    C_b_e = C_e_n.t() * C_b_n;
+}
+
+
+void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e)
+{
+    // Parameters
+    const double R_0 = 6378137;        // WGS84 Equatorial radius in meters
+    const double e = 0.0818191908425;  // WGS84 eccentricity
+
+    // Calculate transverse radius of curvature using (2.105)
+    double R_E = R_0 / sqrt(1 - pow(e * sin(L_b), 2));
+
+    // Convert position using (2.112)
+    double cos_lat = cos(L_b);
+    double sin_lat = sin(L_b);
+    double cos_long = cos(lambda_b);
+    double sin_long = sin(lambda_b);
+    r_eb_e = {(R_E + h_b) * cos_lat * cos_long,
+        (R_E + h_b) * cos_lat * sin_long,
+        ((1 - pow(e, 2)) * R_E + h_b) * sin_lat};
+
+    // Calculate ECEF to Geo coordinate transformation matrix using (2.150)
+    arma::mat C_e_n = arma::zeros(3, 3);
+    C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
+          << -sin_long << cos_long << 0 << arma::endr
+          << -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr;
+
+    // Transform velocity using (2.73)
+    v_eb_e = C_e_n.t() * v_eb_n;
+}

src/tests/system-tests/libs/geofunctions.h

@@ -0,0 +1,154 @@
+/*!
+ * \file geofunctions.h
+ * \brief A set of coordinate transformations functions and helpers,
+ * some of them migrated from MATLAB, for geographic information systems.
+ * \author Javier Arribas, 2018. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GEOFUNCTIONS_H
+#define GNSS_SDR_GEOFUNCTIONS_H
+
+#include <armadillo>
+
+arma::mat Skew_symmetric(const arma::vec &a);  //!< Calculates skew-symmetric matrix
+
+double WGS84_g0(double Lat_rad);
+
+double WGS84_geocentric_radius(double Lat_geodetic_rad);
+
+/*!
+ * \brief  Transformation of vector dx into topocentric coordinate
+ *      system with origin at x
+ *       Inputs:
+ *         x           - vector origin coordinates (in ECEF system [X; Y; Z;])
+ *         dx          - vector ([dX; dY; dZ;]).
+ *
+ *        Outputs:
+ *          D           - vector length. Units like the input
+ *          Az          - azimuth from north positive clockwise, degrees
+ *          El          - elevation angle, degrees
+ *
+ *          Based on a Matlab function by Kai Borre
+ */
+int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx);
+
+/*!
+ * \brief Subroutine to calculate geodetic coordinates latitude, longitude,
+ *   height given Cartesian coordinates X,Y,Z, and reference ellipsoid
+ *   values semi-major axis (a) and the inverse of flattening (finv).
+ *
+ *   The output units of angular quantities will be in decimal degrees
+ *   (15.5 degrees not 15 deg 30 min). The output units of h will be the
+ *   same as the units of X,Y,Z,a.
+ *
+ *         Inputs:
+ *             a           - semi-major axis of the reference ellipsoid
+ *             finv        - inverse of flattening of the reference ellipsoid
+ *             X,Y,Z       - Cartesian coordinates
+ *
+ *         Outputs:
+ *             dphi        - latitude
+ *             dlambda     - longitude
+ *             h           - height above reference ellipsoid
+ *
+ *             Based in a Matlab function by Kai Borre
+ */
+int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
+
+arma::mat Gravity_ECEF(const arma::vec &r_eb_e);  //!< Calculates acceleration due to gravity resolved about ECEF-frame
+
+/*!
+ * \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
+ *  coordinates (latitude, longitude, h) on a selected reference ellipsoid.
+ *
+ *    Choices of Reference Ellipsoid for Geographical Coordinates
+ *             0. International Ellipsoid 1924
+ *             1. International Ellipsoid 1967
+ *             2. World Geodetic System 1972
+ *             3. Geodetic Reference System 1980
+ *             4. World Geodetic System 1984
+ */
+arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection);
+
+arma::vec LLH_to_deg(arma::vec &LLH);
+
+double degtorad(double angleInDegrees);
+
+double radtodeg(double angleInRadians);
+
+double mstoknotsh(double MetersPerSeconds);
+
+double mstokph(double Kph);
+
+arma::vec CTM_to_Euler(arma::mat &C);
+
+arma::mat Euler_to_CTM(const arma::vec &eul);
+
+void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::mat &C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n);
+
+
+/*!
+ * \brief From Geographic to ECEF coordinates
+ *
+ *  Inputs:
+ *    LLH           latitude (rad), longitude (rad), height (m)
+ *    v_eb_n        velocity of body frame w.r.t. ECEF frame, resolved along
+ *                  north, east, and down (m/s)
+ *    C_b_n         body-to-NED coordinate transformation matrix
+ *
+ *  Outputs:
+ *    r_eb_e        Cartesian position of body frame w.r.t. ECEF frame, resolved
+ *                 along ECEF-frame axes (m)
+ *    v_eb_e        velocity of body frame w.r.t. ECEF frame, resolved along
+ *                  ECEF-frame axes (m/s)
+ *    C_b_e         body-to-ECEF-frame coordinate transformation matrix
+ *
+ */
+void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat &C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e);
+
+
+/*!
+ * \brief Converts curvilinear to Cartesian position and velocity
+ * resolving axes from NED to ECEF
+ * This function created 11/4/2012 by Paul Groves
+ *
+ * Inputs:
+ *    L_b           latitude (rad)
+ *    lambda_b      longitude (rad)
+ *    h_b           height (m)
+ *    v_eb_n        velocity of body frame w.r.t. ECEF frame, resolved along
+ *                  north, east, and down (m/s)
+ *
+ * Outputs:
+ *    r_eb_e        Cartesian position of body frame w.r.t. ECEF frame, resolved
+ *                  along ECEF-frame axes (m)
+ *    v_eb_e        velocity of body frame w.r.t. ECEF frame, resolved along
+ *                  ECEF-frame axes (m/s)
+ */
+void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e);
+
+#endif

src/tests/system-tests/libs/position_test_flags.h

@@ -0,0 +1,46 @@
+/*!
+ * \file signal_generator_flags.h
+ * \brief Helper file for unit testing
+ * \author Javier Arribas, 2018. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_POSITION_TEST_FLAGS_H_
+#define GNSS_SDR_POSITION_TEST_FLAGS_H_
+
+#include <gflags/gflags.h>
+#include <limits>
+
+DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test.");
+DEFINE_bool(plot_position_test, false, "Plots results of with gnuplot");
+DEFINE_bool(static_scenario, true, "Compute figures of merit for static user position (DRMS, CEP, etc..)");
+DEFINE_bool(use_pvt_solver_dump, false, "Use PVT solver binary dump or fall back to KML PVT file (contains only position information)");
+DEFINE_bool(use_ref_motion_file, false, "Enable or disable the use of a reference file containing the true receiver position, velocity and acceleration.");
+DEFINE_int32(ref_motion_file_type, 1, "Type of reference motion file: 1- Spirent CSV motion file");
+DEFINE_string(ref_motion_filename, std::string("motion.csv"), "Path and filename for the reference motion file");
+DEFINE_string(pvt_solver_dump_filename, std::string("PVT_pvt.dat"), "Path and filename for the PVT solver binary dump file");
+
+#endif

src/tests/system-tests/libs/rtklib_solver_dump_reader.cc

@@ -0,0 +1,138 @@
+/*!
+ * \file rtklib_solver_dump_reader.cc
+ * \brief Helper file for unit testing
+ * \author Javier Arribas, 2017. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "rtklib_solver_dump_reader.h"
+#include <iostream>
+
+bool rtklib_solver_dump_reader::read_binary_obs()
+{
+    try
+        {
+            d_dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_ms), sizeof(uint32_t));
+            d_dump_file.read(reinterpret_cast<char *>(&week), sizeof(uint32_t));
+            d_dump_file.read(reinterpret_cast<char *>(&RX_time), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&clk_offset_s), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&rr[0]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&rr[1]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&rr[2]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&rr[3]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&rr[4]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&rr[5]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&qr[0]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&qr[1]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&qr[2]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&qr[3]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&qr[4]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&qr[5]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&latitude), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&longitude), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&height), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&ns), sizeof(uint8_t));
+            d_dump_file.read(reinterpret_cast<char *>(&status), sizeof(uint8_t));
+            d_dump_file.read(reinterpret_cast<char *>(&type), sizeof(uint8_t));
+            d_dump_file.read(reinterpret_cast<char *>(&AR_ratio), sizeof(float));
+            d_dump_file.read(reinterpret_cast<char *>(&AR_thres), sizeof(float));
+            d_dump_file.read(reinterpret_cast<char *>(&dop[0]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&dop[1]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&dop[2]), sizeof(double));
+            d_dump_file.read(reinterpret_cast<char *>(&dop[3]), sizeof(double));
+        }
+    catch (const std::ifstream::failure &e)
+        {
+            return false;
+        }
+    return true;
+}
+
+
+bool rtklib_solver_dump_reader::restart()
+{
+    if (d_dump_file.is_open())
+        {
+            d_dump_file.clear();
+            d_dump_file.seekg(0, std::ios::beg);
+            return true;
+        }
+    else
+        {
+            return false;
+        }
+}
+
+
+int64_t rtklib_solver_dump_reader::num_epochs()
+{
+    std::ifstream::pos_type size;
+    int epoch_size_bytes = 2 * sizeof(uint32_t) + 21 * sizeof(double) + 3 * sizeof(uint8_t) + 2 * sizeof(float);
+    std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
+    if (tmpfile.is_open())
+        {
+            size = tmpfile.tellg();
+            int64_t nepoch = size / epoch_size_bytes;
+            return nepoch;
+        }
+    else
+        {
+            return 0;
+        }
+}
+
+
+bool rtklib_solver_dump_reader::open_obs_file(std::string out_file)
+{
+    if (d_dump_file.is_open() == false)
+        {
+            try
+                {
+                    d_dump_filename = out_file;
+                    d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
+                    d_dump_file.open(d_dump_filename.c_str(), std::ios::in | std::ios::binary);
+                    return true;
+                }
+            catch (const std::ifstream::failure &e)
+                {
+                    std::cout << "Problem opening rtklib_solver dump Log file: " << d_dump_filename.c_str() << std::endl;
+                    return false;
+                }
+        }
+    else
+        {
+            return false;
+        }
+}
+
+
+rtklib_solver_dump_reader::~rtklib_solver_dump_reader()
+{
+    if (d_dump_file.is_open() == true)
+        {
+            d_dump_file.close();
+        }
+}

src/tests/system-tests/libs/rtklib_solver_dump_reader.h

@@ -0,0 +1,88 @@
+/*!
+ * \file rtklib_solver_dump_reader.h
+ * \brief Helper file for unit testing
+ * \author Javier Arribas, 2017. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_RTKLIB_SOLVER_DUMP_READER_H
+#define GNSS_SDR_RTKLIB_SOLVER_DUMP_READER_H
+
+#include <cstdint>
+#include <fstream>
+#include <string>
+#include <vector>
+
+class rtklib_solver_dump_reader
+{
+public:
+    ~rtklib_solver_dump_reader();
+    bool read_binary_obs();
+    bool restart();
+    int64_t num_epochs();
+    bool open_obs_file(std::string out_file);
+
+    // rtklib_solver dump variables
+    // TOW
+    uint32_t TOW_at_current_symbol_ms;
+    // WEEK
+    uint32_t week;
+    // PVT GPS time
+    double RX_time;
+    // User clock offset [s]
+    double clk_offset_s;
+    // ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
+    double rr[6];
+    //  position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
+    double qr[6];
+
+    // GEO user position Latitude [deg]
+    double latitude;
+    // GEO user position Longitude [deg]
+    double longitude;
+    // GEO user position Height [m]
+    double height;
+
+    // NUMBER OF VALID SATS
+    uint8_t ns;
+    // RTKLIB solution status
+    uint8_t status;
+    // RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
+    uint8_t type;
+    // AR ratio factor for validation
+    float AR_ratio;
+    // AR ratio threshold for validation
+    float AR_thres;
+
+    // GDOP / PDOP / HDOP / VDOP
+    double dop[4];
+
+private:
+    std::string d_dump_filename;
+    std::ifstream d_dump_file;
+};
+
+#endif  //GNSS_SDR_RTKLIB_SOLVER_DUMP_READER_H

src/tests/system-tests/libs/spirent_motion_csv_dump_reader.cc

@@ -0,0 +1,250 @@
+/*!
+ * \file spirent_motion_csv_dump_reader.cc
+ * \brief Helper file for unit testing
+ * \author Javier Arribas, 2017. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "spirent_motion_csv_dump_reader.h"
+#include <boost/tokenizer.hpp>
+#include <iostream>
+
+
+spirent_motion_csv_dump_reader::spirent_motion_csv_dump_reader()
+{
+    header_lines = 2;
+    TOW_ms = 0.0;
+    Pos_X = 0.0;
+    Pos_Y = 0.0;
+    Pos_Z = 0.0;
+    Vel_X = 0.0;
+    Vel_Y = 0.0;
+    Vel_Z = 0.0;
+    Acc_X = 0.0;
+    Acc_Y = 0.0;
+    Acc_Z = 0.0;
+    Jerk_X = 0.0;
+    Jerk_Y = 0.0;
+    Jerk_Z = 0.0;
+    Lat = 0.0;
+    Long = 0.0;
+    Height = 0.0;
+    Heading = 0.0;
+    Elevation = 0.0;
+    Bank = 0.0;
+    Ang_vel_X = 0.0;
+    Ang_vel_Y = 0.0;
+    Ang_vel_Z = 0.0;
+    Ang_acc_X = 0.0;
+    Ang_acc_Y = 0.0;
+    Ang_acc_Z = 0.0;
+    Ant1_Pos_X = 0.0;
+    Ant1_Pos_Y = 0.0;
+    Ant1_Pos_Z = 0.0;
+    Ant1_Vel_X = 0.0;
+    Ant1_Vel_Y = 0.0;
+    Ant1_Vel_Z = 0.0;
+    Ant1_Acc_X = 0.0;
+    Ant1_Acc_Y = 0.0;
+    Ant1_Acc_Z = 0.0;
+    Ant1_Lat = 0.0;
+    Ant1_Long = 0.0;
+    Ant1_Height = 0.0;
+    Ant1_DOP = 0.0;
+}
+
+
+spirent_motion_csv_dump_reader::~spirent_motion_csv_dump_reader()
+{
+    if (d_dump_file.is_open() == true)
+        {
+            d_dump_file.close();
+        }
+}
+
+
+bool spirent_motion_csv_dump_reader::read_csv_obs()
+{
+    try
+        {
+            std::vector<double> vec;
+            std::string line;
+            if (getline(d_dump_file, line))
+                {
+                    boost::tokenizer<boost::escaped_list_separator<char>> tk(
+                        line, boost::escaped_list_separator<char>('\\', ',', '\"'));
+                    for (boost::tokenizer<boost::escaped_list_separator<char>>::iterator i(
+                             tk.begin());
+                         i != tk.end(); ++i)
+                        {
+                            try
+                                {
+                                    vec.push_back(std::stod(*i));
+                                }
+                            catch (const std::exception &ex)
+                                {
+                                    vec.push_back(0.0);
+                                }
+                        }
+                    parse_vector(vec);
+                }
+        }
+    catch (const std::ifstream::failure &e)
+        {
+            return false;
+        }
+    return true;
+}
+
+
+bool spirent_motion_csv_dump_reader::parse_vector(std::vector<double> &vec)
+{
+    try
+        {
+            int n = 0;
+            TOW_ms = vec.at(n++);
+            Pos_X = vec.at(n++);
+            Pos_Y = vec.at(n++);
+            Pos_Z = vec.at(n++);
+            Vel_X = vec.at(n++);
+            Vel_Y = vec.at(n++);
+            Vel_Z = vec.at(n++);
+            Acc_X = vec.at(n++);
+            Acc_Y = vec.at(n++);
+            Acc_Z = vec.at(n++);
+            Jerk_X = vec.at(n++);
+            Jerk_Y = vec.at(n++);
+            Jerk_Z = vec.at(n++);
+            Lat = vec.at(n++);
+            Long = vec.at(n++);
+            Height = vec.at(n++);
+            Heading = vec.at(n++);
+            Elevation = vec.at(n++);
+            Bank = vec.at(n++);
+            Ang_vel_X = vec.at(n++);
+            Ang_vel_Y = vec.at(n++);
+            Ang_vel_Z = vec.at(n++);
+            Ang_acc_X = vec.at(n++);
+            Ang_acc_Y = vec.at(n++);
+            Ang_acc_Z = vec.at(n++);
+            Ant1_Pos_X = vec.at(n++);
+            Ant1_Pos_Y = vec.at(n++);
+            Ant1_Pos_Z = vec.at(n++);
+            Ant1_Vel_X = vec.at(n++);
+            Ant1_Vel_Y = vec.at(n++);
+            Ant1_Vel_Z = vec.at(n++);
+            Ant1_Acc_X = vec.at(n++);
+            Ant1_Acc_Y = vec.at(n++);
+            Ant1_Acc_Z = vec.at(n++);
+            Ant1_Lat = vec.at(n++);
+            Ant1_Long = vec.at(n++);
+            Ant1_Height = vec.at(n++);
+            Ant1_DOP = vec.at(n++);
+            return true;
+        }
+    catch (const std::exception &ex)
+        {
+            return false;
+        }
+}
+
+
+bool spirent_motion_csv_dump_reader::restart()
+{
+    if (d_dump_file.is_open())
+        {
+            d_dump_file.clear();
+            d_dump_file.seekg(0, std::ios::beg);
+            std::string line;
+            for (int n = 0; n < header_lines; n++)
+                {
+                    getline(d_dump_file, line);
+                }
+            return true;
+        }
+    else
+        {
+            return false;
+        }
+}
+
+
+int64_t spirent_motion_csv_dump_reader::num_epochs()
+{
+    int64_t nepoch = 0LL;
+    std::string line;
+    std::ifstream tmpfile(d_dump_filename.c_str());
+    if (tmpfile.is_open())
+        {
+            while (std::getline(tmpfile, line))
+                {
+                    ++nepoch;
+                }
+            return nepoch - header_lines;
+        }
+    else
+        {
+            return 0;
+        }
+}
+
+
+bool spirent_motion_csv_dump_reader::open_obs_file(std::string out_file)
+{
+    if (d_dump_file.is_open() == false)
+        {
+            try
+                {
+                    d_dump_filename = out_file;
+                    d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
+                    d_dump_file.open(d_dump_filename.c_str());
+                    std::string line;
+                    for (int n = 0; n < header_lines; n++)
+                        {
+                            getline(d_dump_file, line);
+                        }
+                    return true;
+                }
+            catch (const std::ifstream::failure &e)
+                {
+                    std::cout << "Problem opening Spirent CSV dump Log file: " << d_dump_filename.c_str() << std::endl;
+                    return false;
+                }
+        }
+    else
+        {
+            return false;
+        }
+}
+
+
+void spirent_motion_csv_dump_reader::close_obs_file()
+{
+    if (d_dump_file.is_open() == false)
+        {
+            d_dump_file.close();
+        }
+}

src/tests/system-tests/libs/spirent_motion_csv_dump_reader.h

@@ -0,0 +1,97 @@
+/*!
+ * \file spirent_motion_csv_dump_reader.h
+ * \brief Helper file for unit testing
+ * \author Javier Arribas, 2018. jarribas(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H
+#define GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H
+
+#include <cstdint>
+#include <fstream>
+#include <string>
+#include <vector>
+
+class spirent_motion_csv_dump_reader
+{
+public:
+    spirent_motion_csv_dump_reader();
+    ~spirent_motion_csv_dump_reader();
+    bool read_csv_obs();
+    bool restart();
+    int64_t num_epochs();
+    bool open_obs_file(std::string out_file);
+    void close_obs_file();
+
+    int header_lines;
+    // dump variables
+    double TOW_ms;
+    double Pos_X;
+    double Pos_Y;
+    double Pos_Z;
+    double Vel_X;
+    double Vel_Y;
+    double Vel_Z;
+    double Acc_X;
+    double Acc_Y;
+    double Acc_Z;
+    double Jerk_X;
+    double Jerk_Y;
+    double Jerk_Z;
+    double Lat;
+    double Long;
+    double Height;
+    double Heading;
+    double Elevation;
+    double Bank;
+    double Ang_vel_X;
+    double Ang_vel_Y;
+    double Ang_vel_Z;
+    double Ang_acc_X;
+    double Ang_acc_Y;
+    double Ang_acc_Z;
+    double Ant1_Pos_X;
+    double Ant1_Pos_Y;
+    double Ant1_Pos_Z;
+    double Ant1_Vel_X;
+    double Ant1_Vel_Y;
+    double Ant1_Vel_Z;
+    double Ant1_Acc_X;
+    double Ant1_Acc_Y;
+    double Ant1_Acc_Z;
+    double Ant1_Lat;
+    double Ant1_Long;
+    double Ant1_Height;
+    double Ant1_DOP;
+
+private:
+    std::string d_dump_filename;
+    std::ifstream d_dump_file;
+    bool parse_vector(std::vector<double> &vec);
+};
+
+#endif  // GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H

src/tests/system-tests/obs_gps_l1_system_test.cc

@@ -1,719 +0,0 @@
-/*!
- * \file obs_gps_l1_system_test.cc
- * \brief  This class implements a test for the validation of generated observables.
- * \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
- *
- *
- * -------------------------------------------------------------------------
- *
- * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
- *
- * GNSS-SDR is a software defined Global Navigation
- *          Satellite Systems receiver
- *
- * This file is part of GNSS-SDR.
- *
- * GNSS-SDR is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * GNSS-SDR is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
- *
- * -------------------------------------------------------------------------
- */
-
-#include "concurrent_map.h"
-#include "concurrent_queue.h"
-#include "control_thread.h"
-#include "in_memory_configuration.h"
-#include "signal_generator_flags.h"
-#include <gflags/gflags.h>
-#include <glog/logging.h>
-#include <gtest/gtest.h>
-#include <gpstk/RinexUtilities.hpp>
-#include <gpstk/Rinex3ObsBase.hpp>
-#include <gpstk/Rinex3ObsData.hpp>
-#include <gpstk/Rinex3ObsHeader.hpp>
-#include <gpstk/Rinex3ObsStream.hpp>
-#include <algorithm>
-#include <chrono>
-#include <cstdlib>
-#include <exception>
-#include <iostream>
-#include <numeric>
-#include <string>
-#include <thread>
-#include <unistd.h>
-
-
-// For GPS NAVIGATION (L1)
-concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
-concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
-
-
-class ObsGpsL1SystemTest : public ::testing::Test
-{
-public:
-    std::string generator_binary;
-    std::string p1;
-    std::string p2;
-    std::string p3;
-    std::string p4;
-    std::string p5;
-
-    const double baseband_sampling_freq = 2.6e6;
-
-    std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
-    std::string filename_raw_data = FLAGS_filename_raw_data;
-    std::string generated_rinex_obs;
-    int configure_generator();
-    int generate_signal();
-    int configure_receiver();
-    int run_receiver();
-    void check_results();
-    bool check_valid_rinex_nav(std::string filename);  // return true if the file is a valid Rinex navigation file.
-    bool check_valid_rinex_obs(std::string filename);  // return true if the file is a valid Rinex observation file.
-    double compute_stdev(const std::vector<double>& vec);
-
-    std::shared_ptr<InMemoryConfiguration> config;
-};
-
-
-bool ObsGpsL1SystemTest::check_valid_rinex_nav(std::string filename)
-{
-    bool res = false;
-    res = gpstk::isRinexNavFile(filename);
-    return res;
-}
-
-
-double ObsGpsL1SystemTest::compute_stdev(const std::vector<double>& vec)
-{
-    double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
-    double mean__ = sum__ / vec.size();
-    double accum__ = 0.0;
-    std::for_each(std::begin(vec), std::end(vec), [&](const double d) {
-        accum__ += (d - mean__) * (d - mean__);
-    });
-    double stdev__ = std::sqrt(accum__ / (vec.size() - 1));
-    return stdev__;
-}
-
-
-bool ObsGpsL1SystemTest::check_valid_rinex_obs(std::string filename)
-{
-    bool res = false;
-    res = gpstk::isRinexObsFile(filename);
-    return res;
-}
-
-
-int ObsGpsL1SystemTest::configure_generator()
-{
-    // Configure signal generator
-    generator_binary = FLAGS_generator_binary;
-
-    p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
-    if (FLAGS_dynamic_position.empty())
-        {
-            p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(std::min(FLAGS_duration * 10, 3000));
-            if (FLAGS_duration > 300) std::cout << "WARNING: Duration has been set to its maximum value of 300 s" << std::endl;
-        }
-    else
-        {
-            p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
-        }
-    p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs;               // RINEX 2.10 observation file output
-    p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data;                  // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
-    p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq);  //Baseband sampling frequency [MSps]
-    return 0;
-}
-
-
-int ObsGpsL1SystemTest::generate_signal()
-{
-    pid_t wait_result;
-    int child_status;
-
-    char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL};
-
-    int pid;
-    if ((pid = fork()) == -1)
-        perror("fork error");
-    else if (pid == 0)
-        {
-            execv(&generator_binary[0], parmList);
-            std::cout << "Return not expected. Must be an execv error." << std::endl;
-            std::terminate();
-        }
-
-    wait_result = waitpid(pid, &child_status, 0);
-    if (wait_result == -1) perror("waitpid error");
-    EXPECT_EQ(true, check_valid_rinex_obs(filename_rinex_obs));
-    std::cout << "Signal and Observables RINEX files created." << std::endl;
-    return 0;
-}
-
-
-int ObsGpsL1SystemTest::configure_receiver()
-{
-    config = std::make_shared<InMemoryConfiguration>();
-
-    const int sampling_rate_internal = baseband_sampling_freq;
-
-    const int number_of_taps = 11;
-    const int number_of_bands = 2;
-    const float band1_begin = 0.0;
-    const float band1_end = 0.48;
-    const float band2_begin = 0.52;
-    const float band2_end = 1.0;
-    const float ampl1_begin = 1.0;
-    const float ampl1_end = 1.0;
-    const float ampl2_begin = 0.0;
-    const float ampl2_end = 0.0;
-    const float band1_error = 1.0;
-    const float band2_error = 1.0;
-    const int grid_density = 16;
-
-    const float zero = 0.0;
-    const int number_of_channels = 8;
-    const int in_acquisition = 1;
-
-    const float threshold = 0.01;
-    const float doppler_max = 8000.0;
-    const float doppler_step = 500.0;
-    const int max_dwells = 1;
-    const int tong_init_val = 2;
-    const int tong_max_val = 10;
-    const int tong_max_dwells = 30;
-    const int coherent_integration_time_ms = 1;
-
-    const float pll_bw_hz = 30.0;
-    const float dll_bw_hz = 4.0;
-    const float early_late_space_chips = 0.5;
-    const float pll_bw_narrow_hz = 20.0;
-    const float dll_bw_narrow_hz = 2.0;
-    const int extend_correlation_ms = 1;
-
-    const int display_rate_ms = 500;
-    const int output_rate_ms = 10;
-
-    config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));
-
-    // Set the assistance system parameters
-    config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
-    config->set_property("GNSS-SDR.SUPL_gps_enabled", "false");
-    config->set_property("GNSS-SDR.SUPL_gps_ephemeris_server", "supl.google.com");
-    config->set_property("GNSS-SDR.SUPL_gps_ephemeris_port", std::to_string(7275));
-    config->set_property("GNSS-SDR.SUPL_gps_acquisition_server", "supl.google.com");
-    config->set_property("GNSS-SDR.SUPL_gps_acquisition_port", std::to_string(7275));
-    config->set_property("GNSS-SDR.SUPL_MCC", std::to_string(244));
-    config->set_property("GNSS-SDR.SUPL_MNS", std::to_string(5));
-    config->set_property("GNSS-SDR.SUPL_LAC", "0x59e2");
-    config->set_property("GNSS-SDR.SUPL_CI", "0x31b0");
-
-    // Set the Signal Source
-    config->set_property("SignalSource.implementation", "File_Signal_Source");
-    config->set_property("SignalSource.filename", "./" + filename_raw_data);
-    config->set_property("SignalSource.sampling_frequency", std::to_string(sampling_rate_internal));
-    config->set_property("SignalSource.item_type", "ibyte");
-    config->set_property("SignalSource.samples", std::to_string(zero));
-
-    // Set the Signal Conditioner
-    config->set_property("SignalConditioner.implementation", "Signal_Conditioner");
-    config->set_property("DataTypeAdapter.implementation", "Ibyte_To_Complex");
-    config->set_property("InputFilter.implementation", "Fir_Filter");
-    config->set_property("InputFilter.dump", "false");
-    config->set_property("InputFilter.input_item_type", "gr_complex");
-    config->set_property("InputFilter.output_item_type", "gr_complex");
-    config->set_property("InputFilter.taps_item_type", "float");
-    config->set_property("InputFilter.number_of_taps", std::to_string(number_of_taps));
-    config->set_property("InputFilter.number_of_bands", std::to_string(number_of_bands));
-    config->set_property("InputFilter.band1_begin", std::to_string(band1_begin));
-    config->set_property("InputFilter.band1_end", std::to_string(band1_end));
-    config->set_property("InputFilter.band2_begin", std::to_string(band2_begin));
-    config->set_property("InputFilter.band2_end", std::to_string(band2_end));
-    config->set_property("InputFilter.ampl1_begin", std::to_string(ampl1_begin));
-    config->set_property("InputFilter.ampl1_end", std::to_string(ampl1_end));
-    config->set_property("InputFilter.ampl2_begin", std::to_string(ampl2_begin));
-    config->set_property("InputFilter.ampl2_end", std::to_string(ampl2_end));
-    config->set_property("InputFilter.band1_error", std::to_string(band1_error));
-    config->set_property("InputFilter.band2_error", std::to_string(band2_error));
-    config->set_property("InputFilter.filter_type", "bandpass");
-    config->set_property("InputFilter.grid_density", std::to_string(grid_density));
-    config->set_property("InputFilter.sampling_frequency", std::to_string(sampling_rate_internal));
-    config->set_property("InputFilter.IF", std::to_string(zero));
-    config->set_property("Resampler.implementation", "Pass_Through");
-    config->set_property("Resampler.dump", "false");
-    config->set_property("Resampler.item_type", "gr_complex");
-    config->set_property("Resampler.sample_freq_in", std::to_string(sampling_rate_internal));
-    config->set_property("Resampler.sample_freq_out", std::to_string(sampling_rate_internal));
-
-    // Set the number of Channels
-    config->set_property("Channels_1C.count", std::to_string(number_of_channels));
-    config->set_property("Channels.in_acquisition", std::to_string(in_acquisition));
-    config->set_property("Channel.signal", "1C");
-
-    // Set Acquisition
-    config->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Tong_Acquisition");
-    config->set_property("Acquisition_1C.item_type", "gr_complex");
-    config->set_property("Acquisition_1C.coherent_integration_time_ms", std::to_string(coherent_integration_time_ms));
-    config->set_property("Acquisition_1C.threshold", std::to_string(threshold));
-    config->set_property("Acquisition_1C.doppler_max", std::to_string(doppler_max));
-    config->set_property("Acquisition_1C.doppler_step", std::to_string(doppler_step));
-    config->set_property("Acquisition_1C.bit_transition_flag", "false");
-    config->set_property("Acquisition_1C.max_dwells", std::to_string(max_dwells));
-    config->set_property("Acquisition_1C.tong_init_val", std::to_string(tong_init_val));
-    config->set_property("Acquisition_1C.tong_max_val", std::to_string(tong_max_val));
-    config->set_property("Acquisition_1C.tong_max_dwells", std::to_string(tong_max_dwells));
-
-    // Set Tracking
-    config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking");
-    //config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking");
-    config->set_property("Tracking_1C.item_type", "gr_complex");
-    config->set_property("Tracking_1C.dump", "false");
-    config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
-    config->set_property("Tracking_1C.pll_bw_hz", std::to_string(pll_bw_hz));
-    config->set_property("Tracking_1C.dll_bw_hz", std::to_string(dll_bw_hz));
-    config->set_property("Tracking_1C.early_late_space_chips", std::to_string(early_late_space_chips));
-
-    config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz));
-    config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz));
-    config->set_property("Tracking_1C.extend_correlation_ms", std::to_string(extend_correlation_ms));
-
-    // Set Telemetry
-    config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder");
-    config->set_property("TelemetryDecoder_1C.dump", "false");
-
-    // Set Observables
-    config->set_property("Observables.implementation", "Hybrid_Observables");
-    config->set_property("Observables.dump", "false");
-    config->set_property("Observables.dump_filename", "./observables.dat");
-    config->set_property("Observables.averaging_depth", std::to_string(100));
-
-    // Set PVT
-    config->set_property("PVT.implementation", "RTKLIB_PVT");
-    config->set_property("PVT.positioning_mode", "Single");
-    config->set_property("PVT.output_rate_ms", std::to_string(output_rate_ms));
-    config->set_property("PVT.display_rate_ms", std::to_string(display_rate_ms));
-    config->set_property("PVT.dump_filename", "./PVT");
-    config->set_property("PVT.nmea_dump_filename", "./gnss_sdr_pvt.nmea");
-    config->set_property("PVT.flag_nmea_tty_port", "false");
-    config->set_property("PVT.nmea_dump_devname", "/dev/pts/4");
-    config->set_property("PVT.flag_rtcm_server", "false");
-    config->set_property("PVT.flag_rtcm_tty_port", "false");
-    config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
-    config->set_property("PVT.dump", "false");
-    config->set_property("PVT.rinex_version", std::to_string(2));
-
-    return 0;
-}
-
-
-int ObsGpsL1SystemTest::run_receiver()
-{
-    std::shared_ptr<ControlThread> control_thread;
-    control_thread = std::make_shared<ControlThread>(config);
-    // start receiver
-    try
-        {
-            control_thread->run();
-        }
-    catch (const boost::exception& e)
-        {
-            std::cout << "Boost exception: " << boost::diagnostic_information(e);
-        }
-    catch (const std::exception& ex)
-        {
-            std::cout << "STD exception: " << ex.what();
-        }
-    // Get the name of the RINEX obs file generated by the receiver
-    std::this_thread::sleep_for(std::chrono::milliseconds(2000));
-    FILE* fp;
-    std::string argum2 = std::string("/bin/ls *O | grep GSDR | tail -1");
-    char buffer[1035];
-    fp = popen(&argum2[0], "r");
-    if (fp == NULL)
-        {
-            std::cout << "Failed to run command: " << argum2 << std::endl;
-            return -1;
-        }
-    while (fgets(buffer, sizeof(buffer), fp) != NULL)
-        {
-            std::string aux = std::string(buffer);
-            ObsGpsL1SystemTest::generated_rinex_obs = aux.erase(aux.length() - 1, 1);
-        }
-    pclose(fp);
-    return 0;
-}
-
-
-void ObsGpsL1SystemTest::check_results()
-{
-    std::vector<std::vector<std::pair<double, double>>> pseudorange_ref(33);
-    std::vector<std::vector<std::pair<double, double>>> carrierphase_ref(33);
-    std::vector<std::vector<std::pair<double, double>>> doppler_ref(33);
-
-    std::vector<std::vector<std::pair<double, double>>> pseudorange_meas(33);
-    std::vector<std::vector<std::pair<double, double>>> carrierphase_meas(33);
-    std::vector<std::vector<std::pair<double, double>>> doppler_meas(33);
-
-    // Open and read reference RINEX observables file
-    try
-        {
-            gpstk::Rinex3ObsStream r_ref(FLAGS_filename_rinex_obs);
-            r_ref.exceptions(std::ios::failbit);
-            gpstk::Rinex3ObsData r_ref_data;
-            gpstk::Rinex3ObsHeader r_ref_header;
-
-            gpstk::RinexDatum dataobj;
-
-            r_ref >> r_ref_header;
-
-            while (r_ref >> r_ref_data)
-                {
-                    for (int myprn = 1; myprn < 33; myprn++)
-                        {
-                            gpstk::SatID prn(myprn, gpstk::SatID::systemGPS);
-                            gpstk::CommonTime time = r_ref_data.time;
-                            double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
-
-                            gpstk::Rinex3ObsData::DataMap::iterator pointer = r_ref_data.obs.find(prn);
-                            if (pointer == r_ref_data.obs.end())
-                                {
-                                    // PRN not present; do nothing
-                                }
-                            else
-                                {
-                                    dataobj = r_ref_data.getObs(prn, "C1C", r_ref_header);
-                                    double P1 = dataobj.data;
-                                    std::pair<double, double> pseudo(sow, P1);
-                                    pseudorange_ref.at(myprn).push_back(pseudo);
-
-                                    dataobj = r_ref_data.getObs(prn, "L1C", r_ref_header);
-                                    double L1 = dataobj.data;
-                                    std::pair<double, double> carrier(sow, L1);
-                                    carrierphase_ref.at(myprn).push_back(carrier);
-
-                                    dataobj = r_ref_data.getObs(prn, "D1C", r_ref_header);
-                                    double D1 = dataobj.data;
-                                    std::pair<double, double> doppler(sow, D1);
-                                    doppler_ref.at(myprn).push_back(doppler);
-                                }  // End of 'if( pointer == roe.obs.end() )'
-                        }          // end for
-                }                  // end while
-        }                          // End of 'try' block
-    catch (const gpstk::FFStreamError& e)
-        {
-            std::cout << e;
-            exit(1);
-        }
-    catch (const gpstk::Exception& e)
-        {
-            std::cout << e;
-            exit(1);
-        }
-    catch (...)
-        {
-            std::cout << "unknown error.  I don't feel so well..." << std::endl;
-            exit(1);
-        }
-
-    try
-        {
-            std::string arg2_gen = std::string("./") + ObsGpsL1SystemTest::generated_rinex_obs;
-            gpstk::Rinex3ObsStream r_meas(arg2_gen);
-            r_meas.exceptions(std::ios::failbit);
-            gpstk::Rinex3ObsData r_meas_data;
-            gpstk::Rinex3ObsHeader r_meas_header;
-            gpstk::RinexDatum dataobj;
-
-            r_meas >> r_meas_header;
-
-            while (r_meas >> r_meas_data)
-                {
-                    for (int myprn = 1; myprn < 33; myprn++)
-                        {
-                            gpstk::SatID prn(myprn, gpstk::SatID::systemGPS);
-                            gpstk::CommonTime time = r_meas_data.time;
-                            double sow(static_cast<gpstk::GPSWeekSecond>(time).sow);
-
-                            gpstk::Rinex3ObsData::DataMap::iterator pointer = r_meas_data.obs.find(prn);
-                            if (pointer == r_meas_data.obs.end())
-                                {
-                                    // PRN not present; do nothing
-                                }
-                            else
-                                {
-                                    dataobj = r_meas_data.getObs(prn, "C1C", r_meas_header);
-                                    double P1 = dataobj.data;
-                                    std::pair<double, double> pseudo(sow, P1);
-                                    pseudorange_meas.at(myprn).push_back(pseudo);
-
-                                    dataobj = r_meas_data.getObs(prn, "L1C", r_meas_header);
-                                    double L1 = dataobj.data;
-                                    std::pair<double, double> carrier(sow, L1);
-                                    carrierphase_meas.at(myprn).push_back(carrier);
-
-                                    dataobj = r_meas_data.getObs(prn, "D1C", r_meas_header);
-                                    double D1 = dataobj.data;
-                                    std::pair<double, double> doppler(sow, D1);
-                                    doppler_meas.at(myprn).push_back(doppler);
-                                }  // End of 'if( pointer == roe.obs.end() )'
-                        }          // end for
-                }                  // end while
-        }                          // End of 'try' block
-    catch (const gpstk::FFStreamError& e)
-        {
-            std::cout << e;
-            exit(1);
-        }
-    catch (const gpstk::Exception& e)
-        {
-            std::cout << e;
-            exit(1);
-        }
-    catch (...)
-        {
-            std::cout << "unknown error.  I don't feel so well..." << std::endl;
-            exit(1);
-        }
-
-    // Time alignment
-    std::vector<std::vector<std::pair<double, double>>> pseudorange_ref_aligned(33);
-    std::vector<std::vector<std::pair<double, double>>> carrierphase_ref_aligned(33);
-    std::vector<std::vector<std::pair<double, double>>> doppler_ref_aligned(33);
-
-    std::vector<std::vector<std::pair<double, double>>>::iterator iter;
-    std::vector<std::pair<double, double>>::iterator it;
-    std::vector<std::pair<double, double>>::iterator it2;
-
-    std::vector<std::vector<double>> pr_diff(33);
-    std::vector<std::vector<double>> cp_diff(33);
-    std::vector<std::vector<double>> doppler_diff(33);
-
-    std::vector<std::vector<double>>::iterator iter_diff;
-    std::vector<double>::iterator iter_v;
-
-    int prn_id = 0;
-    for (iter = pseudorange_ref.begin(); iter != pseudorange_ref.end(); iter++)
-        {
-            for (it = iter->begin(); it != iter->end(); it++)
-                {
-                    // If a measure exists for this sow, store it
-                    for (it2 = pseudorange_meas.at(prn_id).begin(); it2 != pseudorange_meas.at(prn_id).end(); it2++)
-                        {
-                            if (std::abs(it->first - it2->first) < 0.1)  // store measures closer than 10 ms.
-                                {
-                                    pseudorange_ref_aligned.at(prn_id).push_back(*it);
-                                    pr_diff.at(prn_id).push_back(it->second - it2->second);
-                                    //std::cout << "Sat " << prn_id << ": " << "PR_ref=" << it->second << "   PR_meas=" << it2->second << "    Diff:" << it->second - it2->second <<  std::endl;
-                                }
-                        }
-                }
-            prn_id++;
-        }
-
-    prn_id = 0;
-    for (iter = carrierphase_ref.begin(); iter != carrierphase_ref.end(); iter++)
-        {
-            for (it = iter->begin(); it != iter->end(); it++)
-                {
-                    // If a measure exists for this sow, store it
-                    for (it2 = carrierphase_meas.at(prn_id).begin(); it2 != carrierphase_meas.at(prn_id).end(); it2++)
-                        {
-                            if (std::abs(it->first - it2->first) < 0.1)  // store measures closer than 10 ms.
-                                {
-                                    carrierphase_ref_aligned.at(prn_id).push_back(*it);
-                                    cp_diff.at(prn_id).push_back(it->second - it2->second);
-                                    // std::cout << "Sat " << prn_id << ": " << "Carrier_ref=" << it->second << "   Carrier_meas=" << it2->second << "    Diff:" << it->second - it2->second <<  std::endl;
-                                }
-                        }
-                }
-            prn_id++;
-        }
-    prn_id = 0;
-    for (iter = doppler_ref.begin(); iter != doppler_ref.end(); iter++)
-        {
-            for (it = iter->begin(); it != iter->end(); it++)
-                {
-                    // If a measure exists for this sow, store it
-                    for (it2 = doppler_meas.at(prn_id).begin(); it2 != doppler_meas.at(prn_id).end(); it2++)
-                        {
-                            if (std::abs(it->first - it2->first) < 0.01)  // store measures closer than 10 ms.
-                                {
-                                    doppler_ref_aligned.at(prn_id).push_back(*it);
-                                    doppler_diff.at(prn_id).push_back(it->second - it2->second);
-                                }
-                        }
-                }
-            prn_id++;
-        }
-
-    // Compute pseudorange error
-    prn_id = 0;
-    std::vector<double> mean_pr_diff_v;
-    for (iter_diff = pr_diff.begin(); iter_diff != pr_diff.end(); iter_diff++)
-        {
-            // For each satellite with reference and measurements aligned in time
-            int number_obs = 0;
-            double mean_diff = 0.0;
-            for (iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
-                {
-                    mean_diff = mean_diff + *iter_v;
-                    number_obs = number_obs + 1;
-                }
-            if (number_obs > 0)
-                {
-                    mean_diff = mean_diff / number_obs;
-                    mean_pr_diff_v.push_back(mean_diff);
-                    std::cout << "-- Mean pseudorange difference for sat " << prn_id << ": " << mean_diff;
-                    double stdev_ = compute_stdev(*iter_diff);
-                    std::cout << " +/- " << stdev_;
-                    std::cout << " [m]" << std::endl;
-                }
-            else
-                {
-                    mean_diff = 0.0;
-                }
-
-            prn_id++;
-        }
-    double stdev_pr = compute_stdev(mean_pr_diff_v);
-    std::cout << "Pseudorange diff error stdev = " << stdev_pr << " [m]" << std::endl;
-    ASSERT_LT(stdev_pr, 10.0);
-
-    // Compute carrier phase error
-    prn_id = 0;
-    std::vector<double> mean_cp_diff_v;
-    for (iter_diff = cp_diff.begin(); iter_diff != cp_diff.end(); iter_diff++)
-        {
-            // For each satellite with reference and measurements aligned in time
-            int number_obs = 0;
-            double mean_diff = 0.0;
-            for (iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
-                {
-                    mean_diff = mean_diff + *iter_v;
-                    number_obs = number_obs + 1;
-                }
-            if (number_obs > 0)
-                {
-                    mean_diff = mean_diff / number_obs;
-                    mean_cp_diff_v.push_back(mean_diff);
-                    std::cout << "-- Mean carrier phase difference for sat " << prn_id << ": " << mean_diff;
-                    double stdev_pr_ = compute_stdev(*iter_diff);
-                    std::cout << " +/- " << stdev_pr_ << " whole cycles (19 cm)" << std::endl;
-                }
-            else
-                {
-                    mean_diff = 0.0;
-                }
-
-            prn_id++;
-        }
-
-    // Compute Doppler error
-    prn_id = 0;
-    std::vector<double> mean_doppler_v;
-    for (iter_diff = doppler_diff.begin(); iter_diff != doppler_diff.end(); iter_diff++)
-        {
-            // For each satellite with reference and measurements aligned in time
-            int number_obs = 0;
-            double mean_diff = 0.0;
-            for (iter_v = iter_diff->begin(); iter_v != iter_diff->end(); iter_v++)
-                {
-                    //std::cout << *iter_v << std::endl;
-                    mean_diff = mean_diff + *iter_v;
-                    number_obs = number_obs + 1;
-                }
-            if (number_obs > 0)
-                {
-                    mean_diff = mean_diff / number_obs;
-                    mean_doppler_v.push_back(mean_diff);
-                    std::cout << "-- Mean Doppler difference for sat " << prn_id << ": " << mean_diff << " [Hz]" << std::endl;
-                }
-            else
-                {
-                    mean_diff = 0.0;
-                }
-
-            prn_id++;
-        }
-
-    double stdev_dp = compute_stdev(mean_doppler_v);
-    std::cout << "Doppler error stdev = " << stdev_dp << " [Hz]" << std::endl;
-    ASSERT_LT(stdev_dp, 10.0);
-}
-
-
-TEST_F(ObsGpsL1SystemTest, Observables_system_test)
-{
-    std::cout << "Validating input RINEX nav file: " << FLAGS_rinex_nav_file << " ..." << std::endl;
-    bool is_rinex_nav_valid = check_valid_rinex_nav(FLAGS_rinex_nav_file);
-    EXPECT_EQ(true, is_rinex_nav_valid) << "The RINEX navigation file " << FLAGS_rinex_nav_file << " is not well formed.";
-    std::cout << "The file is valid." << std::endl;
-
-    // Configure the signal generator
-    configure_generator();
-
-    // Generate signal raw signal samples and observations RINEX file
-    if (!FLAGS_disable_generator)
-        {
-            generate_signal();
-        }
-
-    std::cout << "Validating generated reference RINEX obs file: " << FLAGS_filename_rinex_obs << " ..." << std::endl;
-    bool is_gen_rinex_obs_valid = check_valid_rinex_obs("./" + FLAGS_filename_rinex_obs);
-    EXPECT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << FLAGS_filename_rinex_obs << ", generated by gnss-sim, is not well formed.";
-    std::cout << "The file is valid." << std::endl;
-
-    // Configure receiver
-    configure_receiver();
-
-    // Run the receiver
-    EXPECT_EQ(run_receiver(), 0) << "Problem executing the software-defined signal generator";
-
-    std::cout << "Validating RINEX obs file obtained by GNSS-SDR: " << ObsGpsL1SystemTest::generated_rinex_obs << " ..." << std::endl;
-    is_gen_rinex_obs_valid = check_valid_rinex_obs("./" + ObsGpsL1SystemTest::generated_rinex_obs);
-    EXPECT_EQ(true, is_gen_rinex_obs_valid) << "The RINEX observation file " << ObsGpsL1SystemTest::generated_rinex_obs << ", generated by GNSS-SDR, is not well formed.";
-    std::cout << "The file is valid." << std::endl;
-
-    // Check results
-    check_results();
-}
-
-
-int main(int argc, char** argv)
-{
-    std::cout << "Running Observables validation test..." << std::endl;
-    int res = 0;
-    try
-        {
-            testing::InitGoogleTest(&argc, argv);
-        }
-    catch (...)
-        {
-        }  // catch the "testing::internal::<unnamed>::ClassUniqueToAlwaysTrue" from gtest
-
-    google::ParseCommandLineFlags(&argc, &argv, true);
-    google::InitGoogleLogging(argv[0]);
-
-    // Run the Tests
-    try
-        {
-            res = RUN_ALL_TESTS();
-        }
-    catch (...)
-        {
-            LOG(WARNING) << "Unexpected catch";
-        }
-    google::ShutDownCommandLineFlags();
-    return res;
-}

src/tests/system-tests/position_test.cc

@@ -1,7 +1,10 @@
 /*!
  * \file position_test.cc
  * \brief  This class implements a test for the validation of computed position.
- * \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
+ * \authors <ul>
+ *          <li> Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
+ *          <li> Javier Arribas, 2018. jarribas(at)cttc.es
+ *          </ul>
  *
  *
  * -------------------------------------------------------------------------
@@ -29,6 +32,9 @@
  * -------------------------------------------------------------------------
  */
 
+#include "position_test_flags.h"
+#include "rtklib_solver_dump_reader.h"
+#include "spirent_motion_csv_dump_reader.h"
 #include "concurrent_map.h"
 #include "concurrent_queue.h"
 #include "control_thread.h"
@@ -39,6 +45,7 @@
 #include "test_flags.h"
 #include "signal_generator_flags.h"
 #include <boost/filesystem.hpp>
+#include <armadillo>
 #include <glog/logging.h>
 #include <gtest/gtest.h>
 #include <algorithm>
@@ -48,15 +55,11 @@
 #include <numeric>
 #include <thread>
 
-
-DEFINE_string(config_file_ptest, std::string(""), "File containing the configuration parameters for the position test.");
-DEFINE_bool(plot_position_test, false, "Plots results of FFTLengthTest with gnuplot");
-
 // For GPS NAVIGATION (L1)
 concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
 concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
 
-class StaticPositionSystemTest : public ::testing::Test
+class PositionSystemTest : public ::testing::Test
 {
 public:
     int configure_generator();
@@ -64,6 +67,7 @@ public:
     int configure_receiver();
     int run_receiver();
     void check_results();
+    std::string config_filename_no_extension;
 
 private:
     std::string generator_binary;
@@ -97,7 +101,7 @@ private:
 };
 
 
-void StaticPositionSystemTest::geodetic2Ecef(const double latitude, const double longitude, const double altitude,
+void PositionSystemTest::geodetic2Ecef(const double latitude, const double longitude, const double altitude,
     double* x, double* y, double* z)
 {
     const double a = 6378137.0;       // WGS84
@@ -122,7 +126,7 @@ void StaticPositionSystemTest::geodetic2Ecef(const double latitude, const double
 }
 
 
-void StaticPositionSystemTest::geodetic2Enu(double latitude, double longitude, double altitude,
+void PositionSystemTest::geodetic2Enu(double latitude, double longitude, double altitude,
     double* east, double* north, double* up)
 {
     double x, y, z;
@@ -144,9 +148,9 @@ void StaticPositionSystemTest::geodetic2Enu(double latitude, double longitude, d
 
     geodetic2Ecef(ref_lat * d2r, ref_long * d2r, ref_h, &ref_x, &ref_y, &ref_z);
 
-    double aux_x = x - ref_x;
+    double aux_x = x;  // - ref_x;
-    double aux_y = y - ref_y;
+    double aux_y = y;  // - ref_y;
-    double aux_z = z - ref_z;
+    double aux_z = z;  // - ref_z;
 
     // ECEF to NED matrix
     double phiP = atan2(ref_z, sqrt(std::pow(ref_x, 2.0) + std::pow(ref_y, 2.0)));
@@ -165,7 +169,7 @@ void StaticPositionSystemTest::geodetic2Enu(double latitude, double longitude, d
 }
 
 
-double StaticPositionSystemTest::compute_stdev_precision(const std::vector<double>& vec)
+double PositionSystemTest::compute_stdev_precision(const std::vector<double>& vec)
 {
     double sum__ = std::accumulate(vec.begin(), vec.end(), 0.0);
     double mean__ = sum__ / vec.size();
@@ -178,7 +182,7 @@ double StaticPositionSystemTest::compute_stdev_precision(const std::vector<doubl
 }
 
 
-double StaticPositionSystemTest::compute_stdev_accuracy(const std::vector<double>& vec, const double ref)
+double PositionSystemTest::compute_stdev_accuracy(const std::vector<double>& vec, const double ref)
 {
     const double mean__ = ref;
     double accum__ = 0.0;
@@ -190,7 +194,7 @@ double StaticPositionSystemTest::compute_stdev_accuracy(const std::vector<double
 }
 
 
-int StaticPositionSystemTest::configure_generator()
+int PositionSystemTest::configure_generator()
 {
     // Configure signal generator
     generator_binary = FLAGS_generator_binary;
@@ -212,7 +216,7 @@ int StaticPositionSystemTest::configure_generator()
 }
 
 
-int StaticPositionSystemTest::generate_signal()
+int PositionSystemTest::generate_signal()
 {
     pid_t wait_result;
     int child_status;
@@ -235,7 +239,7 @@ int StaticPositionSystemTest::generate_signal()
 }
 
 
-int StaticPositionSystemTest::configure_receiver()
+int PositionSystemTest::configure_receiver()
 {
     if (FLAGS_config_file_ptest.empty())
         {
@@ -386,7 +390,7 @@ int StaticPositionSystemTest::configure_receiver()
             config->set_property("PVT.flag_rtcm_server", "false");
             config->set_property("PVT.flag_rtcm_tty_port", "false");
             config->set_property("PVT.rtcm_dump_devname", "/dev/pts/1");
-            config->set_property("PVT.dump", "false");
+            config->set_property("PVT.dump", "true");
             config->set_property("PVT.rinex_version", std::to_string(2));
             config->set_property("PVT.iono_model", "OFF");
             config->set_property("PVT.trop_model", "OFF");
@@ -404,7 +408,7 @@ int StaticPositionSystemTest::configure_receiver()
 }
 
 
-int StaticPositionSystemTest::run_receiver()
+int PositionSystemTest::run_receiver()
 {
     std::shared_ptr<ControlThread> control_thread;
     if (FLAGS_config_file_ptest.empty())
@@ -445,138 +449,401 @@ int StaticPositionSystemTest::run_receiver()
         {
             std::string aux = std::string(buffer);
             EXPECT_EQ(aux.empty(), false);
-            StaticPositionSystemTest::generated_kml_file = aux.erase(aux.length() - 1, 1);
+            PositionSystemTest::generated_kml_file = aux.erase(aux.length() - 1, 1);
         }
     pclose(fp);
-    EXPECT_EQ(StaticPositionSystemTest::generated_kml_file.empty(), false);
+    EXPECT_EQ(PositionSystemTest::generated_kml_file.empty(), false);
     return 0;
 }
 
 
-void StaticPositionSystemTest::check_results()
+void PositionSystemTest::check_results()
 {
-    std::fstream myfile(StaticPositionSystemTest::generated_kml_file, std::ios_base::in);
-    ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened";
-    std::string line;
-
     std::vector<double> pos_e;
     std::vector<double> pos_n;
     std::vector<double> pos_u;
 
-    // Skip header
+    arma::mat R_eb_e;  //ECEF position (x,y,z) estimation in the Earth frame (Nx3)
-    std::getline(myfile, line);
+    arma::mat V_eb_e;  //ECEF velocity (x,y,z) estimation in the Earth frame (Nx3)
-    bool is_header = true;
+    arma::mat LLH;     //Geodetic coordinates (latitude, longitude, height) estimation in WGS84 datum
-    while (is_header)
+    arma::vec receiver_time_s;
+
+    arma::mat ref_R_eb_e;  //ECEF position (x,y,z) reference in the Earth frame (Nx3)
+    arma::mat ref_V_eb_e;  //ECEF velocity (x,y,z) reference in the Earth frame (Nx3)
+    arma::mat ref_LLH;     //Geodetic coordinates (latitude, longitude, height) reference in WGS84 datum
+    arma::vec ref_time_s;
+
+    std::istringstream iss2(FLAGS_static_position);
+    std::string str_aux;
+    std::getline(iss2, str_aux, ',');
+    double ref_lat = std::stod(str_aux);
+    std::getline(iss2, str_aux, ',');
+    double ref_long = std::stod(str_aux);
+    std::getline(iss2, str_aux, '\n');
+    double ref_h = std::stod(str_aux);
+    double ref_e, ref_n, ref_u;
+    geodetic2Enu(ref_lat, ref_long, ref_h,
+        &ref_e, &ref_n, &ref_u);
+
+    if (!FLAGS_use_pvt_solver_dump)
         {
+            //fall back to read receiver KML output (position only)
+            std::fstream myfile(PositionSystemTest::generated_kml_file, std::ios_base::in);
+            ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened";
+            std::string line;
+            // Skip header
             std::getline(myfile, line);
-            ASSERT_FALSE(myfile.eof()) << "No valid kml file found.";
+            bool is_header = true;
-            std::size_t found = line.find("<coordinates>");
+            while (is_header)
-            if (found != std::string::npos) is_header = false;
-        }
-    bool is_data = true;
-
-    //read data
-    while (is_data)
-        {
-            if (!std::getline(myfile, line))
                 {
-                    is_data = false;
+                    std::getline(myfile, line);
-                    break;
+                    ASSERT_FALSE(myfile.eof()) << "No valid kml file found.";
+                    std::size_t found = line.find("<coordinates>");
+                    if (found != std::string::npos) is_header = false;
                 }
-            std::size_t found = line.find("</coordinates>");
+            bool is_data = true;
-            if (found != std::string::npos)
-                is_data = false;
-            else
-                {
-                    std::string str2;
-                    std::istringstream iss(line);
-                    double value;
-                    double lat = 0.0;
-                    double longitude = 0.0;
-                    double h = 0.0;
-                    for (int i = 0; i < 3; i++)
-                        {
-                            std::getline(iss, str2, ',');
-                            value = std::stod(str2);
-                            if (i == 0) lat = value;
-                            if (i == 1) longitude = value;
-                            if (i == 2) h = value;
-                        }
 
+            //read data
+            while (is_data)
+                {
+                    if (!std::getline(myfile, line))
+                        {
+                            is_data = false;
+                            break;
+                        }
+                    std::size_t found = line.find("</coordinates>");
+                    if (found != std::string::npos)
+                        is_data = false;
+                    else
+                        {
+                            std::string str2;
+                            std::istringstream iss(line);
+                            double value;
+                            double lat = 0.0;
+                            double longitude = 0.0;
+                            double h = 0.0;
+                            for (int i = 0; i < 3; i++)
+                                {
+                                    std::getline(iss, str2, ',');
+                                    value = std::stod(str2);
+                                    if (i == 0) longitude = value;
+                                    if (i == 1) lat = value;
+                                    if (i == 2) h = value;
+                                }
+
+                            double north, east, up;
+                            geodetic2Enu(lat, longitude, h, &east, &north, &up);
+                            //                            std::cout << "lat = " << lat << ", longitude = " << longitude << "  h = " << h << std::endl;
+                            //                            std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
+                            pos_e.push_back(east);
+                            pos_n.push_back(north);
+                            pos_u.push_back(up);
+                            //                            getchar();
+                        }
+                }
+            myfile.close();
+            ASSERT_FALSE(pos_e.size() == 0) << "KML file is empty";
+        }
+    else
+        {
+            //use complete binary dump from pvt solver
+            rtklib_solver_dump_reader pvt_reader;
+            pvt_reader.open_obs_file(FLAGS_pvt_solver_dump_filename);
+            int64_t n_epochs = pvt_reader.num_epochs();
+            R_eb_e = arma::zeros(n_epochs, 3);
+            V_eb_e = arma::zeros(n_epochs, 3);
+            LLH = arma::zeros(n_epochs, 3);
+            receiver_time_s = arma::zeros(n_epochs, 1);
+            int64_t current_epoch = 0;
+            while (pvt_reader.read_binary_obs())
+                {
                     double north, east, up;
-                    geodetic2Enu(lat, longitude, h, &east, &north, &up);
+                    geodetic2Enu(pvt_reader.latitude, pvt_reader.longitude, pvt_reader.height, &east, &north, &up);
-                    //std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
+                    //                    std::cout << "lat = " << pvt_reader.latitude << ", longitude = " << pvt_reader.longitude << "  h = " << pvt_reader.height << std::endl;
+                    //                    std::cout << "E = " << east << ", N = " << north << " U = " << up << std::endl;
                     pos_e.push_back(east);
                     pos_n.push_back(north);
                     pos_u.push_back(up);
+                    //                    getchar();
+
+                    //                    receiver_time_s(current_epoch) = static_cast<double>(pvt_reader.TOW_at_current_symbol_ms) / 1000.0;
+                    receiver_time_s(current_epoch) = pvt_reader.RX_time - pvt_reader.clk_offset_s;
+                    R_eb_e(current_epoch, 0) = pvt_reader.rr[0];
+                    R_eb_e(current_epoch, 1) = pvt_reader.rr[1];
+                    R_eb_e(current_epoch, 2) = pvt_reader.rr[2];
+                    V_eb_e(current_epoch, 0) = pvt_reader.rr[3];
+                    V_eb_e(current_epoch, 1) = pvt_reader.rr[4];
+                    V_eb_e(current_epoch, 2) = pvt_reader.rr[5];
+                    LLH(current_epoch, 0) = pvt_reader.latitude;
+                    LLH(current_epoch, 1) = pvt_reader.longitude;
+                    LLH(current_epoch, 2) = pvt_reader.height;
+
+                    //debug check
+                    //                    std::cout << "t1: " << pvt_reader.RX_time << std::endl;
+                    //                    std::cout << "t2: " << pvt_reader.TOW_at_current_symbol_ms << std::endl;
+                    //                    std::cout << "offset: " << pvt_reader.clk_offset_s << std::endl;
+                    //                    getchar();
+                    current_epoch++;
+                }
+            ASSERT_FALSE(current_epoch == 0) << "PVT dump is empty";
+        }
+
+    // compute results
+
+    if (FLAGS_static_scenario)
+        {
+            double sigma_E_2_precision = std::pow(compute_stdev_precision(pos_e), 2.0);
+            double sigma_N_2_precision = std::pow(compute_stdev_precision(pos_n), 2.0);
+            double sigma_U_2_precision = std::pow(compute_stdev_precision(pos_u), 2.0);
+
+            double sigma_E_2_accuracy = std::pow(compute_stdev_accuracy(pos_e, ref_e), 2.0);
+            double sigma_N_2_accuracy = std::pow(compute_stdev_accuracy(pos_n, ref_n), 2.0);
+            double sigma_U_2_accuracy = std::pow(compute_stdev_accuracy(pos_u, ref_u), 2.0);
+
+            double sum__e = std::accumulate(pos_e.begin(), pos_e.end(), 0.0);
+            double mean__e = sum__e / pos_e.size();
+            double sum__n = std::accumulate(pos_n.begin(), pos_n.end(), 0.0);
+            double mean__n = sum__n / pos_n.size();
+            double sum__u = std::accumulate(pos_u.begin(), pos_u.end(), 0.0);
+            double mean__u = sum__u / pos_u.size();
+
+            std::stringstream stm;
+            std::ofstream position_test_file;
+            if (!FLAGS_config_file_ptest.empty())
+                {
+                    stm << "Configuration file: " << FLAGS_config_file_ptest << std::endl;
+                }
+            if (FLAGS_config_file_ptest.empty())
+                {
+                    stm << "---- ACCURACY ----" << std::endl;
+                    stm << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
+                    stm << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
+                    stm << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, ref_n) + 0.56 * compute_stdev_accuracy(pos_e, ref_e) << " [m]" << std::endl;
+                    stm << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
+                    stm << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
+                    stm << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
+                    stm << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
+                    stm << "Bias 2D = " << sqrt(std::pow(abs(mean__e - ref_e), 2.0) + std::pow(abs(mean__n - ref_n), 2.0)) << " [m]" << std::endl;
+                    stm << "Bias 3D = " << sqrt(std::pow(abs(mean__e - ref_e), 2.0) + std::pow(abs(mean__n - ref_n), 2.0) + std::pow(abs(mean__u - ref_u), 2.0)) << " [m]" << std::endl;
+                    stm << std::endl;
+                }
+
+            stm << "---- PRECISION ----" << std::endl;
+            stm << "2DRMS = " << 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
+            stm << "DRMS = " << sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
+            stm << "CEP = " << 0.62 * compute_stdev_precision(pos_n) + 0.56 * compute_stdev_precision(pos_e) << " [m]" << std::endl;
+            stm << "99% SAS = " << 1.122 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
+            stm << "90% SAS = " << 0.833 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
+            stm << "MRSE = " << sqrt(sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
+            stm << "SEP = " << 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
+
+            std::cout << stm.rdbuf();
+            std::string output_filename = "position_test_output_" + PositionSystemTest::generated_kml_file.erase(PositionSystemTest::generated_kml_file.length() - 3, 3) + "txt";
+            position_test_file.open(output_filename.c_str());
+            if (position_test_file.is_open())
+                {
+                    position_test_file << stm.str();
+                    position_test_file.close();
+                }
+
+            // Sanity Check
+            double precision_SEP = 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision);
+            ASSERT_LT(precision_SEP, 20.0);
+
+            if (FLAGS_plot_position_test == true)
+                {
+                    print_results(pos_e, pos_n, pos_u);
                 }
         }
-    myfile.close();
+    else
-    ASSERT_FALSE(pos_e.size() == 0) << "KML file is empty";
-
-    double sigma_E_2_precision = std::pow(compute_stdev_precision(pos_e), 2.0);
-    double sigma_N_2_precision = std::pow(compute_stdev_precision(pos_n), 2.0);
-    double sigma_U_2_precision = std::pow(compute_stdev_precision(pos_u), 2.0);
-
-    double sigma_E_2_accuracy = std::pow(compute_stdev_accuracy(pos_e, 0.0), 2.0);
-    double sigma_N_2_accuracy = std::pow(compute_stdev_accuracy(pos_n, 0.0), 2.0);
-    double sigma_U_2_accuracy = std::pow(compute_stdev_accuracy(pos_u, 0.0), 2.0);
-
-    double sum__e = std::accumulate(pos_e.begin(), pos_e.end(), 0.0);
-    double mean__e = sum__e / pos_e.size();
-    double sum__n = std::accumulate(pos_n.begin(), pos_n.end(), 0.0);
-    double mean__n = sum__n / pos_n.size();
-    double sum__u = std::accumulate(pos_u.begin(), pos_u.end(), 0.0);
-    double mean__u = sum__u / pos_u.size();
-
-    std::stringstream stm;
-    std::ofstream position_test_file;
-
-    if (FLAGS_config_file_ptest.empty())
         {
-            stm << "---- ACCURACY ----" << std::endl;
+            //dynamic position
-            stm << "2DRMS = " << 2 * sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
+            spirent_motion_csv_dump_reader ref_reader;
-            stm << "DRMS = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy) << " [m]" << std::endl;
+            ref_reader.open_obs_file(FLAGS_ref_motion_filename);
-            stm << "CEP = " << 0.62 * compute_stdev_accuracy(pos_n, 0.0) + 0.56 * compute_stdev_accuracy(pos_e, 0.0) << " [m]" << std::endl;
+            int64_t n_epochs = ref_reader.num_epochs();
-            stm << "99% SAS = " << 1.122 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
+            ref_R_eb_e = arma::zeros(n_epochs, 3);
-            stm << "90% SAS = " << 0.833 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
+            ref_V_eb_e = arma::zeros(n_epochs, 3);
-            stm << "MRSE = " << sqrt(sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
+            ref_LLH = arma::zeros(n_epochs, 3);
-            stm << "SEP = " << 0.51 * (sigma_E_2_accuracy + sigma_N_2_accuracy + sigma_U_2_accuracy) << " [m]" << std::endl;
+            ref_time_s = arma::zeros(n_epochs, 1);
-            stm << "Bias 2D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0)) << " [m]" << std::endl;
+            int64_t current_epoch = 0;
-            stm << "Bias 3D = " << sqrt(std::pow(mean__e, 2.0) + std::pow(mean__n, 2.0) + std::pow(mean__u, 2.0)) << " [m]" << std::endl;
+            while (ref_reader.read_csv_obs())
-            stm << std::endl;
+                {
-        }
+                    ref_time_s(current_epoch) = ref_reader.TOW_ms / 1000.0;
+                    ref_R_eb_e(current_epoch, 0) = ref_reader.Pos_X;
+                    ref_R_eb_e(current_epoch, 1) = ref_reader.Pos_Y;
+                    ref_R_eb_e(current_epoch, 2) = ref_reader.Pos_Z;
+                    ref_V_eb_e(current_epoch, 0) = ref_reader.Vel_X;
+                    ref_V_eb_e(current_epoch, 1) = ref_reader.Vel_Y;
+                    ref_V_eb_e(current_epoch, 2) = ref_reader.Vel_Z;
+                    ref_LLH(current_epoch, 0) = ref_reader.Lat;
+                    ref_LLH(current_epoch, 1) = ref_reader.Long;
+                    ref_LLH(current_epoch, 2) = ref_reader.Height;
+                    current_epoch++;
+                }
 
-    stm << "---- PRECISION ----" << std::endl;
+            //interpolation of reference data to receiver epochs timestamps
-    stm << "2DRMS = " << 2 * sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
+            arma::mat ref_interp_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
-    stm << "DRMS = " << sqrt(sigma_E_2_precision + sigma_N_2_precision) << " [m]" << std::endl;
+            arma::mat ref_interp_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
-    stm << "CEP = " << 0.62 * compute_stdev_precision(pos_n) + 0.56 * compute_stdev_precision(pos_e) << " [m]" << std::endl;
+            arma::mat ref_interp_LLH = arma::zeros(LLH.n_rows, 3);
-    stm << "99% SAS = " << 1.122 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
+            arma::vec tmp_vector;
-    stm << "90% SAS = " << 0.833 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
+            for (int n = 0; n < 3; n++)
-    stm << "MRSE = " << sqrt(sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
+                {
-    stm << "SEP = " << 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision) << " [m]" << std::endl;
+                    arma::interp1(ref_time_s, ref_R_eb_e.col(n), receiver_time_s, tmp_vector);
+                    ref_interp_R_eb_e.col(n) = tmp_vector;
+                    arma::interp1(ref_time_s, ref_V_eb_e.col(n), receiver_time_s, tmp_vector);
+                    ref_interp_V_eb_e.col(n) = tmp_vector;
+                    arma::interp1(ref_time_s, ref_LLH.col(n), receiver_time_s, tmp_vector);
+                    ref_interp_LLH.col(n) = tmp_vector;
+                }
 
-    std::cout << stm.rdbuf();
+            //compute error vectors
-    std::string output_filename = "position_test_output_" + StaticPositionSystemTest::generated_kml_file.erase(StaticPositionSystemTest::generated_kml_file.length() - 3, 3) + "txt";
-    position_test_file.open(output_filename.c_str());
-    if (position_test_file.is_open())
-        {
-            position_test_file << stm.str();
-            position_test_file.close();
-        }
 
-    // Sanity Check
+            arma::mat error_R_eb_e = arma::zeros(R_eb_e.n_rows, 3);
-    double precision_SEP = 0.51 * (sigma_E_2_precision + sigma_N_2_precision + sigma_U_2_precision);
+            arma::mat error_V_eb_e = arma::zeros(V_eb_e.n_rows, 3);
-    ASSERT_LT(precision_SEP, 20.0);
+            arma::mat error_LLH = arma::zeros(LLH.n_rows, 3);
+            error_R_eb_e = R_eb_e - ref_interp_R_eb_e;
+            error_V_eb_e = V_eb_e - ref_interp_V_eb_e;
+            error_LLH = LLH - ref_interp_LLH;
+            arma::vec error_module_R_eb_e = arma::zeros(R_eb_e.n_rows, 1);
+            arma::vec error_module_V_eb_e = arma::zeros(V_eb_e.n_rows, 1);
+            for (uint64_t n = 0; n < R_eb_e.n_rows; n++)
+                {
+                    error_module_R_eb_e(n) = arma::norm(error_R_eb_e.row(n));
+                    error_module_V_eb_e(n) = arma::norm(error_V_eb_e.row(n));
+                }
+            //Error statistics
+            arma::vec tmp_vec;
+            //RMSE, Mean, Variance and peaks
+            tmp_vec = arma::square(error_module_R_eb_e);
+            double rmse_R_eb_e = sqrt(arma::mean(tmp_vec));
+            double error_mean_R_eb_e = arma::mean(error_module_R_eb_e);
+            double error_var_R_eb_e = arma::var(error_module_R_eb_e);
+            double max_error_R_eb_e = arma::max(error_module_R_eb_e);
+            double min_error_R_eb_e = arma::min(error_module_R_eb_e);
 
-    if (FLAGS_plot_position_test == true)
+            tmp_vec = arma::square(error_module_V_eb_e);
-        {
+            double rmse_V_eb_e = sqrt(arma::mean(tmp_vec));
-            print_results(pos_e, pos_n, pos_u);
+            double error_mean_V_eb_e = arma::mean(error_module_V_eb_e);
+            double error_var_V_eb_e = arma::var(error_module_V_eb_e);
+            double max_error_V_eb_e = arma::max(error_module_V_eb_e);
+            double min_error_V_eb_e = arma::min(error_module_V_eb_e);
+
+            //report
+            std::cout << "----- Position and Velocity 3D ECEF error statistics -----" << std::endl;
+            if (!FLAGS_config_file_ptest.empty())
+                {
+                    std::cout << "---- Configuration file: " << FLAGS_config_file_ptest << std::endl;
+                }
+            std::streamsize ss = std::cout.precision();
+            std::cout << std::setprecision(10) << "---- 3D ECEF Position RMSE = "
+                      << rmse_R_eb_e << ", mean = " << error_mean_R_eb_e
+                      << ", stdev = " << sqrt(error_var_R_eb_e)
+                      << " (max,min) = " << max_error_R_eb_e
+                      << "," << min_error_R_eb_e
+                      << " [m]" << std::endl;
+            std::cout << "---- 3D ECEF Velocity RMSE = "
+                      << rmse_V_eb_e << ", mean = " << error_mean_V_eb_e
+                      << ", stdev = " << sqrt(error_var_V_eb_e)
+                      << " (max,min) = " << max_error_V_eb_e
+                      << "," << min_error_V_eb_e
+                      << " [m/s]" << std::endl;
+            std::cout.precision(ss);
+
+            //plots
+            Gnuplot g1("points");
+            if (FLAGS_show_plots)
+                {
+                    g1.showonscreen();  // window output
+                }
+            else
+                {
+                    g1.disablescreen();
+                }
+            g1.set_title("3D ECEF error coordinates");
+            g1.set_grid();
+            //conversion between arma::vec and std:vector
+            std::vector<double> X(error_R_eb_e.colptr(0), error_R_eb_e.colptr(0) + error_R_eb_e.n_rows);
+            std::vector<double> Y(error_R_eb_e.colptr(1), error_R_eb_e.colptr(1) + error_R_eb_e.n_rows);
+            std::vector<double> Z(error_R_eb_e.colptr(2), error_R_eb_e.colptr(2) + error_R_eb_e.n_rows);
+
+            g1.cmd("set key box opaque");
+            g1.plot_xyz(X, Y, Z, "ECEF 3D error");
+            g1.set_legend();
+            if (FLAGS_config_file_ptest.empty())
+                {
+                    g1.savetops("ECEF_3d_error");
+                }
+            else
+                {
+                    g1.savetops("ECEF_3d_error_" + config_filename_no_extension);
+                }
+            arma::vec time_vector_from_start_s = receiver_time_s - receiver_time_s(0);
+            Gnuplot g3("linespoints");
+            if (FLAGS_show_plots)
+                {
+                    g3.showonscreen();  // window output
+                }
+            else
+                {
+                    g3.disablescreen();
+                }
+            g3.set_title("3D Position estimation error module [m]");
+            g3.set_grid();
+            g3.set_xlabel("Receiver epoch time from first valid PVT [s]");
+            g3.set_ylabel("3D Position error [m]");
+            //conversion between arma::vec and std:vector
+            std::vector<double> error_vec(error_module_R_eb_e.colptr(0), error_module_R_eb_e.colptr(0) + error_module_R_eb_e.n_rows);
+            g3.cmd("set key box opaque");
+            g3.plot_xy(time_vector_from_start_s, error_vec, "Position 3D error");
+            double mean3d = std::accumulate(error_vec.begin(), error_vec.end(), 0.0) / error_vec.size();
+            std::vector<double> error_mean(error_module_R_eb_e.n_rows, mean3d);
+            g3.set_style("lines");
+            g3.plot_xy(time_vector_from_start_s, error_mean, "Mean");
+            g3.set_legend();
+            if (FLAGS_config_file_ptest.empty())
+                {
+                    g3.savetops("Position_3d_error");
+                }
+            else
+                {
+                    g3.savetops("Position_3d_error_" + config_filename_no_extension);
+                }
+
+            Gnuplot g4("linespoints");
+            if (FLAGS_show_plots)
+                {
+                    g4.showonscreen();  // window output
+                }
+            else
+                {
+                    g4.disablescreen();
+                }
+            g4.set_title("3D Velocity estimation error module [m/s]");
+            g4.set_grid();
+            g4.set_xlabel("Receiver epoch time from first valid PVT [s]");
+            g4.set_ylabel("3D Velocity error [m/s]");
+            //conversion between arma::vec and std:vector
+            std::vector<double> error_vec2(error_module_V_eb_e.colptr(0), error_module_V_eb_e.colptr(0) + error_module_V_eb_e.n_rows);
+            g4.cmd("set key box opaque");
+            g4.plot_xy(time_vector_from_start_s, error_vec2, "Velocity 3D error");
+            double mean3dv = std::accumulate(error_vec2.begin(), error_vec2.end(), 0.0) / error_vec2.size();
+            std::vector<double> error_mean_v(error_module_V_eb_e.n_rows, mean3dv);
+            g4.set_style("lines");
+            g4.plot_xy(time_vector_from_start_s, error_mean_v, "Mean");
+            g4.set_legend();
+            if (FLAGS_config_file_ptest.empty())
+                {
+                    g4.savetops("Velocity_3d_error");
+                }
+            else
+                {
+                    g4.savetops("Velocity_3d_error_" + config_filename_no_extension);
+                }
         }
 }
 
 
-void StaticPositionSystemTest::print_results(const std::vector<double>& east,
+void PositionSystemTest::print_results(const std::vector<double>& east,
     const std::vector<double>& north,
     const std::vector<double>& up)
 {
@@ -641,9 +908,16 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
 
                     g1.cmd("set grid front");
                     g1.cmd("replot");
-
+                    if (FLAGS_config_file_ptest.empty())
-                    g1.savetops("Position_test_2D");
+                        {
-                    g1.savetopdf("Position_test_2D", 18);
+                            g1.savetops("Position_test_2D");
+                            g1.savetopdf("Position_test_2D", 18);
+                        }
+                    else
+                        {
+                            g1.savetops("Position_test_2D_" + config_filename_no_extension);
+                            g1.savetopdf("Position_test_2D_" + config_filename_no_extension, 18);
+                        }
 
                     Gnuplot g2("points");
                     if (FLAGS_show_plots)
@@ -669,9 +943,16 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
                            std::to_string(ninty_sas) +
                            "\n fx(v,u) = r*cos(v)*cos(u)\n fy(v,u) = r*cos(v)*sin(u)\n fz(v) = r*sin(v) \n splot fx(v,u),fy(v,u),fz(v) title \"90\%-SAS\" lt rgb \"gray\"\n");
                     g2.plot_xyz(east, north, up, "3D Position Fixes");
-
+                    if (FLAGS_config_file_ptest.empty())
-                    g2.savetops("Position_test_3D");
+                        {
-                    g2.savetopdf("Position_test_3D");
+                            g2.savetops("Position_test_3D");
+                            g2.savetopdf("Position_test_3D");
+                        }
+                    else
+                        {
+                            g2.savetops("Position_test_3D_" + config_filename_no_extension);
+                            g2.savetopdf("Position_test_3D_" + config_filename_no_extension);
+                        }
                 }
             catch (const GnuplotException& ge)
                 {
@@ -680,7 +961,7 @@ void StaticPositionSystemTest::print_results(const std::vector<double>& east,
         }
 }
 
-TEST_F(StaticPositionSystemTest, Position_system_test)
+TEST_F(PositionSystemTest, Position_system_test)
 {
     if (FLAGS_config_file_ptest.empty())
         {
@@ -693,12 +974,17 @@ TEST_F(StaticPositionSystemTest, Position_system_test)
                     generate_signal();
                 }
         }
+    else
+        {
+            config_filename_no_extension = FLAGS_config_file_ptest.substr(FLAGS_config_file_ptest.find_last_of("/\\") + 1);
+            config_filename_no_extension = config_filename_no_extension.erase(config_filename_no_extension.length() - 5);
+        }
 
     // Configure receiver
     configure_receiver();
 
     // Run the receiver
-    EXPECT_EQ(run_receiver(), 0) << "Problem executing the software-defined signal generator";
+    EXPECT_EQ(run_receiver(), 0) << "Problem executing GNSS-SDR";
 
     // Check results
     check_results();

src/tests/test_main.cc

@@ -69,6 +69,21 @@ using google::LogMessage;
 
 DECLARE_string(log_dir);
 
+#if UNIT_TESTING_MINIMAL
+
+#include "unit-tests/arithmetic/matio_test.cc"
+#if EXTRA_TESTS
+#include "unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc"
+#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc"
+#if ENABLE_FPGA
+#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc"
+#endif
+#include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
+#endif
+
+
+#else
+
 #include "unit-tests/arithmetic/complex_carrier_test.cc"
 #include "unit-tests/arithmetic/conjugate_test.cc"
 #include "unit-tests/arithmetic/magnitude_squared_test.cc"
@@ -138,11 +153,16 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc"
 #endif
 
+#include "unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc"
+#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
+#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
+
 #include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc"
 #include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
 #include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
 #include "unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc"
 
+
 #if EXTRA_TESTS
 #include "unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc"
 #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc"
@@ -158,9 +178,7 @@ DECLARE_string(log_dir);
 #include "unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc"
 #endif
 
-#include "unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc"
+#endif  // UNIT_TESTING_MINIMAL
-#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
-#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
 
 // For GPS NAVIGATION (L1)
 concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;

src/tests/unit-tests/signal-processing-blocks/acquisition/acq_performance_test.cc

@@ -37,6 +37,10 @@
 #include "glonass_l2_ca_pcps_acquisition.h"
 #include "gps_l2_m_pcps_acquisition.h"
 #include "gps_l5i_pcps_acquisition.h"
+#include "in_memory_configuration.h"
+#include "file_configuration.h"
+#include "gnss_sdr_valve.h"
+#include "acquisition_dump_reader.h"
 #include "display.h"
 #include "gnuplot_i.h"
 #include "signal_generator_flags.h"
@@ -45,6 +49,8 @@
 #include "true_observables_reader.h"
 #include <boost/filesystem.hpp>
 #include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/blocks/interleaved_char_to_complex.h>
 #include <gnuradio/blocks/skiphead.h>
 
 

src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc

@@ -35,7 +35,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include "gnss_block_interface.h"

src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc

@@ -35,7 +35,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include "gnss_block_interface.h"

src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc_test.cc

@@ -45,7 +45,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>

src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test.cc

@@ -37,7 +37,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_cccwsr_ambiguous_acquisition_gsoc2013_test.cc

@@ -36,7 +36,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include "gnss_block_interface.h"

src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc

@@ -39,7 +39,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/blocks/null_sink.h>
 #include "gnss_block_interface.h"
 #include "in_memory_configuration.h"

src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc

@@ -36,7 +36,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc

@@ -33,7 +33,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include "gnss_block_interface.h"

src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc

@@ -35,7 +35,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_test.cc

@@ -37,7 +37,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/acquisition/glonass_l2_ca_pcps_acquisition_test.cc

@@ -34,7 +34,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc

@@ -35,7 +35,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc

@@ -38,7 +38,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc

@@ -36,7 +36,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/throttle.h>

src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_opencl_acquisition_gsoc2013_test.cc

@@ -36,7 +36,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include "gnss_block_interface.h"

src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_quicksync_acquisition_gsoc2014_test.cc

@@ -37,7 +37,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_tong_acquisition_gsoc2013_test.cc

@@ -36,7 +36,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l2_m_pcps_acquisition_test.cc

@@ -37,7 +37,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/blocks/interleaved_short_to_complex.h>
 #include <gnuradio/blocks/char_to_short.h>
 #include <gnuradio/msg_queue.h>

src/tests/unit-tests/signal-processing-blocks/filter/fir_filter_test.cc

@@ -34,7 +34,11 @@
 #include <gflags/gflags.h>
 #include <gnuradio/top_block.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_lite_test.cc

@@ -34,7 +34,11 @@
 #include <gflags/gflags.h>
 #include <gnuradio/top_block.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_test.cc

@@ -34,7 +34,11 @@
 #include <gflags/gflags.h>
 #include <gnuradio/top_block.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/filter/pulse_blanking_filter_test.cc

@@ -34,7 +34,11 @@
 #include <gflags/gflags.h>
 #include <gnuradio/top_block.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gtest/gtest.h>

src/tests/unit-tests/signal-processing-blocks/libs/CMakeLists.txt

@@ -19,6 +19,7 @@
 
 set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES
     acquisition_dump_reader.cc
+    acquisition_msg_rx.cc
     tracking_dump_reader.cc
     tlm_dump_reader.cc  
     observables_dump_reader.cc    
@@ -40,5 +41,7 @@ add_library(signal_processing_testing_lib ${SIGNAL_PROCESSING_TESTING_LIB_SOURCE
 source_group(Headers FILES ${SIGNAL_PROCESSING_TESTING_LIB_HEADERS})
 
 if(NOT MATIO_FOUND)
-   add_dependencies(signal_processing_testing_lib matio-${GNSSSDR_MATIO_LOCAL_VERSION})
+   add_dependencies(signal_processing_testing_lib matio-${GNSSSDR_MATIO_LOCAL_VERSION} glog-${glog_RELEASE})
+else(NOT MATIO_FOUND)
+   add_dependencies(signal_processing_testing_lib glog-${glog_RELEASE})
 endif(NOT MATIO_FOUND)

src/tests/unit-tests/signal-processing-blocks/libs/acquisition_msg_rx.cc

@@ -0,0 +1,70 @@
+/*!
+ * \file acquisition_msg_rx.cc
+ * \brief  This is a helper class to catch the asynchronous messages
+ * emitted by an acquisition block.
+ * \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "acquisition_msg_rx.h"
+#include <cstdint>
+#include <boost/bind.hpp>
+#include <gflags/gflags.h>
+#include <glog/logging.h>
+
+
+Acquisition_msg_rx_sptr Acquisition_msg_rx_make()
+{
+    return Acquisition_msg_rx_sptr(new Acquisition_msg_rx());
+}
+
+
+void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
+{
+    try
+        {
+            int64_t message = pmt::to_long(msg);
+            rx_message = message;
+            top_block->stop();  // stop the flowgraph
+        }
+    catch (boost::bad_any_cast& e)
+        {
+            LOG(WARNING) << "msg_handler_acquisition Bad cast!\n";
+            rx_message = 0;
+        }
+}
+
+
+Acquisition_msg_rx::Acquisition_msg_rx() : gr::block("Acquisition_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx::msg_handler_events, this, _1));
+    rx_message = 0;
+}
+
+
+Acquisition_msg_rx::~Acquisition_msg_rx() {}

src/tests/unit-tests/signal-processing-blocks/libs/acquisition_msg_rx.h

@@ -0,0 +1,62 @@
+/*!
+ * \file acquisition_msg_rx.h
+ * \brief  This is a helper class to catch the asynchronous messages
+ * emitted by an acquisition block.
+ * \author Carles Fernandez-Prades, 2018. cfernandez(at)cttc.cat
+ *
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2012-2018  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_ACQUISITION_MSG_RX_H
+#define GNSS_SDR_ACQUISITION_MSG_RX_H
+
+#include <gnuradio/top_block.h>
+#include <gnuradio/block.h>
+#include <pmt/pmt.h>
+
+// ######## GNURADIO ACQUISITION BLOCK MESSAGE RECEVER #########
+class Acquisition_msg_rx;
+
+typedef boost::shared_ptr<Acquisition_msg_rx> Acquisition_msg_rx_sptr;
+
+Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
+
+
+class Acquisition_msg_rx : public gr::block
+{
+private:
+    friend Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
+    void msg_handler_events(pmt::pmt_t msg);
+    Acquisition_msg_rx();
+
+public:
+    int rx_message;
+    gr::top_block_sptr top_block;
+    ~Acquisition_msg_rx();  //!< Default destructor
+};
+
+
+#endif

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

@@ -49,6 +49,15 @@
 #include "gnss_satellite.h"
 #include "gnss_block_factory.h"
 #include "gnss_block_interface.h"
+#include "acquisition_msg_rx.h"
+#include "gps_l1_ca_pcps_acquisition.h"
+#include "galileo_e1_pcps_ambiguous_acquisition.h"
+#include "galileo_e5a_pcps_acquisition.h"
+#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
+#include "glonass_l1_ca_pcps_acquisition.h"
+#include "glonass_l2_ca_pcps_acquisition.h"
+#include "gps_l2_m_pcps_acquisition.h"
+#include "gps_l5i_pcps_acquisition.h"
 #include "tracking_interface.h"
 #include "telemetry_decoder_interface.h"
 #include "in_memory_configuration.h"
@@ -1632,7 +1641,6 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
 
                             //Do not compare E5a with E5 RINEX due to the Doppler frequency discrepancy caused by the different center frequencies
                             //E5a_fc=1176.45e6, E5b_fc=1207.14e6, E5_fc=1191.795e6;
-                            std::cout << "s:" << gnss_synchro_vec.at(n).Signal << std::endl;
                             if (strcmp("5X\0", gnss_synchro_vec.at(n).Signal) != 0 or FLAGS_compare_with_5X)
                                 {
                                     check_results_carrier_phase_double_diff(true_obs_vec.at(n),

src/tests/unit-tests/signal-processing-blocks/resampler/direct_resampler_conditioner_cc_test.cc

@@ -34,7 +34,11 @@
 #include <chrono>
 #include <gnuradio/top_block.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include "gnss_sdr_valve.h"

src/tests/unit-tests/signal-processing-blocks/resampler/mmse_resampler_test.cc

@@ -32,7 +32,11 @@
 #include <chrono>
 #include <gnuradio/top_block.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include "gnss_sdr_valve.h"

src/tests/unit-tests/signal-processing-blocks/sources/gnss_sdr_valve_test.cc

@@ -33,7 +33,11 @@
 
 #include <gnuradio/top_block.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_f.h>
+#endif
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/msg_queue.h>
 #include "gnss_sdr_valve.h"

src/tests/unit-tests/signal-processing-blocks/sources/unpack_2bit_samples_test.cc

@@ -33,9 +33,14 @@
 
 #include <gtest/gtest.h>
 #include <gnuradio/top_block.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/blocks/vector_source.h>
+#include <gnuradio/blocks/vector_sink.h>
+#else
 #include <gnuradio/blocks/vector_source_b.h>
 #include <gnuradio/blocks/vector_source_s.h>
 #include <gnuradio/blocks/vector_sink_b.h>
+#endif
 #include <gnuradio/blocks/stream_to_vector.h>
 #include "unpack_2bit_samples.h"
 

src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc

@@ -38,7 +38,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/blocks/interleaved_char_to_complex.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>

src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e1_dll_pll_veml_tracking_test.cc

@@ -35,7 +35,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>

src/tests/unit-tests/signal-processing-blocks/tracking/galileo_e5a_tracking_test.cc

@@ -35,7 +35,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>

src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_c_aid_tracking_test.cc

@@ -35,7 +35,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>

src/tests/unit-tests/signal-processing-blocks/tracking/glonass_l1_ca_dll_pll_tracking_test.cc

@@ -35,7 +35,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>

src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc

@@ -39,7 +39,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/blocks/interleaved_char_to_complex.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>

src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc

@@ -41,7 +41,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/blocks/interleaved_char_to_complex.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>

src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_kf_tracking_test.cc

@@ -38,7 +38,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/blocks/interleaved_char_to_complex.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>
@@ -546,7 +550,14 @@ TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
                             g1.plot_xy(timevec, late, "Late", decimate);
                             g1.savetops("Correlators_outputs");
                             g1.savetopdf("Correlators_outputs", 18);
-                            g1.showonscreen();  // window output
+                            if (FLAGS_show_plots)
+                                {
+                                    g1.showonscreen();  // window output
+                                }
+                            else
+                                {
+                                    g1.disablescreen();
+                                }
 
                             Gnuplot g2("points");
                             g2.set_title("Constellation diagram (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
@@ -557,7 +568,14 @@ TEST_F(GpsL1CAKfTrackingTest, ValidationOfResults)
                             g2.plot_xy(promptI, promptQ);
                             g2.savetops("Constellation");
                             g2.savetopdf("Constellation", 18);
-                            g2.showonscreen();  // window output
+                            if (FLAGS_show_plots)
+                                {
+                                    g2.showonscreen();  // window output
+                                }
+                            else
+                                {
+                                    g2.disablescreen();
+                                }
                         }
                     catch (const GnuplotException& ge)
                         {

src/tests/unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc

@@ -35,7 +35,11 @@
 #include <gnuradio/top_block.h>
 #include <gnuradio/blocks/file_source.h>
 #include <gnuradio/analog/sig_source_waveform.h>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
 #include <gnuradio/analog/sig_source_c.h>
+#endif
 #include <gnuradio/msg_queue.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/blocks/skiphead.h>

src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc

@@ -30,24 +30,14 @@
  * -------------------------------------------------------------------------
  */
 
-#include <chrono>
+
-#include <unistd.h>
-#include <vector>
-#include <armadillo>
-#include <boost/filesystem.hpp>
-#include <gnuradio/top_block.h>
-#include <gnuradio/blocks/file_source.h>
-#include <gnuradio/blocks/interleaved_char_to_complex.h>
-#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/blocks/skiphead.h>
-#include <gnuradio/blocks/head.h>
-#include <gtest/gtest.h>
 #include "GPS_L1_CA.h"
 #include "gnss_block_factory.h"
 #include "tracking_interface.h"
 #include "gps_l2_m_pcps_acquisition.h"
 #include "gps_l1_ca_pcps_acquisition.h"
 #include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
+#include "galileo_e1_pcps_ambiguous_acquisition.h"
 #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
 #include "galileo_e5a_pcps_acquisition.h"
 #include "gps_l5i_pcps_acquisition.h"
@@ -58,61 +48,21 @@
 #include "gnuplot_i.h"
 #include "test_flags.h"
 #include "tracking_tests_flags.h"
+#include "acquisition_msg_rx.h"
+#include <boost/filesystem.hpp>
+#include <gnuradio/top_block.h>
+#include <gnuradio/blocks/file_source.h>
+#include <gnuradio/blocks/interleaved_char_to_complex.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/blocks/skiphead.h>
+#include <gnuradio/blocks/head.h>
+#include <gtest/gtest.h>
+#include <chrono>
+#include <cstdint>
+#include <vector>
+#include <armadillo>
 
 
-// ######## GNURADIO ACQUISITION BLOCK MESSAGE RECEVER #########
-class Acquisition_msg_rx;
-
-typedef boost::shared_ptr<Acquisition_msg_rx> Acquisition_msg_rx_sptr;
-
-Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
-
-
-class Acquisition_msg_rx : public gr::block
-{
-private:
-    friend Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
-    void msg_handler_events(pmt::pmt_t msg);
-    Acquisition_msg_rx();
-
-public:
-    int rx_message;
-    gr::top_block_sptr top_block;
-    ~Acquisition_msg_rx();  //!< Default destructor
-};
-
-
-Acquisition_msg_rx_sptr Acquisition_msg_rx_make()
-{
-    return Acquisition_msg_rx_sptr(new Acquisition_msg_rx());
-}
-
-
-void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
-{
-    try
-        {
-            int64_t message = pmt::to_long(msg);
-            rx_message = message;
-            top_block->stop();  //stop the flowgraph
-        }
-    catch (boost::bad_any_cast& e)
-        {
-            LOG(WARNING) << "msg_handler_acquisition Bad cast!\n";
-            rx_message = 0;
-        }
-}
-
-
-Acquisition_msg_rx::Acquisition_msg_rx() : gr::block("Acquisition_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
-{
-    this->message_port_register_in(pmt::mp("events"));
-    this->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx::msg_handler_events, this, _1));
-    rx_message = 0;
-}
-
-
-Acquisition_msg_rx::~Acquisition_msg_rx() {}
 // ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER #########
 class TrackingPullInTest_msg_rx;
 

src/utils/reproducibility/ieee-access18/L2-access18.conf

@@ -133,7 +133,7 @@ PVT.display_rate_ms=500
 
 ;# KML, GeoJSON, NMEA and RTCM output configuration
 ;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
-PVT.dump_filename=./data/PVT
+PVT.dump_filename=./data/access18
 
 ;#nmea_dump_filename: NMEA log path and filename
 PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea

src/utils/reproducibility/ieee-access18/plot_dump.m

@@ -62,26 +62,46 @@ ylabel('Navigation data bits','fontname','Times','fontsize', fontsize)
 grid on
 
 
-fileID   = fopen('data/PVT_ls_pvt.dat', 'r');
+fileID   = fopen('data/access18_pvt.dat', 'r');
-dinfo    = dir('data/PVT_ls_pvt.dat');
+dinfo    = dir('data/access18_pvt.dat');
 filesize = dinfo.bytes;
 aux = 1;
 while ne(ftell(fileID), filesize)
-    navsol.RX_time(aux)    = fread(fileID, 1, 'double');
+    navsol.TOW_at_current_symbol_ms(aux) = fread(fileID, 1, 'uint32');
-    navsol.X(aux)          = fread(fileID, 1, 'double');
+    navsol.week(aux) = fread(fileID, 1, 'uint32');
-    navsol.Y(aux)          = fread(fileID, 1, 'double');
+    navsol.RX_time(aux) = fread(fileID, 1, 'double');
-    navsol.Z(aux)          = fread(fileID, 1, 'double');
+    navsol.user_clock_offset(aux) = fread(fileID, 1, 'double');
-    navsol.user_clock(aux) = fread(fileID, 1, 'double');
+    navsol.X(aux) = fread(fileID, 1, 'double');
-    navsol.lat(aux)        = fread(fileID, 1, 'double');
+    navsol.Y(aux) = fread(fileID, 1, 'double');
-    navsol.long(aux)       = fread(fileID, 1, 'double');
+    navsol.Z(aux) = fread(fileID, 1, 'double');
-    navsol.height(aux)     = fread(fileID, 1, 'double');
+    navsol.VX(aux) = fread(fileID, 1, 'double');
+    navsol.VY(aux) = fread(fileID, 1, 'double');
+    navsol.VZ(aux) = fread(fileID, 1, 'double');
+    navsol.varXX(aux) = fread(fileID, 1, 'double');
+    navsol.varYY(aux) = fread(fileID, 1, 'double');
+    navsol.varZZ(aux) = fread(fileID, 1, 'double');
+    navsol.varXY(aux) = fread(fileID, 1, 'double');
+    navsol.varYZ(aux) = fread(fileID, 1, 'double');
+    navsol.varZX(aux) = fread(fileID, 1, 'double');
+    navsol.latitude(aux) = fread(fileID, 1, 'double');
+    navsol.longitude(aux) = fread(fileID, 1, 'double');
+    navsol.height(aux) = fread(fileID, 1, 'double');
+    navsol.number_sats(aux) = fread(fileID, 1, 'uint8');
+    navsol.solution_status(aux) = fread(fileID, 1, 'uint8');
+    navsol.solution_type(aux) = fread(fileID, 1, 'uint8');
+    navsol.AR_ratio_factor(aux) = fread(fileID, 1, 'float');
+    navsol.AR_ratio_threshold(aux) = fread(fileID, 1, 'float');
+    navsol.GDOP(aux) = fread(fileID, 1, 'double');
+    navsol.PDOP(aux) = fread(fileID, 1, 'double');
+    navsol.HDOP(aux) = fread(fileID, 1, 'double');
+    navsol.VDOP(aux) = fread(fileID, 1, 'double');
     aux = aux + 1;
 end
 fclose(fileID);
 
 
-mean_Latitude = mean(navsol.lat);
+mean_Latitude = mean(navsol.latitude);
-mean_Longitude = mean(navsol.long);
+mean_Longitude = mean(navsol.longitude);
 mean_h = mean(navsol.height);
 utmZone = findUtmZone(mean_Latitude, mean_Longitude);
 [ref_X_cart, ref_Y_cart, ref_Z_cart] = geo2cart(dms2mat(deg2dms(mean_Latitude)), dms2mat(deg2dms(mean_Longitude)), mean_h, 5);