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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into release_0010

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Carles Fernandez 2018-12-01 13:05:27 +01:00
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3
AUTHORS
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@ -3,7 +3,7 @@ GNSS-SDR Authorship
The GNSS-SDR project is hosted and sponsored by the Centre Tecnològic de
Telecomunicacions de Catalunya (CTTC), a non-profit research foundation located
in Castelldefels (40.396764 N, 3.713379 E), 20 km south of Barcelona, Spain.
in Castelldefels (41.27504 N, 1.987709 E), 20 km south of Barcelona, Spain.
GNSS-SDR is the by-product of GNSS research conducted at the Communications
Systems Division of CTTC, and it is the combined effort of students,
software engineers and researchers from different institutions around the World.
@ -50,6 +50,7 @@ Daniel Fehr daniel.co@bluewin.ch Contributor
David Pubill david.pubill@cttc.cat Contributor
Fran Fabra fabra@ice.csic.es Contributor
Gabriel Araujo gabriel.araujo.5000@gmail.com Contributor
Gerald LaMountain gerald@gece.neu.edu Contributor
Leonardo Tonetto tonetto.dev@gmail.com Contributor
Mara Branzanti mara.branzanti@gmail.com Contributor
Marc Molina marc.molina.pena@gmail.com Contributor

692
CMakeLists.txt
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File diff suppressed because it is too large Load Diff

10
MANIFEST.md
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@ -12,11 +12,17 @@ author:
- et altri (see AUTHORS file for a list of contributors)
copyright_owner:
- The Authors
dependencies: gnuradio (>= 3.7.3), armadillo, gflags, glog, gnutls, matio
dependencies:
- gnuradio (>= 3.7.3)
- armadillo
- gflags
- glog
- gnutls
- matio
license: GPLv3+
repo: https://github.com/gnss-sdr/gnss-sdr
website: https://gnss-sdr.org
icon: https://raw.githubusercontent.com/gnss-sdr/gnss-sdr/master/docs/doxygen/images/gnss-sdr_logo.png
icon: https://gnss-sdr.org/assets/images/logo400x400.jpg
---
Global Navigation Satellite Systems receiver defined by software. It performs all the signal
processing from raw signal samples up to the computation of the Position-Velocity-Time solution,

44
README.md
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@ -64,10 +64,11 @@ $ sudo apt-get install build-essential cmake git libboost-dev libboost-date-time
libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev \
libboost-serialization-dev liblog4cpp5-dev libuhd-dev gnuradio-dev gr-osmosdr \
libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev \
libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev googletest
libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev libpugixml-dev \
libgtest-dev
~~~~~~
Please note that `googletest` was named `libgtest-dev` in distributions older than Debian 9 "stretch" and Ubuntu 17.04 "zesty".
Please note that the required files from `libgtest-dev` were moved to `googletest` in Debian 9 "stretch" and Ubuntu 18.04 "bionic", and moved back again to `libgtest-dev` in Debian 10 "buster" and Ubuntu 18.10 "cosmic".
**Note for Ubuntu 14.04 LTS "trusty" users:** you will need to build from source and install GNU Radio manually, as explained below, since GNSS-SDR requires `gnuradio-dev` >= 3.7.3, and Ubuntu 14.04 came with 3.7.2. Install all the packages above BUT EXCEPT `libuhd-dev`, `gnuradio-dev` and `gr-osmosdr` (and remove them if they are already installed in your machine), and install those dependencies using PyBOMBS. The same applies to `libmatio-dev`: Ubuntu 14.04 came with 1.5.2 and the minimum required version is 1.5.3. Please do not install the `libmatio-dev` package and install `libtool`, `automake` and `libhdf5-dev` instead. A recent version of the library will be downloaded and built automatically if CMake does not find it installed.
@ -85,7 +86,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel cmake git boost-devel
boost-date-time boost-system boost-filesystem boost-thread boost-chrono \
boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \
blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \
glog-devel openssl-devel libpcap-devel python-mako python-six
glog-devel openssl-devel libpcap-devel python-mako python-six pugixml-devel
~~~~~~
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@ -102,7 +103,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel libtool \
hdf5-devel cmake git boost-devel boost-date-time boost-system \
boost-filesystem boost-thread boost-chrono boost-serialization \
log4cpp-devel gnuradio-devel gr-osmosdr-devel blas-devel lapack-devel \
armadillo-devel openssl-devel libpcap-devel python-mako python-six
armadillo-devel openssl-devel libpcap-devel python-mako python-six pugixml-devel
~~~~~~
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@ -113,7 +114,7 @@ If you are using Arch Linux (with base-devel group installed):
~~~~~~
$ pacman -S cmake git boost boost-libs log4cpp libvolk gnuradio gnuradio-osmosdr \
blas lapack gflags google-glog openssl python2-mako python2-six \
blas lapack gflags google-glog openssl pugixml python-mako python-six \
libmatio libpcap gtest
~~~~~~
@ -186,9 +187,9 @@ $ sudo apt-get install libblas-dev liblapack-dev # For Debian/Ubuntu/Linux
$ sudo yum install lapack-devel blas-devel # For Fedora/CentOS/RHEL
$ sudo zypper install lapack-devel blas-devel # For OpenSUSE
$ sudo pacman -S blas lapack # For Arch Linux
$ wget https://sourceforge.net/projects/arma/files/armadillo-8.500.1.tar.xz
$ tar xvfz armadillo-8.500.1.tar.xz
$ cd armadillo-8.500.1
$ wget https://sourceforge.net/projects/arma/files/armadillo-9.100.5.tar.xz
$ tar xvfz armadillo-9.100.5.tar.xz
$ cd armadillo-9.100.5
$ cmake .
$ make
$ sudo make install
@ -201,9 +202,9 @@ The full stop separated from ```cmake``` by a space is important. [CMake](https:
#### Install [Gflags](https://github.com/gflags/gflags "Gflags' Homepage"), a commandline flags processing module for C++:
~~~~~~
$ wget https://github.com/gflags/gflags/archive/v2.2.1.tar.gz
$ tar xvfz v2.2.1.tar.gz
$ cd gflags-2.2.1
$ wget https://github.com/gflags/gflags/archive/v2.2.2.tar.gz
$ tar xvfz v2.2.2.tar.gz
$ cd gflags-2.2.2
$ cmake -DBUILD_SHARED_LIBS=ON -DBUILD_STATIC_LIBS=OFF -DBUILD_gflags_nothreads_LIB=OFF .
$ make
$ sudo make install
@ -229,20 +230,20 @@ $ 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
$ unzip release-1.8.0.zip
$ cd googletest-release-1.8.0
$ cmake -DBUILD_GTEST=ON -DBUILD_GMOCK=OFF .
$ wget https://github.com/google/googletest/archive/release-1.8.1.zip
$ unzip release-1.8.1.zip
$ cd googletest-release-1.8.1
$ 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.
@ -516,10 +517,7 @@ More details can be found in our tutorial about [GNSS-SDR configuration options
<a name="macosx">macOS and Mac OS X</a>
---------
### macOS 10.13 (High Sierra) and 10.12 (Sierra), Mac OS X 10.11 (El Capitan), 10.10 (Yosemite) and 10.9 (Mavericks).
If you still have not installed [Xcode](https://developer.apple.com/xcode/ "Xcode"), do it now from the App Store (it's free). You will also need the Xcode Command Line Tools. Launch the Terminal, found in /Applications/Utilities/, and type:
GNSS-SDR can be built on MacOS or Mac OS X, starting from 10.9 (Mavericks) and including 10.14 (Mojave). If you still have not installed [Xcode](https://developer.apple.com/xcode/ "Xcode"), do it now from the App Store (it's free). You will also need the Xcode Command Line Tools. Launch the Terminal, found in /Applications/Utilities/, and type:
~~~~~~
$ xcode-select --install
@ -550,6 +548,7 @@ $ sudo port install google-glog +gflags
$ sudo port install py27-mako
$ sudo port install py27-six
$ sudo port install matio
$ sudo port install pugixml
~~~~~~
You also might need to activate a Python installation. The list of installed versions can be retrieved with:
@ -558,7 +557,7 @@ You also might need to activate a Python installation. The list of installed ver
$ port select list python
~~~~~~
and you can activate a certain version (2.7 works well) by typing:
and you can activate a certain version by typing:
~~~~~~
$ sudo port select --set python python27
@ -589,6 +588,7 @@ $ brew install armadillo
$ brew install glog gflags gnutls
$ brew install gnuradio
$ brew install libmatio
$ brew install pugixml
$ pip install mako
$ pip install six
~~~~~~

138
cmake/Modules/CMakeParseArgumentsCopy.cmake
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@ -1,138 +0,0 @@
# CMAKE_PARSE_ARGUMENTS(<prefix> <options> <one_value_keywords> <multi_value_keywords> args...)
#
# CMAKE_PARSE_ARGUMENTS() is intended to be used in macros or functions for
# parsing the arguments given to that macro or function.
# It processes the arguments and defines a set of variables which hold the
# values of the respective options.
#
# The <options> argument contains all options for the respective macro,
# i.e. keywords which can be used when calling the macro without any value
# following, like e.g. the OPTIONAL keyword of the install() command.
#
# The <one_value_keywords> argument contains all keywords for this macro
# which are followed by one value, like e.g. DESTINATION keyword of the
# install() command.
#
# The <multi_value_keywords> argument contains all keywords for this macro
# which can be followed by more than one value, like e.g. the TARGETS or
# FILES keywords of the install() command.
#
# When done, CMAKE_PARSE_ARGUMENTS() will have defined for each of the
# keywords listed in <options>, <one_value_keywords> and
# <multi_value_keywords> a variable composed of the given <prefix>
# followed by "_" and the name of the respective keyword.
# These variables will then hold the respective value from the argument list.
# For the <options> keywords this will be TRUE or FALSE.
#
# All remaining arguments are collected in a variable
# <prefix>_UNPARSED_ARGUMENTS, this can be checked afterwards to see whether
# your macro was called with unrecognized parameters.
#
# As an example here a my_install() macro, which takes similar arguments as the
# real install() command:
#
# function(MY_INSTALL)
# set(options OPTIONAL FAST)
# set(oneValueArgs DESTINATION RENAME)
# set(multiValueArgs TARGETS CONFIGURATIONS)
# cmake_parse_arguments(MY_INSTALL "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
# ...
#
# Assume my_install() has been called like this:
# my_install(TARGETS foo bar DESTINATION bin OPTIONAL blub)
#
# After the cmake_parse_arguments() call the macro will have set the following
# variables:
# MY_INSTALL_OPTIONAL = TRUE
# MY_INSTALL_FAST = FALSE (this option was not used when calling my_install()
# MY_INSTALL_DESTINATION = "bin"
# MY_INSTALL_RENAME = "" (was not used)
# MY_INSTALL_TARGETS = "foo;bar"
# MY_INSTALL_CONFIGURATIONS = "" (was not used)
# MY_INSTALL_UNPARSED_ARGUMENTS = "blub" (no value expected after "OPTIONAL"
#
# You can the continue and process these variables.
#
# Keywords terminate lists of values, e.g. if directly after a one_value_keyword
# another recognized keyword follows, this is interpreted as the beginning of
# the new option.
# E.g. my_install(TARGETS foo DESTINATION OPTIONAL) would result in
# MY_INSTALL_DESTINATION set to "OPTIONAL", but MY_INSTALL_DESTINATION would
# be empty and MY_INSTALL_OPTIONAL would be set to TRUE therefor.
#=============================================================================
# Copyright 2010 Alexander Neundorf <neundorf@kde.org>
#
# Distributed under the OSI-approved BSD License (the "License");
# see accompanying file Copyright.txt for details.
#
# This software is distributed WITHOUT ANY WARRANTY; without even the
# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
# See the License for more information.
#=============================================================================
# (To distribute this file outside of CMake, substitute the full
# License text for the above reference.)
if(__CMAKE_PARSE_ARGUMENTS_INCLUDED)
return()
endif()
set(__CMAKE_PARSE_ARGUMENTS_INCLUDED TRUE)
function(CMAKE_PARSE_ARGUMENTS prefix _optionNames _singleArgNames _multiArgNames)
# first set all result variables to empty/FALSE
foreach(arg_name ${_singleArgNames} ${_multiArgNames})
set(${prefix}_${arg_name})
endforeach(arg_name)
foreach(option ${_optionNames})
set(${prefix}_${option} FALSE)
endforeach(option)
set(${prefix}_UNPARSED_ARGUMENTS)
set(insideValues FALSE)
set(currentArgName)
# now iterate over all arguments and fill the result variables
foreach(currentArg ${ARGN})
list(FIND _optionNames "${currentArg}" optionIndex) # ... then this marks the end of the arguments belonging to this keyword
list(FIND _singleArgNames "${currentArg}" singleArgIndex) # ... then this marks the end of the arguments belonging to this keyword
list(FIND _multiArgNames "${currentArg}" multiArgIndex) # ... then this marks the end of the arguments belonging to this keyword
if(${optionIndex} EQUAL -1 AND ${singleArgIndex} EQUAL -1 AND ${multiArgIndex} EQUAL -1)
if(insideValues)
if("${insideValues}" STREQUAL "SINGLE")
set(${prefix}_${currentArgName} ${currentArg})
set(insideValues FALSE)
elseif("${insideValues}" STREQUAL "MULTI")
list(APPEND ${prefix}_${currentArgName} ${currentArg})
endif()
else(insideValues)
list(APPEND ${prefix}_UNPARSED_ARGUMENTS ${currentArg})
endif(insideValues)
else()
if(NOT ${optionIndex} EQUAL -1)
set(${prefix}_${currentArg} TRUE)
set(insideValues FALSE)
elseif(NOT ${singleArgIndex} EQUAL -1)
set(currentArgName ${currentArg})
set(${prefix}_${currentArgName})
set(insideValues "SINGLE")
elseif(NOT ${multiArgIndex} EQUAL -1)
set(currentArgName ${currentArg})
set(${prefix}_${currentArgName})
set(insideValues "MULTI")
endif()
endif()
endforeach(currentArg)
# propagate the result variables to the caller:
foreach(arg_name ${_singleArgNames} ${_multiArgNames} ${_optionNames})
set(${prefix}_${arg_name} ${${prefix}_${arg_name}} PARENT_SCOPE)
endforeach(arg_name)
set(${prefix}_UNPARSED_ARGUMENTS ${${prefix}_UNPARSED_ARGUMENTS} PARENT_SCOPE)
endfunction(CMAKE_PARSE_ARGUMENTS _options _singleArgs _multiArgs)

102
cmake/Modules/FindGFLAGS.cmake Normal file
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@ -0,0 +1,102 @@
# Copyright (C) 2011-2018 (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/>.
# - Try to find GFlags
#
# The following variables are optionally searched for defaults
# GFlags_ROOT_DIR: Base directory where all GFlags components are found
#
# The following are set after configuration is done:
# GFlags_FOUND
# GFlags_INCLUDE_DIRS
# GFlags_LIBS
# GFlags_LIBRARY_DIRS
if(APPLE)
find_path(GFlags_ROOT_DIR
libgflags.dylib
PATHS
/opt/local/lib
/usr/local/lib
)
else()
find_path(GFlags_ROOT_DIR
libgflags.so
HINTS
/usr/local/lib
/usr/lib/x86_64-linux-gnu
/usr/lib/i386-linux-gnu
/usr/lib/arm-linux-gnueabihf
/usr/lib/arm-linux-gnueabi
/usr/lib/aarch64-linux-gnu
/usr/lib/mipsel-linux-gnu
/usr/lib/mips-linux-gnu
/usr/lib/mips64el-linux-gnuabi64
/usr/lib/powerpc-linux-gnu
/usr/lib/powerpc64-linux-gnu
/usr/lib/powerpc64le-linux-gnu
/usr/lib/powerpc-linux-gnuspe
/usr/lib/hppa-linux-gnu
/usr/lib/s390x-linux-gnu
/usr/lib/i386-gnu
/usr/lib/hppa-linux-gnu
/usr/lib/x86_64-kfreebsd-gnu
/usr/lib/i386-kfreebsd-gnu
/usr/lib/m68k-linux-gnu
/usr/lib/sh4-linux-gnu
/usr/lib/sparc64-linux-gnu
/usr/lib/x86_64-linux-gnux32
/usr/lib/alpha-linux-gnu
/usr/lib64
/usr/lib
)
endif()
if(GFlags_ROOT_DIR)
# We are testing only a couple of files in the include directories
find_path(GFlags_INCLUDE_DIRS
gflags/gflags.h
HINTS
/opt/local/include
/usr/local/include
/usr/include
${GFlags_ROOT_DIR}/src
)
# Find the libraries
set(GFlags_LIBRARY_DIRS ${GFlags_ROOT_DIR})
find_library(GFlags_lib gflags ${GFlags_LIBRARY_DIRS})
if(EXISTS ${GFlags_INCLUDE_DIRS}/gflags/gflags_gflags.h)
set(GFLAGS_GREATER_20 TRUE)
else()
set(GFLAGS_GREATER_20 FALSE)
endif()
# set up include and link directory
include_directories(${GFlags_INCLUDE_DIRS})
link_directories(${GFlags_LIBRARY_DIRS})
message(STATUS "gflags library found at ${GFlags_lib}")
set(GFlags_LIBS ${GFlags_lib})
set(GFlags_FOUND true)
mark_as_advanced(GFlags_INCLUDE_DIRS)
else()
message(STATUS "Cannot find gflags")
set(GFlags_FOUND false)
endif()
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GFLAGS DEFAULT_MSG GFlags_LIBS GFlags_INCLUDE_DIRS)

12
cmake/Modules/FindGFORTRAN.cmake
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@ -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)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GFORTRAN DEFAULT_MSG GFORTRAN)

102
cmake/Modules/FindGFlags.cmake
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@ -1,102 +0,0 @@
# Copyright (C) 2011-2018 (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/>.
# - Try to find GFlags
#
# The following variables are optionally searched for defaults
# GFlags_ROOT_DIR: Base directory where all GFlags components are found
#
# The following are set after configuration is done:
# GFlags_FOUND
# GFlags_INCLUDE_DIRS
# GFlags_LIBS
# GFlags_LIBRARY_DIRS
cmake_minimum_required(VERSION 2.6)
if(APPLE)
FIND_PATH(GFlags_ROOT_DIR
libgflags.dylib
PATHS
/opt/local/lib
/usr/local/lib
)
else(APPLE)
FIND_PATH(GFlags_ROOT_DIR
libgflags.so
HINTS
/usr/local/lib
/usr/lib/x86_64-linux-gnu
/usr/lib/i386-linux-gnu
/usr/lib/arm-linux-gnueabihf
/usr/lib/arm-linux-gnueabi
/usr/lib/aarch64-linux-gnu
/usr/lib/mipsel-linux-gnu
/usr/lib/mips-linux-gnu
/usr/lib/mips64el-linux-gnuabi64
/usr/lib/powerpc-linux-gnu
/usr/lib/powerpc64-linux-gnu
/usr/lib/powerpc64le-linux-gnu
/usr/lib/powerpc-linux-gnuspe
/usr/lib/hppa-linux-gnu
/usr/lib/s390x-linux-gnu
/usr/lib/i386-gnu
/usr/lib/hppa-linux-gnu
/usr/lib/x86_64-kfreebsd-gnu
/usr/lib/i386-kfreebsd-gnu
/usr/lib/m68k-linux-gnu
/usr/lib/sh4-linux-gnu
/usr/lib/sparc64-linux-gnu
/usr/lib/x86_64-linux-gnux32
/usr/lib/alpha-linux-gnu
/usr/lib64
/usr/lib
)
endif(APPLE)
IF(GFlags_ROOT_DIR)
# We are testing only a couple of files in the include directories
FIND_PATH(GFlags_INCLUDE_DIRS
gflags/gflags.h
HINTS
/opt/local/include
/usr/local/include
/usr/include
${GFlags_ROOT_DIR}/src
)
# Find the libraries
SET(GFlags_LIBRARY_DIRS ${GFlags_ROOT_DIR})
FIND_LIBRARY(GFlags_lib gflags ${GFlags_LIBRARY_DIRS})
if(EXISTS ${GFlags_INCLUDE_DIRS}/gflags/gflags_gflags.h)
set(GFLAGS_GREATER_20 TRUE)
else(EXISTS ${GFlags_INCLUDE_DIRS}/gflags/gflags_gflags.h)
set(GFLAGS_GREATER_20 FALSE)
endif(EXISTS ${GFlags_INCLUDE_DIRS}/gflags/gflags_gflags.h)
# set up include and link directory
include_directories(${GFlags_INCLUDE_DIRS})
link_directories(${GFlags_LIBRARY_DIRS})
message(STATUS "gflags library found at ${GFlags_lib}")
SET(GFlags_LIBS ${GFlags_lib})
SET(GFlags_FOUND true)
MARK_AS_ADVANCED(GFlags_INCLUDE_DIRS)
ELSE(GFlags_ROOT_DIR)
MESSAGE(STATUS "Cannot find gflags")
SET(GFlags_FOUND false)
ENDIF(GFlags_ROOT_DIR)

33
cmake/Modules/FindGLOG.cmake
View File

@ -30,13 +30,13 @@
if(NOT DEFINED GLOG_ROOT)
set(GLOG_ROOT /usr /usr/local)
endif (NOT DEFINED GLOG_ROOT)
endif()
if(MSVC)
set(LIB_PATHS ${GLOG_ROOT} ${GLOG_ROOT}/Release)
else(MSVC)
else()
set(LIB_PATHS ${GLOG_ROOT} ${GLOG_ROOT}/lib)
endif(MSVC)
endif()
macro(_FIND_GLOG_LIBRARIES _var)
find_library(${_var}
@ -88,7 +88,7 @@ if(MSVC)
${GLOG_ROOT}/src/windows
${GLOG_ROOT}/src/windows/glog
)
else(MSVC)
else()
# Linux/OS X builds
find_path(GLOG_INCLUDE_DIR NAMES raw_logging.h
PATHS
@ -96,20 +96,20 @@ else(MSVC)
/usr/include/glog
/opt/local/include/glog # default location in Macports
)
endif(MSVC)
endif()
# Find the libraries
if(MSVC)
_FIND_GLOG_LIBRARIES(GLOG_LIBRARIES libglog.lib)
else(MSVC)
_find_glog_libraries(GLOG_LIBRARIES libglog.lib)
else()
# Linux/OS X builds
if(UNIX)
_FIND_GLOG_LIBRARIES(GLOG_LIBRARIES libglog.so)
endif(UNIX)
_find_glog_libraries(GLOG_LIBRARIES libglog.so)
endif()
if(APPLE)
_FIND_GLOG_LIBRARIES(GLOG_LIBRARIES libglog.dylib)
endif(APPLE)
endif(MSVC)
_find_glog_libraries(GLOG_LIBRARIES libglog.dylib)
endif()
endif()
if(GLOG_FOUND)
message(STATUS "glog library found at ${GLOG_LIBRARIES}")
@ -117,20 +117,19 @@ endif()
# handle the QUIETLY and REQUIRED arguments and set GLOG_FOUND to TRUE if
# all listed variables are TRUE
include("${CMAKE_ROOT}/Modules/FindPackageHandleStandardArgs.cmake")
FIND_PACKAGE_HANDLE_STANDARD_ARGS(Glog DEFAULT_MSG
GLOG_LIBRARIES)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GLOG DEFAULT_MSG GLOG_LIBRARIES)
if(MSVC)
string(REGEX REPLACE "/glog$" "" VAR_WITHOUT ${GLOG_INCLUDE_DIR})
string(REGEX REPLACE "/windows$" "" VAR_WITHOUT ${VAR_WITHOUT})
set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS} "${VAR_WITHOUT}")
string(REGEX REPLACE "/libglog.lib" "" GLOG_LIBRARIES_DIR ${GLOG_LIBRARIES})
else(MSVC)
else()
# Linux/OS X builds
set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})
string(REGEX REPLACE "/libglog.so" "" GLOG_LIBRARIES_DIR ${GLOG_LIBRARIES})
endif(MSVC)
endif()
if(GLOG_FOUND)
# _GLOG_APPEND_LIBRARIES(GLOG GLOG_LIBRARIES)

27
cmake/Modules/FindGNSSSIMULATOR.cmake Normal file
View File

@ -0,0 +1,27 @@
# Copyright (C) 2011-2018 (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/>.
find_program(SW_GENERATOR_BIN gnss_sim
PATHS /usr/bin
/usr/local/bin
/opt/local/bin
${CMAKE_INSTALL_PREFIX}/bin
PATH_SUFFIXES bin)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GNSSSIMULATOR DEFAULT_MSG SW_GENERATOR_BIN)
mark_as_advanced(SW_GENERATOR_BIN)

81
cmake/Modules/FindGnuradio.cmake → cmake/Modules/FindGNURADIO.cmake
View File

@ -19,15 +19,14 @@
# Find GNU Radio
########################################################################
INCLUDE(FindPkgConfig)
INCLUDE(FindPackageHandleStandardArgs)
include(FindPkgConfig)
include(FindPackageHandleStandardArgs)
# if GR_REQUIRED_COMPONENTS is not defined, it will be set to the following list
if(NOT GR_REQUIRED_COMPONENTS)
set(GR_REQUIRED_COMPONENTS RUNTIME ANALOG BLOCKS DIGITAL FFT FILTER PMT FEC TRELLIS UHD)
endif()
# Allows us to use all .cmake files in this directory
list(INSERT CMAKE_MODULE_PATH 0 ${CMAKE_CURRENT_LIST_DIR})
@ -35,18 +34,17 @@ list(INSERT CMAKE_MODULE_PATH 0 ${CMAKE_CURRENT_LIST_DIR})
set(GNURADIO_ALL_LIBRARIES "")
set(GNURADIO_ALL_INCLUDE_DIRS "")
MACRO(LIST_CONTAINS var value)
SET(${var})
FOREACH(value2 ${ARGN})
IF (${value} STREQUAL ${value2})
SET(${var} TRUE)
ENDIF(${value} STREQUAL ${value2})
ENDFOREACH(value2)
ENDMACRO(LIST_CONTAINS)
macro(LIST_CONTAINS var value)
set(${var})
foreach(value2 ${ARGN})
if(${value} STREQUAL ${value2})
set(${var} TRUE)
endif()
endforeach()
endmacro()
function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
LIST_CONTAINS(REQUIRED_MODULE ${EXTVAR} ${GR_REQUIRED_COMPONENTS})
list_contains(REQUIRED_MODULE ${EXTVAR} ${GR_REQUIRED_COMPONENTS})
if(NOT REQUIRED_MODULE)
#message("Ignoring GNU Radio Module ${EXTVAR}")
return()
@ -55,7 +53,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
message(STATUS "Checking for GNU Radio Module: ${EXTVAR}")
# check for .pc hints
PKG_CHECK_MODULES(PC_GNURADIO_${EXTVAR} ${PCNAME})
pkg_check_modules(PC_GNURADIO_${EXTVAR} ${PCNAME})
if(NOT PC_GNURADIO_${EXTVAR}_FOUND)
set(PC_GNURADIO_${EXTVAR}_LIBRARIES ${LIBFILE})
@ -67,7 +65,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
set(PC_LIBDIR ${PC_GNURADIO_${EXTVAR}_LIBDIR})
# look for include files
FIND_PATH(
find_path(
${INCVAR_NAME}
NAMES ${INCFILE}
HINTS $ENV{GNURADIO_RUNTIME_DIR}/include
@ -81,7 +79,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
# look for libs
foreach(libname ${PC_GNURADIO_${EXTVAR}_LIBRARIES})
FIND_LIBRARY(
find_library(
${LIBVAR_NAME}_${libname}
NAMES ${libname} ${libname}-${PC_GNURADIO_RUNTIME_VERSION}
HINTS $ENV{GNURADIO_RUNTIME_DIR}/lib
@ -119,7 +117,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
${GNURADIO_INSTALL_PREFIX}/lib
)
list(APPEND ${LIBVAR_NAME} ${${LIBVAR_NAME}_${libname}})
endforeach(libname)
endforeach()
set(${LIBVAR_NAME} ${${LIBVAR_NAME}} PARENT_SCOPE)
@ -131,7 +129,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
set(GNURADIO_ALL_INCLUDE_DIRS ${GNURADIO_ALL_INCLUDE_DIRS} ${GNURADIO_${EXTVAR}_INCLUDE_DIRS} PARENT_SCOPE)
set(GNURADIO_ALL_LIBRARIES ${GNURADIO_ALL_LIBRARIES} ${GNURADIO_${EXTVAR}_LIBRARIES} PARENT_SCOPE)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GNURADIO_${EXTVAR} DEFAULT_MSG GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
find_package_handle_standard_args(GNURADIO_${EXTVAR} DEFAULT_MSG GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
message(STATUS "GNURADIO_${EXTVAR}_FOUND = ${GNURADIO_${EXTVAR}_FOUND}")
set(GNURADIO_${EXTVAR}_FOUND ${GNURADIO_${EXTVAR}_FOUND} PARENT_SCOPE)
@ -140,29 +138,28 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
message(STATUS "Required GNU Radio Component: ${EXTVAR} missing!")
endif()
MARK_AS_ADVANCED(GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
mark_as_advanced(GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
endfunction()
GR_MODULE(RUNTIME gnuradio-runtime gnuradio/top_block.h gnuradio-runtime)
GR_MODULE(ANALOG gnuradio-analog gnuradio/analog/api.h gnuradio-analog)
GR_MODULE(AUDIO gnuradio-audio gnuradio/audio/api.h gnuradio-audio)
GR_MODULE(BLOCKS gnuradio-blocks gnuradio/blocks/api.h gnuradio-blocks)
GR_MODULE(CHANNELS gnuradio-channels gnuradio/channels/api.h gnuradio-channels)
GR_MODULE(DIGITAL gnuradio-digital gnuradio/digital/api.h gnuradio-digital)
GR_MODULE(FCD gnuradio-fcd gnuradio/fcd_api.h gnuradio-fcd)
GR_MODULE(FEC gnuradio-fec gnuradio/fec/api.h gnuradio-fec)
GR_MODULE(FFT gnuradio-fft gnuradio/fft/api.h gnuradio-fft)
GR_MODULE(FILTER gnuradio-filter gnuradio/filter/api.h gnuradio-filter)
GR_MODULE(NOAA gnuradio-noaa gnuradio/noaa/api.h gnuradio-noaa)
GR_MODULE(PAGER gnuradio-pager gnuradio/pager/api.h gnuradio-pager)
GR_MODULE(QTGUI gnuradio-qtgui gnuradio/qtgui/api.h gnuradio-qtgui)
GR_MODULE(TRELLIS gnuradio-trellis gnuradio/trellis/api.h gnuradio-trellis)
GR_MODULE(UHD gnuradio-uhd gnuradio/uhd/api.h gnuradio-uhd)
GR_MODULE(VOCODER gnuradio-vocoder gnuradio/vocoder/api.h gnuradio-vocoder)
GR_MODULE(WAVELET gnuradio-wavelet gnuradio/wavelet/api.h gnuradio-wavelet)
GR_MODULE(WXGUI gnuradio-wxgui gnuradio/wxgui/api.h gnuradio-wxgui)
GR_MODULE(PMT gnuradio-runtime pmt/pmt.h gnuradio-pmt)
gr_module(RUNTIME gnuradio-runtime gnuradio/top_block.h gnuradio-runtime)
gr_module(ANALOG gnuradio-analog gnuradio/analog/api.h gnuradio-analog)
gr_module(AUDIO gnuradio-audio gnuradio/audio/api.h gnuradio-audio)
gr_module(BLOCKS gnuradio-blocks gnuradio/blocks/api.h gnuradio-blocks)
gr_module(CHANNELS gnuradio-channels gnuradio/channels/api.h gnuradio-channels)
gr_module(DIGITAL gnuradio-digital gnuradio/digital/api.h gnuradio-digital)
gr_module(FCD gnuradio-fcd gnuradio/fcd_api.h gnuradio-fcd)
gr_module(FEC gnuradio-fec gnuradio/fec/api.h gnuradio-fec)
gr_module(FFT gnuradio-fft gnuradio/fft/api.h gnuradio-fft)
gr_module(FILTER gnuradio-filter gnuradio/filter/api.h gnuradio-filter)
gr_module(NOAA gnuradio-noaa gnuradio/noaa/api.h gnuradio-noaa)
gr_module(PAGER gnuradio-pager gnuradio/pager/api.h gnuradio-pager)
gr_module(QTGUI gnuradio-qtgui gnuradio/qtgui/api.h gnuradio-qtgui)
gr_module(TRELLIS gnuradio-trellis gnuradio/trellis/api.h gnuradio-trellis)
gr_module(UHD gnuradio-uhd gnuradio/uhd/api.h gnuradio-uhd)
gr_module(VOCODER gnuradio-vocoder gnuradio/vocoder/api.h gnuradio-vocoder)
gr_module(WAVELET gnuradio-wavelet gnuradio/wavelet/api.h gnuradio-wavelet)
gr_module(WXGUI gnuradio-wxgui gnuradio/wxgui/api.h gnuradio-wxgui)
gr_module(PMT gnuradio-runtime pmt/pmt.h gnuradio-pmt)
list(REMOVE_DUPLICATES GNURADIO_ALL_INCLUDE_DIRS)
list(REMOVE_DUPLICATES GNURADIO_ALL_LIBRARIES)
@ -180,7 +177,7 @@ if(NOT PC_GNURADIO_RUNTIME_VERSION)
)
if(GNURADIO_VERSION_GREATER_THAN_373)
set(PC_GNURADIO_RUNTIME_VERSION "3.7.4+")
endif(GNURADIO_VERSION_GREATER_THAN_373)
endif()
find_file(GNURADIO_VERSION_GREATER_THAN_38
NAMES gnuradio/filter/mmse_resampler_cc.h
@ -193,5 +190,5 @@ if(NOT PC_GNURADIO_RUNTIME_VERSION)
)
if(GNURADIO_VERSION_GREATER_THAN_38)
set(PC_GNURADIO_RUNTIME_VERSION "3.8.0+")
endif(GNURADIO_VERSION_GREATER_THAN_38)
endif(NOT PC_GNURADIO_RUNTIME_VERSION)
endif()
endif()

4
cmake/Modules/FindGperftools.cmake → cmake/Modules/FindGPERFTOOLS.cmake
View File

@ -19,7 +19,7 @@
#
# Usage of this module as follows:
#
# find_package(Gperftools)
# find_package(GPERFTOOLS)
#
# Variables used by this module, they can change the default behaviour and need
# to be set before calling find_package:
@ -54,7 +54,7 @@ set(GPERFTOOLS_LIBRARIES ${GPERFTOOLS_TCMALLOC_AND_PROFILER})
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(
Gperftools
GPERFTOOLS
DEFAULT_MSG
GPERFTOOLS_LIBRARIES
GPERFTOOLS_INCLUDE_DIR

25
cmake/Modules/FindGPSTK.cmake
View File

@ -19,29 +19,22 @@
# Find the native gpstk includes and library
# This module defines
# GPSTK_INCLUDE_DIR, where to find Rinex3ObsBase.hpp, etc.
# GPSTK_LIBRARIES, libraries to link against to use GPSTK.
# GPSTK_FOUND, If false, do not try to use GPSTK.
# also defined, but not for general use are
# GPSTK_LIBRARY, where to find the GPSTK library.
FIND_PATH(GPSTK_INCLUDE_DIR Rinex3ObsBase.hpp
HINTS /usr/include/gpstk
/usr/local/include/gpstk
/opt/local/include/gpstk )
find_path(GPSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
HINTS /usr/include
/usr/local/include
/opt/local/include)
SET(GPSTK_NAMES ${GPSTK_NAMES} gpstk libgpstk)
FIND_LIBRARY(GPSTK_LIBRARY NAMES ${GPSTK_NAMES}
set(GPSTK_NAMES ${GPSTK_NAMES} gpstk libgpstk)
find_library(GPSTK_LIBRARY NAMES ${GPSTK_NAMES}
HINTS /usr/lib
/usr/local/lib
/opt/local/lib)
# handle the QUIETLY and REQUIRED arguments and set GPSTK_FOUND to TRUE if
# all listed variables are TRUE
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GPSTK DEFAULT_MSG GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
IF(GPSTK_FOUND)
SET( GPSTK_LIBRARIES ${GPSTK_LIBRARY} )
ENDIF(GPSTK_FOUND)
MARK_AS_ADVANCED(GPSTK_INCLUDE_DIR GPSTK_LIBRARY)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GPSTK DEFAULT_MSG GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
mark_as_advanced(GPSTK_INCLUDE_DIR GPSTK_LIBRARY GPSTK_INCLUDE_DIR)

14
cmake/Modules/FindGrDbfcttc.cmake → cmake/Modules/FindGRDBFCTTC.cmake
View File

@ -19,10 +19,10 @@
# Find GR-DBFCTTC Module
########################################################################
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_GR_DBFCTTC gr-dbfcttc)
include(FindPkgConfig)
pkg_check_modules(PC_GR_DBFCTTC gr-dbfcttc)
FIND_PATH(
find_path(
GR_DBFCTTC_INCLUDE_DIRS
NAMES dbfcttc/api.h
HINTS $ENV{GR_DBFCTTC_DIR}/include
@ -32,7 +32,7 @@ FIND_PATH(
/usr/local/include
)
FIND_LIBRARY(
find_library(
GR_DBFCTTC_LIBRARIES
NAMES gnuradio-dbfcttc
HINTS $ENV{GR_DBFCTTC_DIR}/lib
@ -45,6 +45,6 @@ FIND_LIBRARY(
/usr/local/lib64
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GR_DBFCTTC DEFAULT_MSG GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)
MARK_AS_ADVANCED(GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GRDBFCTTC DEFAULT_MSG GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)
mark_as_advanced(GR_DBFCTTC_LIBRARIES GR_DBFCTTC_INCLUDE_DIRS)

14
cmake/Modules/FindGrGN3S.cmake → cmake/Modules/FindGRGN3S.cmake
View File

@ -19,10 +19,10 @@
# Find GR-GN3S Module
########################################################################
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_GR_GN3S gr-gn3s)
include(FindPkgConfig)
pkg_check_modules(PC_GR_GN3S gr-gn3s)
FIND_PATH(
find_path(
GR_GN3S_INCLUDE_DIRS
NAMES gn3s/gn3s_api.h
HINTS $ENV{GR_GN3S_DIR}/include
@ -32,7 +32,7 @@ FIND_PATH(
/usr/include
)
FIND_LIBRARY(
find_library(
GR_GN3S_LIBRARIES
NAMES gr-gn3s
HINTS $ENV{GR_GN3S_DIR}/lib
@ -45,6 +45,6 @@ FIND_LIBRARY(
/usr/lib64
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GR_GN3S DEFAULT_MSG GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)
MARK_AS_ADVANCED(GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GRGN3S DEFAULT_MSG GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)
mark_as_advanced(GR_GN3S_LIBRARIES GR_GN3S_INCLUDE_DIRS)

14
cmake/Modules/FindGriio.cmake → cmake/Modules/FindGRIIO.cmake
View File

@ -15,10 +15,10 @@
# 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(FindPkgConfig)
PKG_CHECK_MODULES(PC_IIO gnuradio-iio)
include(FindPkgConfig)
pkg_check_modules(PC_IIO gnuradio-iio)
FIND_PATH(
find_path(
IIO_INCLUDE_DIRS
NAMES gnuradio/iio/api.h
HINTS $ENV{IIO_DIR}/include
@ -28,7 +28,7 @@ FIND_PATH(
/usr/include
)
FIND_LIBRARY(
find_library(
IIO_LIBRARIES
NAMES gnuradio-iio
HINTS $ENV{IIO_DIR}/lib
@ -63,6 +63,6 @@ FIND_LIBRARY(
/usr/lib/sh4-linux-gnu
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(IIO DEFAULT_MSG IIO_LIBRARIES IIO_INCLUDE_DIRS)
MARK_AS_ADVANCED(IIO_LIBRARIES IIO_INCLUDE_DIRS)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GRIIO DEFAULT_MSG IIO_LIBRARIES IIO_INCLUDE_DIRS)
mark_as_advanced(IIO_LIBRARIES IIO_INCLUDE_DIRS)

17
cmake/Modules/FindGrOsmoSDR.cmake → cmake/Modules/FindGROSMOSDR.cmake
View File

@ -19,7 +19,7 @@
#
# Usage of this module as follows:
#
# find_package(GrOsmoSDR)
# find_package(GROSMOSDR)
#
# Variables used by this module, they can change the default behaviour and need
# to be set before calling find_package:
@ -34,7 +34,6 @@
# GROSMOSDR_LIBRARIES The gr-osmosdr libraries (gnuradio-osmosdr)
# GROSMOSDR_INCLUDE_DIR The location of gr-osmosdr headers
if(NOT GROSMOSDR_FOUND)
pkg_check_modules(GROSMOSDR_PKG gnuradio-osmosdr)
find_path(GROSMOSDR_INCLUDE_DIR
NAMES osmosdr/source.h
@ -77,14 +76,6 @@ if(NOT GROSMOSDR_FOUND)
/usr/lib64
)
if(GROSMOSDR_INCLUDE_DIR AND GROSMOSDR_LIBRARIES)
set(GROSMOSDR_FOUND TRUE CACHE INTERNAL "gnuradio-osmosdr found")
message(STATUS "Found gnuradio-osmosdr: ${GROSMOSDR_INCLUDE_DIR}, ${GROSMOSDR_LIBRARIES}")
else(GROSMOSDR_INCLUDE_DIR AND GROSMOSDR_LIBRARIES)
set(GROSMOSDR_FOUND FALSE CACHE INTERNAL "gnuradio-osmosdr found")
message(STATUS "gnuradio-osmosdr not found.")
endif(GROSMOSDR_INCLUDE_DIR AND GROSMOSDR_LIBRARIES)
mark_as_advanced(GROSMOSDR_INCLUDE_DIR GROSMOSDR_LIBRARIES)
endif(NOT GROSMOSDR_FOUND)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GROSMOSDR DEFAULT_MSG GROSMOSDR_LIBRARIES GROSMOSDR_INCLUDE_DIR)
mark_as_advanced(GROSMOSDR_LIBRARIES GROSMOSDR_INCLUDE_DIR)

14
cmake/Modules/Findlibiio.cmake → cmake/Modules/FindLIBIIO.cmake
View File

@ -15,10 +15,10 @@
# 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(FindPkgConfig)
PKG_CHECK_MODULES(PC_LIBIIO libiio)
include(FindPkgConfig)
pkg_check_modules(PC_LIBIIO libiio)
FIND_PATH(
find_path(
LIBIIO_INCLUDE_DIRS
NAMES iio.h
HINTS $ENV{LIBIIO_DIR}/include
@ -29,7 +29,7 @@ FIND_PATH(
/opt/local/include
)
FIND_LIBRARY(
find_library(
LIBIIO_LIBRARIES
NAMES iio libiio.so.0
HINTS $ENV{LIBIIO_DIR}/lib
@ -65,6 +65,6 @@ FIND_LIBRARY(
/Library/Frameworks/iio.framework/
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(LIBIIO DEFAULT_MSG LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)
MARK_AS_ADVANCED(LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(LIBIIO DEFAULT_MSG LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)
mark_as_advanced(LIBIIO_LIBRARIES LIBIIO_INCLUDE_DIRS)

16
cmake/Modules/FindLibOsmoSDR.cmake → cmake/Modules/FindLIBOSMOSDR.cmake
View File

@ -19,7 +19,7 @@
#
# Usage of this module as follows:
#
# find_package(LibOsmoSDR)
# find_package(LIBOSMOSDR)
#
#
# Variables defined by this module:
@ -28,8 +28,6 @@
# LIBOSMOSDR_LIBRARIES The libosmosdr libraries
# LIBOSMOSDR_INCLUDE_DIR The location of libosmosdr headers
if(NOT LIBOSMOSDR_FOUND)
pkg_check_modules(LIBOSMOSDR_PKG libosmosdr)
find_path(LIBOSMOSDR_INCLUDE_DIR NAMES osmosdr.h
PATHS
@ -69,14 +67,6 @@ if(NOT LIBOSMOSDR_FOUND)
/usr/lib64
)
if(LIBOSMOSDR_INCLUDE_DIR AND LIBOSMOSDR_LIBRARIES)
set(LIBOSMOSDR_FOUND TRUE CACHE INTERNAL "libosmosdr found")
message(STATUS "Found libosmosdr: ${LIBOSMOSDR_INCLUDE_DIR}, ${LIBOSMOSDR_LIBRARIES}")
else(LIBOSMOSDR_INCLUDE_DIR AND LIBOSMOSDR_LIBRARIES)
set(LIBOSMOSDR_FOUND FALSE CACHE INTERNAL "libosmosdr found")
message(STATUS "libosmosdr not found.")
endif(LIBOSMOSDR_INCLUDE_DIR AND LIBOSMOSDR_LIBRARIES)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(LIBOSMOSDR DEFAULT_MSG LIBOSMOSDR_INCLUDE_DIR LIBOSMOSDR_LIBRARIES)
mark_as_advanced(LIBOSMOSDR_INCLUDE_DIR LIBOSMOSDR_LIBRARIES)
endif(NOT LIBOSMOSDR_FOUND)

13
cmake/Modules/FindLog4cpp.cmake → cmake/Modules/FindLOG4CPP.cmake
View File

@ -70,7 +70,6 @@ find_library(LOG4CPP_LIBRARY
/opt/local/lib
)
if(LOG4CPP_INCLUDE_DIR AND LOG4CPP_LIBRARY)
set(LOG4CPP_FOUND TRUE)
set(LOG4CPP_LIBRARIES ${LOG4CPP_LIBRARY} CACHE INTERNAL "" FORCE)
@ -83,13 +82,5 @@ else ()
set(LOG4CPP_INCLUDE_DIRS "" CACHE INTERNAL "" FORCE)
endif()
if (LOG4CPP_FOUND)
if (NOT LOG4CPP_FIND_QUIETLY)
message(STATUS "Found LOG4CPP: ${LOG4CPP_LIBRARIES}")
endif ()
else ()
if (LOG4CPP_FIND_REQUIRED)
message(STATUS "Looked for LOG4CPP libraries named ${LOG4CPPS_NAMES}.")
message(FATAL_ERROR "Could NOT find LOG4CPP library")
endif ()
endif ()
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(LOG4CPP DEFAULT_MSG LOG4CPP_INCLUDE_DIRS LOG4CPP_LIBRARIES)

8
cmake/Modules/FindMATIO.cmake
View File

@ -99,19 +99,17 @@ if(MATIO_INCLUDE_DIR)
set(MATIO_VERSION_STRING "${MATIO_MAJOR_VERSION}.${MATIO_MINOR_VERSION}.${MATIO_RELEASE_LEVEL}")
endif()
#==================
mark_as_advanced(MATIO_INCLUDE_DIR MATIO_LIBRARY)
# handle the QUIETLY and REQUIRED arguments and set MATIO_FOUND to TRUE if
# all listed variables are TRUE
include(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(MATIO REQUIRED_VARS MATIO_LIBRARY MATIO_INCLUDE_DIR VERSION_VAR MATIO_VERSION_STRING)
find_package_handle_standard_args(MATIO REQUIRED_VARS MATIO_LIBRARY MATIO_INCLUDE_DIR VERSION_VAR MATIO_VERSION_STRING)
if(MATIO_FOUND)
set(MATIO_LIBRARIES ${MATIO_LIBRARY})
set(MATIO_INCLUDE_DIRS ${MATIO_INCLUDE_DIR})
else(MATIO_FOUND)
else()
set(MATIO_LIBRARIES)
set(MATIO_INCLUDE_DIRS)
endif(MATIO_FOUND)
endif()

16
cmake/Modules/FindOpenBLAS.cmake → cmake/Modules/FindOPENBLAS.cmake
View File

@ -20,7 +20,7 @@
# The following environment variable is optionally searched
# OPENBLAS_HOME: Base directory where all OpenBlas components are found
SET(OPEN_BLAS_SEARCH_PATHS /lib/
set(OPEN_BLAS_SEARCH_PATHS /lib/
/lib64/
/usr/lib
/usr/lib64
@ -32,11 +32,13 @@ SET(OPEN_BLAS_SEARCH_PATHS /lib/
$ENV{OPENBLAS_HOME}/lib
)
FIND_LIBRARY(OPENBLAS NAMES openblas PATHS ${OPEN_BLAS_SEARCH_PATHS})
find_library(OPENBLAS NAMES openblas PATHS ${OPEN_BLAS_SEARCH_PATHS})
IF (OPENBLAS)
SET(OPENBLAS_FOUND ON)
MESSAGE(STATUS "Found OpenBLAS")
ENDIF (OPENBLAS)
if(OPENBLAS)
set(OPENBLAS_FOUND ON)
message(STATUS "Found OpenBLAS")
endif()
MARK_AS_ADVANCED(OPENBLAS)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(OPENBLAS DEFAULT_MSG OPENBLAS)
mark_as_advanced(OPENBLAS)

110
cmake/Modules/FindOPENCL.cmake Normal file
View File

@ -0,0 +1,110 @@
# Copyright (C) 2011-2018 (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/>.
#
# This file taken from FindOpenCL project @ http://gitorious.com/findopencl
#
# - Try to find OpenCL
# This module tries to find an OpenCL implementation on your system. It supports
# AMD / ATI, Apple and NVIDIA implementations, but shoudl work, too.
#
# Once done this will define
# OPENCL_FOUND - system has OpenCL
# OPENCL_INCLUDE_DIRS - the OpenCL include directory
# OPENCL_LIBRARIES - link these to use OpenCL
#
# WIN32 should work, but is untested
include(FindPackageHandleStandardArgs)
set(OPENCL_VERSION_STRING "0.1.0")
set(OPENCL_VERSION_MAJOR 0)
set(OPENCL_VERSION_MINOR 1)
set(OPENCL_VERSION_PATCH 0)
if(APPLE)
find_library(OPENCL_LIBRARIES OpenCL DOC "OpenCL lib for OSX")
find_path(OPENCL_INCLUDE_DIRS OpenCL/cl.h DOC "Include for OpenCL on OSX")
find_path(_OPENCL_CPP_INCLUDE_DIRS OpenCL/cl.hpp DOC "Include for OpenCL CPP bindings on OSX")
else()
if(WIN32)
find_path(OPENCL_INCLUDE_DIRS CL/cl.h)
find_path(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp)
# The AMD SDK currently installs both x86 and x86_64 libraries
# This is only a hack to find out architecture
if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
set(OPENCL_LIB_DIR "$ENV{ATISTREAMSDKROOT}/lib/x86_64")
set(OPENCL_LIB_DIR "$ENV{ATIINTERNALSTREAMSDKROOT}/lib/x86_64")
else()
set(OPENCL_LIB_DIR "$ENV{ATISTREAMSDKROOT}/lib/x86")
set(OPENCL_LIB_DIR "$ENV{ATIINTERNALSTREAMSDKROOT}/lib/x86")
endif()
# find out if the user asked for a 64-bit build, and use the corresponding
# 64 or 32 bit NVIDIA library paths to the search:
string(REGEX MATCH "Win64" ISWIN64 ${CMAKE_GENERATOR})
if("${ISWIN64}" STREQUAL "Win64")
find_library(OPENCL_LIBRARIES OpenCL.lib ${OPENCL_LIB_DIR} $ENV{CUDA_LIB_PATH} $ENV{CUDA_PATH}/lib/x64)
else()
find_library(OPENCL_LIBRARIES OpenCL.lib ${OPENCL_LIB_DIR} $ENV{CUDA_LIB_PATH} $ENV{CUDA_PATH}/lib/Win32)
endif()
get_filename_component(_OPENCL_INC_CAND ${OPENCL_LIB_DIR}/../../include ABSOLUTE)
# On Win32 search relative to the library
find_path(OPENCL_INCLUDE_DIRS CL/cl.h PATHS "${_OPENCL_INC_CAND}" $ENV{CUDA_INC_PATH} $ENV{CUDA_PATH}/include)
find_path(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS "${_OPENCL_INC_CAND}" $ENV{CUDA_INC_PATH} $ENV{CUDA_PATH}/include)
else()
# Unix style platforms
find_library(OPENCL_LIBRARIES OpenCL
ENV LD_LIBRARY_PATH
)
get_filename_component(OPENCL_LIB_DIR ${OPENCL_LIBRARIES} PATH)
get_filename_component(_OPENCL_INC_CAND ${OPENCL_LIB_DIR}/../../include ABSOLUTE)
# The AMD SDK currently does not place its headers
# in /usr/include, therefore also search relative
# to the library
find_path(OPENCL_INCLUDE_DIRS CL/cl.h PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include")
find_path(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include")
endif()
endif()
find_package_handle_standard_args(OPENCL DEFAULT_MSG OPENCL_LIBRARIES OPENCL_INCLUDE_DIRS)
if(_OPENCL_CPP_INCLUDE_DIRS)
set(OPENCL_HAS_CPP_BINDINGS TRUE)
list(APPEND OPENCL_INCLUDE_DIRS ${_OPENCL_CPP_INCLUDE_DIRS})
# This is often the same, so clean up
list(REMOVE_DUPLICATES OPENCL_INCLUDE_DIRS)
endif()
mark_as_advanced(
OPENCL_INCLUDE_DIRS
)
if(OPENCL_INCLUDE_DIRS AND OPENCL_LIBRARIES)
set( OPENCL_FOUND TRUE )
add_definitions( -DOPENCL=1 )
else()
set( OPENCL_FOUND FALSE )
add_definitions( -DOPENCL=0 )
endif()

24
cmake/Modules/FindORC.cmake
View File

@ -15,19 +15,19 @@
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
FIND_PACKAGE(PkgConfig)
PKG_CHECK_MODULES(PC_ORC "orc-0.4 > 0.4.22")
find_package(PkgConfig)
pkg_check_modules(PC_ORC "orc-0.4 > 0.4.22")
FIND_PROGRAM(ORCC_EXECUTABLE orcc
find_program(ORCC_EXECUTABLE orcc
HINTS ${PC_ORC_TOOLSDIR}
PATHS ${ORC_ROOT}/bin ${CMAKE_INSTALL_PREFIX}/bin)
FIND_PATH(ORC_INCLUDE_DIR NAMES orc/orc.h
find_path(ORC_INCLUDE_DIR NAMES orc/orc.h
HINTS ${PC_ORC_INCLUDEDIR}
PATHS ${ORC_ROOT}/include/orc-0.4 ${CMAKE_INSTALL_PREFIX}/include/orc-0.4)
FIND_PATH(ORC_LIBRARY_DIR NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHARED_LIBRARY_SUFFIX}
find_path(ORC_LIBRARY_DIR NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHARED_LIBRARY_SUFFIX}
HINTS ${PC_ORC_LIBDIR}
/usr/local/lib
/usr/lib/x86_64-linux-gnu
@ -47,20 +47,20 @@ FIND_PATH(ORC_LIBRARY_DIR NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHA
/usr/lib
PATHS ${ORC_ROOT}/lib${LIB_SUFFIX} ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX})
FIND_LIBRARY(ORC_LIB orc-0.4
find_library(ORC_LIB orc-0.4
HINTS ${PC_ORC_LIBRARY_DIRS}
PATHS ${ORC_ROOT}/lib${LIB_SUFFIX} ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX})
LIST(APPEND ORC_LIBRARY
list(APPEND ORC_LIBRARY
${ORC_LIB}
)
SET(ORC_INCLUDE_DIRS ${ORC_INCLUDE_DIR})
SET(ORC_LIBRARIES ${ORC_LIBRARY})
SET(ORC_LIBRARY_DIRS ${ORC_LIBRARY_DIR})
set(ORC_INCLUDE_DIRS ${ORC_INCLUDE_DIR})
set(ORC_LIBRARIES ${ORC_LIBRARY})
set(ORC_LIBRARY_DIRS ${ORC_LIBRARY_DIR})
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(ORC "orc files" ORC_LIBRARY ORC_INCLUDE_DIR ORCC_EXECUTABLE)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(ORC "orc files" ORC_LIBRARY ORC_INCLUDE_DIR ORCC_EXECUTABLE)
mark_as_advanced(ORC_INCLUDE_DIR ORC_LIBRARY ORCC_EXECUTABLE)

116
cmake/Modules/FindOpenCL.cmake
View File

@ -1,116 +0,0 @@
# Copyright (C) 2011-2018 (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/>.
#
# This file taken from FindOpenCL project @ http://gitorious.com/findopencl
#
# - Try to find OpenCL
# This module tries to find an OpenCL implementation on your system. It supports
# AMD / ATI, Apple and NVIDIA implementations, but shoudl work, too.
#
# Once done this will define
# OPENCL_FOUND - system has OpenCL
# OPENCL_INCLUDE_DIRS - the OpenCL include directory
# OPENCL_LIBRARIES - link these to use OpenCL
#
# WIN32 should work, but is untested
FIND_PACKAGE( PackageHandleStandardArgs )
SET (OPENCL_VERSION_STRING "0.1.0")
SET (OPENCL_VERSION_MAJOR 0)
SET (OPENCL_VERSION_MINOR 1)
SET (OPENCL_VERSION_PATCH 0)
IF (APPLE)
FIND_LIBRARY(OPENCL_LIBRARIES OpenCL DOC "OpenCL lib for OSX")
FIND_PATH(OPENCL_INCLUDE_DIRS OpenCL/cl.h DOC "Include for OpenCL on OSX")
FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS OpenCL/cl.hpp DOC "Include for OpenCL CPP bindings on OSX")
ELSE (APPLE)
IF (WIN32)
FIND_PATH(OPENCL_INCLUDE_DIRS CL/cl.h)
FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp)
# The AMD SDK currently installs both x86 and x86_64 libraries
# This is only a hack to find out architecture
IF( ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64" )
SET(OPENCL_LIB_DIR "$ENV{ATISTREAMSDKROOT}/lib/x86_64")
SET(OPENCL_LIB_DIR "$ENV{ATIINTERNALSTREAMSDKROOT}/lib/x86_64")
ELSE (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
SET(OPENCL_LIB_DIR "$ENV{ATISTREAMSDKROOT}/lib/x86")
SET(OPENCL_LIB_DIR "$ENV{ATIINTERNALSTREAMSDKROOT}/lib/x86")
ENDIF( ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64" )
# find out if the user asked for a 64-bit build, and use the corresponding
# 64 or 32 bit NVIDIA library paths to the search:
STRING(REGEX MATCH "Win64" ISWIN64 ${CMAKE_GENERATOR})
IF("${ISWIN64}" STREQUAL "Win64")
FIND_LIBRARY(OPENCL_LIBRARIES OpenCL.lib ${OPENCL_LIB_DIR} $ENV{CUDA_LIB_PATH} $ENV{CUDA_PATH}/lib/x64)
ELSE("${ISWIN64}" STREQUAL "Win64")
FIND_LIBRARY(OPENCL_LIBRARIES OpenCL.lib ${OPENCL_LIB_DIR} $ENV{CUDA_LIB_PATH} $ENV{CUDA_PATH}/lib/Win32)
ENDIF("${ISWIN64}" STREQUAL "Win64")
GET_FILENAME_COMPONENT(_OPENCL_INC_CAND ${OPENCL_LIB_DIR}/../../include ABSOLUTE)
# On Win32 search relative to the library
FIND_PATH(OPENCL_INCLUDE_DIRS CL/cl.h PATHS "${_OPENCL_INC_CAND}" $ENV{CUDA_INC_PATH} $ENV{CUDA_PATH}/include)
FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS "${_OPENCL_INC_CAND}" $ENV{CUDA_INC_PATH} $ENV{CUDA_PATH}/include)
ELSE (WIN32)
# Unix style platforms
FIND_LIBRARY(OPENCL_LIBRARIES OpenCL
ENV LD_LIBRARY_PATH
)
GET_FILENAME_COMPONENT(OPENCL_LIB_DIR ${OPENCL_LIBRARIES} PATH)
GET_FILENAME_COMPONENT(_OPENCL_INC_CAND ${OPENCL_LIB_DIR}/../../include ABSOLUTE)
# The AMD SDK currently does not place its headers
# in /usr/include, therefore also search relative
# to the library
FIND_PATH(OPENCL_INCLUDE_DIRS CL/cl.h PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include")
FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include")
ENDIF (WIN32)
ENDIF (APPLE)
FIND_PACKAGE_HANDLE_STANDARD_ARGS( OpenCL DEFAULT_MSG OPENCL_LIBRARIES OPENCL_INCLUDE_DIRS )
IF( _OPENCL_CPP_INCLUDE_DIRS )
SET( OPENCL_HAS_CPP_BINDINGS TRUE )
LIST( APPEND OPENCL_INCLUDE_DIRS ${_OPENCL_CPP_INCLUDE_DIRS} )
# This is often the same, so clean up
LIST( REMOVE_DUPLICATES OPENCL_INCLUDE_DIRS )
ENDIF( _OPENCL_CPP_INCLUDE_DIRS )
MARK_AS_ADVANCED(
OPENCL_INCLUDE_DIRS
)
IF( OPENCL_INCLUDE_DIRS AND OPENCL_LIBRARIES )
SET( OPENCL_FOUND TRUE )
add_definitions( -DOPENCL=1 )
ELSE( OPENCL_INCLUDE_DIRS AND OPENCL_LIBRARIES )
SET( OPENCL_FOUND FALSE )
add_definitions( -DOPENCL=0 )
ENDIF( OPENCL_INCLUDE_DIRS AND OPENCL_LIBRARIES )

80
cmake/Modules/FindPCAP.cmake
View File

@ -45,8 +45,8 @@
# PCAP_FOUND - True if pcap found.
IF(EXISTS $ENV{PCAPDIR})
FIND_PATH(PCAP_INCLUDE_DIR
if(EXISTS $ENV{PCAPDIR})
find_path(PCAP_INCLUDE_DIR
NAMES
pcap/pcap.h
pcap.h
@ -54,68 +54,60 @@ IF(EXISTS $ENV{PCAPDIR})
$ENV{PCAPDIR}
NO_DEFAULT_PATH
)
FIND_LIBRARY(PCAP_LIBRARY
find_library(PCAP_LIBRARY
NAMES
pcap
PATHS
$ENV{PCAPDIR}
NO_DEFAULT_PATH
)
ELSE(EXISTS $ENV{PCAPDIR})
FIND_PATH(PCAP_INCLUDE_DIR
else()
find_path(PCAP_INCLUDE_DIR
NAMES
pcap/pcap.h
pcap.h
)
FIND_LIBRARY(PCAP_LIBRARY
find_library(PCAP_LIBRARY
NAMES
pcap
)
endif()
ENDIF(EXISTS $ENV{PCAPDIR})
set(PCAP_INCLUDE_DIRS ${PCAP_INCLUDE_DIR})
set(PCAP_LIBRARIES ${PCAP_LIBRARY})
SET(PCAP_INCLUDE_DIRS ${PCAP_INCLUDE_DIR})
SET(PCAP_LIBRARIES ${PCAP_LIBRARY})
if(PCAP_INCLUDE_DIRS)
message(STATUS "Pcap include dirs set to ${PCAP_INCLUDE_DIRS}")
else()
message(FATAL " Pcap include dirs cannot be found")
endif()
IF(PCAP_INCLUDE_DIRS)
MESSAGE(STATUS "Pcap include dirs set to ${PCAP_INCLUDE_DIRS}")
ELSE(PCAP_INCLUDE_DIRS)
MESSAGE(FATAL " Pcap include dirs cannot be found")
ENDIF(PCAP_INCLUDE_DIRS)
IF(PCAP_LIBRARIES)
MESSAGE(STATUS "Pcap library set to ${PCAP_LIBRARIES}")
ELSE(PCAP_LIBRARIES)
MESSAGE(FATAL "Pcap library cannot be found")
ENDIF(PCAP_LIBRARIES)
if(PCAP_LIBRARIES)
message(STATUS "Pcap library set to ${PCAP_LIBRARIES}")
else()
message(FATAL "Pcap library cannot be found")
endif()
#Functions
INCLUDE(CheckFunctionExists)
SET(CMAKE_REQUIRED_INCLUDES ${PCAP_INCLUDE_DIRS})
SET(CMAKE_REQUIRED_LIBRARIES ${PCAP_LIBRARIES})
CHECK_FUNCTION_EXISTS("pcap_breakloop" HAVE_PCAP_BREAKLOOP)
CHECK_FUNCTION_EXISTS("pcap_datalink_name_to_val" HAVE_PCAP_DATALINK_NAME_TO_VAL)
CHECK_FUNCTION_EXISTS("pcap_datalink_val_to_name" HAVE_PCAP_DATALINK_VAL_TO_NAME)
CHECK_FUNCTION_EXISTS("pcap_findalldevs" HAVE_PCAP_FINDALLDEVS)
CHECK_FUNCTION_EXISTS("pcap_freecode" HAVE_PCAP_FREECODE)
CHECK_FUNCTION_EXISTS("pcap_get_selectable_fd" HAVE_PCAP_GET_SELECTABLE_FD)
CHECK_FUNCTION_EXISTS("pcap_lib_version" HAVE_PCAP_LIB_VERSION)
CHECK_FUNCTION_EXISTS("pcap_list_datalinks" HAVE_PCAP_LIST_DATALINKS)
CHECK_FUNCTION_EXISTS("pcap_open_dead" HAVE_PCAP_OPEN_DEAD)
CHECK_FUNCTION_EXISTS("pcap_set_datalink" HAVE_PCAP_SET_DATALINK)
include(CheckFunctionExists)
set(CMAKE_REQUIRED_INCLUDES ${PCAP_INCLUDE_DIRS})
set(CMAKE_REQUIRED_LIBRARIES ${PCAP_LIBRARIES})
check_function_exists("pcap_breakloop" HAVE_PCAP_BREAKLOOP)
check_function_exists("pcap_datalink_name_to_val" HAVE_PCAP_DATALINK_NAME_TO_VAL)
check_function_exists("pcap_datalink_val_to_name" HAVE_PCAP_DATALINK_VAL_TO_NAME)
check_function_exists("pcap_findalldevs" HAVE_PCAP_FINDALLDEVS)
check_function_exists("pcap_freecode" HAVE_PCAP_FREECODE)
check_function_exists("pcap_get_selectable_fd" HAVE_PCAP_GET_SELECTABLE_FD)
check_function_exists("pcap_lib_version" HAVE_PCAP_LIB_VERSION)
check_function_exists("pcap_list_datalinks" HAVE_PCAP_LIST_DATALINKS)
check_function_exists("pcap_open_dead" HAVE_PCAP_OPEN_DEAD)
check_function_exists("pcap_set_datalink" HAVE_PCAP_SET_DATALINK)
#Is pcap found ?
IF(PCAP_INCLUDE_DIRS AND PCAP_LIBRARIES)
SET( PCAP_FOUND true )
ENDIF(PCAP_INCLUDE_DIRS AND PCAP_LIBRARIES)
MARK_AS_ADVANCED(
mark_as_advanced(
PCAP_LIBRARIES
PCAP_INCLUDE_DIRS
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(PCAP DEFAULT_MSG PCAP_INCLUDE_DIRS PCAP_LIBRARIES)

67
cmake/Modules/FindPUGIXML.cmake Normal file
View File

@ -0,0 +1,67 @@
# Copyright (C) 2011-2018 (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/>.
# Find the pugixml XML parsing library.
#
# Sets the usual variables expected for find_package scripts:
#
# PUGIXML_INCLUDE_DIR - header location
# PUGIXML_LIBRARIES - library to link against
# PUGIXML_FOUND - true if pugixml was found.
find_path(PUGIXML_INCLUDE_DIR
NAMES pugixml.hpp
PATHS ${PUGIXML_HOME}/include
/usr/include
/usr/local/include
/opt/local/include)
find_library(PUGIXML_LIBRARY
NAMES pugixml
PATHS ${PUGIXML_HOME}/lib
/usr/lib/x86_64-linux-gnu
/usr/lib/aarch64-linux-gnu
/usr/lib/arm-linux-gnueabi
/usr/lib/arm-linux-gnueabihf
/usr/lib/i386-linux-gnu
/usr/lib/mips-linux-gnu
/usr/lib/mips64el-linux-gnuabi64
/usr/lib/mipsel-linux-gnu
/usr/lib/powerpc64le-linux-gnu
/usr/lib/s390x-linux-gnu
/usr/local/lib
/opt/local/lib
/usr/lib
/usr/lib64
/usr/local/lib64)
# Support the REQUIRED and QUIET arguments, and set PUGIXML_FOUND if found.
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(PUGIXML DEFAULT_MSG PUGIXML_LIBRARY
PUGIXML_INCLUDE_DIR)
if(PUGIXML_FOUND)
set(PUGIXML_LIBRARIES ${PUGIXML_LIBRARY})
if(NOT PUGIXML_FIND_QUIETLY)
message(STATUS "PugiXML include = ${PUGIXML_INCLUDE_DIR}")
message(STATUS "PugiXML library = ${PUGIXML_LIBRARY}")
endif()
else()
message(STATUS "PugiXML not found.")
endif()
mark_as_advanced(PUGIXML_LIBRARY PUGIXML_INCLUDE_DIR)

14
cmake/Modules/FindTeleorbit.cmake → cmake/Modules/FindTELEORBIT.cmake
View File

@ -15,10 +15,10 @@
# 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(FindPkgConfig)
PKG_CHECK_MODULES(PC_TELEORBIT teleorbit)
include(FindPkgConfig)
pkg_check_modules(PC_TELEORBIT teleorbit)
FIND_PATH(
find_path(
TELEORBIT_INCLUDE_DIRS
NAMES teleorbit/api.h
HINTS $ENV{TELEORBIT_DIR}/include
@ -28,7 +28,7 @@ FIND_PATH(
/usr/include
)
FIND_LIBRARY(
find_library(
TELEORBIT_LIBRARIES
NAMES gnuradio-teleorbit
HINTS $ENV{TELEORBIT_DIR}/lib
@ -41,6 +41,6 @@ FIND_LIBRARY(
/usr/lib64
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(TELEORBIT DEFAULT_MSG TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)
MARK_AS_ADVANCED(TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(TELEORBIT DEFAULT_MSG TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)
mark_as_advanced(TELEORBIT_LIBRARIES TELEORBIT_INCLUDE_DIRS)

14
cmake/Modules/FindUHD.cmake
View File

@ -19,10 +19,10 @@
# Find the library for the USRP Hardware Driver
########################################################################
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_UHD uhd)
include(FindPkgConfig)
pkg_check_modules(PC_UHD uhd)
FIND_PATH(
find_path(
UHD_INCLUDE_DIRS
NAMES uhd/config.hpp
HINTS $ENV{UHD_DIR}/include
@ -32,7 +32,7 @@ FIND_PATH(
${GNURADIO_INSTALL_PREFIX}/include
)
FIND_LIBRARY(
find_library(
UHD_LIBRARIES
NAMES uhd
HINTS $ENV{UHD_DIR}/lib
@ -66,6 +66,6 @@ FIND_LIBRARY(
${GNURADIO_INSTALL_PREFIX}/lib
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(UHD DEFAULT_MSG UHD_LIBRARIES UHD_INCLUDE_DIRS)
MARK_AS_ADVANCED(UHD_LIBRARIES UHD_INCLUDE_DIRS)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(UHD DEFAULT_MSG UHD_LIBRARIES UHD_INCLUDE_DIRS)
mark_as_advanced(UHD_LIBRARIES UHD_INCLUDE_DIRS)

15
cmake/Modules/FindVolk.cmake → cmake/Modules/FindVOLK.cmake
View File

@ -19,10 +19,10 @@
# Find VOLK (Vector-Optimized Library of Kernels)
########################################################################
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_VOLK volk)
include(FindPkgConfig)
pkg_check_modules(PC_VOLK volk)
FIND_PATH(
find_path(
VOLK_INCLUDE_DIRS
NAMES volk/volk.h
HINTS $ENV{VOLK_DIR}/include
@ -32,7 +32,7 @@ FIND_PATH(
${CMAKE_INSTALL_PREFIX}/include
)
FIND_LIBRARY(
find_library(
VOLK_LIBRARIES
NAMES volk
HINTS $ENV{VOLK_DIR}/lib
@ -67,7 +67,6 @@ FIND_LIBRARY(
${CMAKE_INSTALL_PREFIX}/lib
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(VOLK DEFAULT_MSG VOLK_LIBRARIES VOLK_INCLUDE_DIRS)
MARK_AS_ADVANCED(VOLK_LIBRARIES VOLK_INCLUDE_DIRS VOLK_VERSION)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(VOLK DEFAULT_MSG VOLK_LIBRARIES VOLK_INCLUDE_DIRS)
mark_as_advanced(VOLK_LIBRARIES VOLK_INCLUDE_DIRS VOLK_VERSION)

14
cmake/Modules/FindVolkGnssSdr.cmake → cmake/Modules/FindVOLKGNSSSDR.cmake
View File

@ -19,10 +19,10 @@
# Find VOLK (Vector-Optimized Library of Kernels) GNSS-SDR library
########################################################################
INCLUDE(FindPkgConfig)
PKG_CHECK_MODULES(PC_VOLK_GNSSSDR volk_gnsssdr)
include(FindPkgConfig)
pkg_check_modules(PC_VOLK_GNSSSDR volk_gnsssdr)
FIND_PATH(
find_path(
VOLK_GNSSSDR_INCLUDE_DIRS
NAMES volk_gnsssdr/volk_gnsssdr.h
HINTS $ENV{VOLK_GNSSSDR_DIR}/include
@ -32,7 +32,7 @@ FIND_PATH(
${GNURADIO_INSTALL_PREFIX}/include
)
FIND_LIBRARY(
find_library(
VOLK_GNSSSDR_LIBRARIES
NAMES volk_gnsssdr
HINTS $ENV{VOLK_GNSSSDR_DIR}/lib
@ -44,6 +44,6 @@ FIND_LIBRARY(
${GNURADIO_INSTALL_PREFIX}/lib
)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(VOLK_GNSSSDR DEFAULT_MSG VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
MARK_AS_ADVANCED(VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(VOLKGNSSSDR DEFAULT_MSG VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)
mark_as_advanced(VOLK_GNSSSDR_LIBRARIES VOLK_GNSSSDR_INCLUDE_DIRS)

219
cmake/Modules/GnsssdrBuildTypes.cmake Normal file
View File

@ -0,0 +1,219 @@
# Copyright (C) 2011-2018 (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/>.
if(DEFINED __INCLUDED_GNSSSDR_BUILD_TYPES_CMAKE)
return()
endif()
set(__INCLUDED_GNSSSDR_BUILD_TYPES_CMAKE TRUE)
# Standard CMake Build Types and their basic CFLAGS:
# - None: nothing set
# - Debug: -O2 -g
# - Release: -O3
# - RelWithDebInfo: -O3 -g
# - MinSizeRel: -Os
# Additional Build Types, defined below:
# - NoOptWithASM: -O0 -g -save-temps
# - O2WithASM: -O2 -g -save-temps
# - O3WithASM: -O3 -g -save-temps
# Defines the list of acceptable cmake build types. When adding a new
# build type below, make sure to add it to this list.
list(APPEND AVAIL_BUILDTYPES
None Debug Release RelWithDebInfo MinSizeRel
Coverage NoOptWithASM O2WithASM O3WithASM ASAN
)
########################################################################
# GNSSSDR_CHECK_BUILD_TYPE(build type)
#
# Use this to check that the build type set in CMAKE_BUILD_TYPE on the
# commandline is one of the valid build types used by this project. It
# checks the value set in the cmake interface against the list of
# known build types in AVAIL_BUILDTYPES. If the build type is found,
# the function exits immediately. If nothing is found by the end of
# checking all available build types, we exit with an error and list
# the avialable build types.
########################################################################
function(GNSSSDR_CHECK_BUILD_TYPE settype)
string(TOUPPER ${settype} _settype)
foreach(btype ${AVAIL_BUILDTYPES})
string(TOUPPER ${btype} _btype)
if(${_settype} STREQUAL ${_btype})
return() # found it; exit cleanly
endif()
endforeach()
# Build type not found; error out
message(FATAL_ERROR "Build type '${settype}' not valid, must be one of: ${AVAIL_BUILDTYPES}")
endfunction()
########################################################################
# For GCC and Clang, we can set a build type:
#
# -DCMAKE_BUILD_TYPE=Coverage
#
# This type uses no optimization (-O0), outputs debug symbols (-g) and
# outputs all intermediary files the build system produces, including
# all assembly (.s) files. Look in the build directory for these
# files.
# NOTE: This is not defined on Windows systems.
########################################################################
if(NOT WIN32)
set(CMAKE_CXX_FLAGS_COVERAGE "-Wall -pedantic -pthread -g -O0 -fprofile-arcs -ftest-coverage" CACHE STRING
"Flags used by the C++ compiler during Coverage builds." FORCE)
set(CMAKE_C_FLAGS_COVERAGE "-Wall -pedantic -pthread -g -O0 -fprofile-arcs -ftest-coverage" CACHE STRING
"Flags used by the C compiler during Coverage builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
"-W" CACHE STRING
"Flags used for linking binaries during Coverage builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
"-W" CACHE STRING
"Flags used by the shared lib linker during Coverage builds." FORCE)
mark_as_advanced(
CMAKE_CXX_FLAGS_COVERAGE
CMAKE_C_FLAGS_COVERAGE
CMAKE_EXE_LINKER_FLAGS_COVERAGE
CMAKE_SHARED_LINKER_FLAGS_COVERAGE)
endif()
########################################################################
# For GCC and Clang, we can set a build type:
#
# -DCMAKE_BUILD_TYPE=NoOptWithASM
#
# This type uses no optimization (-O0), outputs debug symbols (-g) and
# outputs all intermediary files the build system produces, including
# all assembly (.s) files. Look in the build directory for these
# files.
# NOTE: This is not defined on Windows systems.
########################################################################
if(NOT WIN32)
set(CMAKE_CXX_FLAGS_NOOPTWITHASM "-Wall -save-temps -g -O0" CACHE STRING
"Flags used by the C++ compiler during NoOptWithASM builds." FORCE)
set(CMAKE_C_FLAGS_NOOPTWITHASM "-Wall -save-temps -g -O0" CACHE STRING
"Flags used by the C compiler during NoOptWithASM builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_NOOPTWITHASM
"-W" CACHE STRING
"Flags used for linking binaries during NoOptWithASM builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_NOOPTWITHASM
"-W" CACHE STRING
"Flags used by the shared lib linker during NoOptWithASM builds." FORCE)
mark_as_advanced(
CMAKE_CXX_FLAGS_NOOPTWITHASM
CMAKE_C_FLAGS_NOOPTWITHASM
CMAKE_EXE_LINKER_FLAGS_NOOPTWITHASM
CMAKE_SHARED_LINKER_FLAGS_NOOPTWITHASM)
endif()
########################################################################
# For GCC and Clang, we can set a build type:
#
# -DCMAKE_BUILD_TYPE=O2WithASM
#
# This type uses level 2 optimization (-O2), outputs debug symbols
# (-g) and outputs all intermediary files the build system produces,
# including all assembly (.s) files. Look in the build directory for
# these files.
# NOTE: This is not defined on Windows systems.
########################################################################
if(NOT WIN32)
set(CMAKE_CXX_FLAGS_O2WITHASM "-Wall -save-temps -g -O2" CACHE STRING
"Flags used by the C++ compiler during O2WithASM builds." FORCE)
set(CMAKE_C_FLAGS_O2WITHASM "-Wall -save-temps -g -O2" CACHE STRING
"Flags used by the C compiler during O2WithASM builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_O2WITHASM
"-W" CACHE STRING
"Flags used for linking binaries during O2WithASM builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_O2WITHASM
"-W" CACHE STRING
"Flags used by the shared lib linker during O2WithASM builds." FORCE)
mark_as_advanced(
CMAKE_CXX_FLAGS_O2WITHASM
CMAKE_C_FLAGS_O2WITHASM
CMAKE_EXE_LINKER_FLAGS_O2WITHASM
CMAKE_SHARED_LINKER_FLAGS_O2WITHASM)
endif()
########################################################################
# For GCC and Clang, we can set a build type:
#
# -DCMAKE_BUILD_TYPE=O3WithASM
#
# This type uses level 3 optimization (-O3), outputs debug symbols
# (-g) and outputs all intermediary files the build system produces,
# including all assembly (.s) files. Look in the build directory for
# these files.
# NOTE: This is not defined on Windows systems.
########################################################################
if(NOT WIN32)
set(CMAKE_CXX_FLAGS_O3WITHASM "-Wall -save-temps -g -O3" CACHE STRING
"Flags used by the C++ compiler during O3WithASM builds." FORCE)
set(CMAKE_C_FLAGS_O3WITHASM "-Wall -save-temps -g -O3" CACHE STRING
"Flags used by the C compiler during O3WithASM builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_O3WITHASM
"-W" CACHE STRING
"Flags used for linking binaries during O3WithASM builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_O3WITHASM
"-W" CACHE STRING
"Flags used by the shared lib linker during O3WithASM builds." FORCE)
mark_as_advanced(
CMAKE_CXX_FLAGS_O3WITHASM
CMAKE_C_FLAGS_O3WITHASM
CMAKE_EXE_LINKER_FLAGS_O3WITHASM
CMAKE_SHARED_LINKER_FLAGS_O3WITHASM)
endif()
########################################################################
# For GCC and Clang, we can set a build type:
#
# -DCMAKE_BUILD_TYPE=ASAN
#
# This type creates an address sanitized build (-fsanitize=address)
# and defaults to the DebugParanoid linker flags.
# NOTE: This is not defined on Windows systems.
########################################################################
if(NOT WIN32)
set(CMAKE_CXX_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
"Flags used by the C++ compiler during Address Sanitized builds." FORCE)
set(CMAKE_C_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
"Flags used by the C compiler during Address Sanitized builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_ASAN
"-W" CACHE STRING
"Flags used for linking binaries during Address Sanitized builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_ASAN
"-W" CACHE STRING
"Flags used by the shared lib linker during Address Sanitized builds." FORCE)
mark_as_advanced(
CMAKE_CXX_FLAGS_ASAN
CMAKE_C_FLAGS_ASAN
CMAKE_EXE_LINKER_FLAGS_ASAN
CMAKE_SHARED_LINKER_ASAN)
endif()

152
cmake/Modules/SetupPython.cmake
View File

@ -15,54 +15,6 @@
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
########################################################################
# Setup the python interpreter:
# This allows the user to specify a specific interpreter,
# or finds the interpreter via the built-in cmake module.
########################################################################
#this allows the user to override PYTHON_EXECUTABLE
if(PYTHON_EXECUTABLE)
set(PYTHONINTERP_FOUND TRUE)
#otherwise if not set, try to automatically find it
else(PYTHON_EXECUTABLE)
#use the built-in find script
set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6)
find_package(PythonInterp 2)
#and if that fails use the find program routine
if(NOT PYTHONINTERP_FOUND)
find_program(PYTHON_EXECUTABLE NAMES python python2 python2.7 python3)
if(PYTHON_EXECUTABLE)
set(PYTHONINTERP_FOUND TRUE)
endif(PYTHON_EXECUTABLE)
endif(NOT PYTHONINTERP_FOUND)
endif(PYTHON_EXECUTABLE)
if (CMAKE_CROSSCOMPILING)
set(QA_PYTHON_EXECUTABLE "/usr/bin/python")
else (CMAKE_CROSSCOMPILING)
set(QA_PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE})
endif(CMAKE_CROSSCOMPILING)
#make the path to the executable appear in the cmake gui
set(PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE} CACHE FILEPATH "python interpreter")
set(QA_PYTHON_EXECUTABLE ${QA_PYTHON_EXECUTABLE} CACHE FILEPATH "python interpreter for QA tests")
#make sure we can use -B with python (introduced in 2.6)
if(PYTHON_EXECUTABLE)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} -B -c ""
OUTPUT_QUIET ERROR_QUIET
RESULT_VARIABLE PYTHON_HAS_DASH_B_RESULT
)
if(PYTHON_HAS_DASH_B_RESULT EQUAL 0)
set(PYTHON_DASH_B "-B")
endif()
endif(PYTHON_EXECUTABLE)
########################################################################
# Check for the existence of a python module:
@ -71,25 +23,97 @@ endif(PYTHON_EXECUTABLE)
# - cmd an additional command to run
# - have the result variable to set
########################################################################
macro(GNSSSDR_PYTHON_CHECK_MODULE desc mod cmd have)
message(STATUS "Python checking for ${desc}")
macro(GNSSSDR_PYTHON_CHECK_MODULE_RAW desc python_code have)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} -c "
#########################################
try: import ${mod}
except:
try: ${mod}
except: exit(-1)
try: assert ${cmd}
except: exit(-1)
#########################################"
RESULT_VARIABLE ${have}
COMMAND ${PYTHON_EXECUTABLE} -c "${python_code}"
OUTPUT_QUIET ERROR_QUIET
RESULT_VARIABLE return_code
)
if(${have} EQUAL 0)
if(return_code EQUAL 0)
message(STATUS "Python checking for ${desc} - found")
set(${have} TRUE)
else(${have} EQUAL 0)
else()
message(STATUS "Python checking for ${desc} - not found")
set(${have} FALSE)
endif(${have} EQUAL 0)
endmacro(GNSSSDR_PYTHON_CHECK_MODULE)
endif()
endmacro()
macro(GNSSSDR_PYTHON_CHECK_MODULE desc mod cmd have)
gnsssdr_python_check_module_raw(
"${desc}" "
#########################################
try:
import ${mod}
assert ${cmd}
except (ImportError, AssertionError): exit(-1)
except: pass
#########################################"
"${have}")
endmacro()
########################################################################
# Setup the python interpreter:
# This allows the user to specify a specific interpreter,
# or finds the interpreter via the built-in cmake module.
########################################################################
if(CMAKE_VERSION VERSION_LESS 3.12)
if(PYTHON_EXECUTABLE)
message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
string(FIND "${PYTHON_EXECUTABLE}" "python3" IS_PYTHON3)
if(IS_PYTHON3 EQUAL -1)
find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION} REQUIRED)
else()
find_package(PythonInterp ${GNSSSDR_PYTHON3_MIN_VERSION} REQUIRED)
endif()
gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
else()
message(STATUS "PYTHON_EXECUTABLE not set - trying by default python2")
message(STATUS "Use -DPYTHON_EXECUTABLE=/path/to/python3 to build for python3.")
find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION})
if(NOT PYTHONINTERP_FOUND)
message(STATUS "python2 not found - trying with python3")
find_package(PythonInterp ${GNSSSDR_PYTHON3_MIN_VERSION} REQUIRED)
endif()
gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
endif()
find_package(PythonLibs ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR} EXACT)
else()
find_package(Python3 COMPONENTS Interpreter)
if(Python3_FOUND)
set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
set(PYTHON_VERSION_MAJOR ${Python3_VERSION_MAJOR})
gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
endif()
if(NOT Python3_FOUND OR NOT MAKO_FOUND OR NOT SIX_FOUND)
find_package(Python2 COMPONENTS Interpreter)
if(Python2_FOUND)
set(PYTHON_EXECUTABLE ${Python2_EXECUTABLE})
set(PYTHON_VERSION_MAJOR ${Python2_VERSION_MAJOR})
gnsssdr_python_check_module("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
endif()
endif()
endif()
if(${PYTHON_VERSION_MAJOR} VERSION_EQUAL 3)
set(PYTHON3 TRUE)
endif()
if(CMAKE_CROSSCOMPILING)
set(QA_PYTHON_EXECUTABLE "/usr/bin/python")
else()
set(QA_PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE})
endif()
# make the path to the executable appear in the cmake gui
set(PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE} CACHE FILEPATH "python interpreter")
set(QA_PYTHON_EXECUTABLE ${QA_PYTHON_EXECUTABLE} CACHE FILEPATH "python interpreter for QA tests")

19
cmake/Modules/TestForARM.cmake
View File

@ -33,7 +33,7 @@ function(check_arm_version ppdef input_string version output_var)
string(REGEX MATCH "${ppdef}" _VERSION_MATCH "${input_string}")
if(NOT _VERSION_MATCH STREQUAL "")
set(${output_var} "${version}" PARENT_SCOPE)
endif(NOT _VERSION_MATCH STREQUAL "")
endif()
endfunction()
message(STATUS "Checking for ARM")
@ -41,7 +41,7 @@ message(STATUS "Checking for ARM")
set(IS_ARM NO)
set(ARM_VERSION "")
if (CMAKE_COMPILER_IS_GNUCXX)
if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
execute_process(COMMAND echo "int main(){}"
COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -dM -E -
OUTPUT_VARIABLE TEST_FOR_ARM_RESULTS)
@ -49,7 +49,7 @@ if (CMAKE_COMPILER_IS_GNUCXX)
string(REGEX MATCH "__arm" ARM_FOUND "${TEST_FOR_ARM_RESULTS}")
if(ARM_FOUND STREQUAL "")
string(REGEX MATCH "__aarch64" ARM_FOUND "${TEST_FOR_ARM_RESULTS}")
endif(ARM_FOUND STREQUAL "")
endif()
if(NOT ARM_FOUND STREQUAL "")
set(IS_ARM YES)
@ -86,19 +86,18 @@ if (CMAKE_COMPILER_IS_GNUCXX)
if(ARM_VERSION STREQUAL "")
message(STATUS "Couldn't detect ARM version. Setting to 'arm'")
set(ARM_VERSION "arm")
else (ARM_VERSION STREQUAL "")
else()
message(STATUS "ARM version ${ARM_VERSION} detected")
endif (ARM_VERSION STREQUAL "")
else (NOT ARM_FOUND STREQUAL "")
endif()
else()
message(STATUS "System is not ARM")
endif(NOT ARM_FOUND STREQUAL "")
endif()
else (CMAKE_COMPILE_IS_GNUCXX)
else()
# TODO: Other compilers
message(STATUS "Not detecting ARM on non-GNUCXX compiler. Defaulting to false")
message(STATUS "If you are compiling for ARM, set IS_ARM=ON manually")
endif(CMAKE_COMPILER_IS_GNUCXX)
endif()
set(IS_ARM ${IS_ARM} CACHE BOOL "Compiling for ARM")
set(ARM_VERSION ${ARM_VERSION} CACHE STRING "ARM version")

7
cmake/Modules/TestForSSE.cmake
View File

@ -22,7 +22,6 @@
# - Anthony Arnold
###############################################################################
function(test_for_sse h_file result_var name)
if(NOT DEFINED ${result_var})
execute_process(COMMAND echo "#include <${h_file}>"
@ -33,10 +32,10 @@ function (test_for_sse h_file result_var name)
if(COMPILE_RESULT EQUAL 0)
message(STATUS "Detected ${name}")
set(detected 1)
endif(COMPILE_RESULT EQUAL 0)
endif()
set(${result_var} ${detected} CACHE INTERNAL "${name} Available")
endif (NOT DEFINED ${result_var})
endfunction(test_for_sse)
endif()
endfunction()
message(STATUS "Testing for SIMD extensions")

6
cmake/cmake_uninstall.cmake.in
View File

@ -24,10 +24,10 @@ string(REGEX REPLACE "\n" ";" files "${files}")
foreach(file ${files})
message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
exec_program(
"@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
execute_process(
COMMAND @CMAKE_COMMAND@ -E remove \"$ENV{DESTDIR}${file}\"
OUTPUT_VARIABLE rm_out
RETURN_VALUE rm_retval
RESULT_VARIABLE rm_retval
)
if(NOT "${rm_retval}" STREQUAL 0)
message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")

2
conf/front-end-cal.conf
View File

@ -39,7 +39,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=217
GNSS-SDR.SUPL_MNS=7
GNSS-SDR.SUPL_MNC=7
GNSS-SDR.SUPL_LAC=861
GNSS-SDR.SUPL_CI=40184

63
conf/gnss-sdr-kalman-bayes.conf Normal file
View File

@ -0,0 +1,63 @@
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
GNSS-SDR.internal_fs_sps=2000000
GNSS-SDR.internal_fs_hz=2000000
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/home/glamountain/gnss-sdr/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
SignalSource.item_type=ishort
SignalSource.sampling_frequency=4000000
SignalSource.freq=1575420000
SignalSource.samples=0
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
DataTypeAdapter.implementation=Ishort_To_Complex
InputFilter.implementation=Pass_Through
InputFilter.item_type=gr_complex
Resampler.implementation=Direct_Resampler
Resampler.sample_freq_in=4000000
Resampler.sample_freq_out=2000000
Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
Channels.in_acquisition=1
Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.threshold=0.008
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=../data/kalman/acq_dump
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_KF_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=4.0;
Tracking_1C.order=3;
Tracking_1C.dump=true
Tracking_1C.dump_filename=../data/kalman/epl_tracking_ch_
Tracking_1C.bce_run = true;
Tracking_1C.p_transient = 0;
Tracking_1C.s_transient = 100;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=true
PVT.output_rate_ms=10
PVT.display_rate_ms=500

2
conf/gnss-sdr.conf
View File

@ -23,7 +23,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf
View File

@ -24,7 +24,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_GPS_L1_USRP_realtime.conf
View File

@ -23,7 +23,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf
View File

@ -21,7 +21,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_GPS_L1_nsr.conf
View File

@ -25,7 +25,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

211
conf/gnss-sdr_GPS_L1_nsr_kf.conf Normal file
View File

@ -0,0 +1,211 @@
; Default configuration file
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
;GNSS-SDR.internal_fs_sps=6826700
GNSS-SDR.internal_fs_sps=2560000
;GNSS-SDR.internal_fs_sps=4096000
;GNSS-SDR.internal_fs_sps=5120000
;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource.implementation=Nsr_File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/home/javier/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=20480000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
;#implementation: Use [Pass_Through] or [Signal_Conditioner]
;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
SignalConditioner.implementation=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data.
;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Pass_Through
DataTypeAdapter.item_type=float
;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation
;# that shifts IF down to zero Hz.
InputFilter.implementation=Freq_Xlating_Fir_Filter
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse
;#reponse given a set of band edges, the desired reponse on those bands,
;#and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter.input_item_type=float
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter.number_of_bands=2
;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
;#The number of band_begin and band_end elements must match the number of bands
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.45
InputFilter.band2_begin=0.55
InputFilter.band2_end=1.0
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
;#The number of ampl_begin and ampl_end elements must match the number of bands
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
;#band_error: weighting applied to each band (usually 1).
;#The number of band_error elements must match the number of bands
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter.filter_type=bandpass
;#grid_density: determines how accurately the filter will be constructed.
;The minimum value is 16; higher values are slower to compute the filter.
InputFilter.grid_density=16
;# Original sampling frequency stored in the signal file
InputFilter.sampling_frequency=20480000
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
InputFilter.IF=5499998.47412109
;# Decimation factor after the frequency tranaslating block
InputFilter.decimation_factor=8
;######### RESAMPLER CONFIG ############
;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
Resampler.implementation=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels.
Channels_1C.count=8
Channels.in_acquisition=1
#Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#use_CFAR_algorithm: If enabled, acquisition estimates the input signal power to implement CFAR detection algorithms
;#notice that this affects the Acquisition threshold range!
Acquisition_1C.use_CFAR_algorithm=false;
;#threshold: Acquisition threshold
Acquisition_1C.threshold=10
;Acquisition_1C.pfa=0.01
Acquisition_1C.doppler_max=5000
Acquisition_1C.doppler_step=100
;######### TRACKING GPS CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_KF_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=0
Tracking_1C.dump=true
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=15.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false;
PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=true

2
conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf
View File

@ -25,7 +25,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_GPS_L1_plutosdr_realtime.conf
View File

@ -24,7 +24,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf
View File

@ -24,7 +24,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5_1C
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf
View File

@ -24,7 +24,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_GPS_L1_two_bits_cpx.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf
View File

@ -23,7 +23,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf
View File

@ -23,7 +23,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_Galileo_E5a.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.internal_fs_sps=32000000
;GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
;GNSS-SDR.SUPL_gps_acquisition_port=7275
;GNSS-SDR.SUPL_MCC=244
;GNSS-SDR.SUPL_MNS=5
;GNSS-SDR.SUPL_MNC=5
;GNSS-SDR.SUPL_LAC=0x59e2
;GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf
View File

@ -21,7 +21,7 @@ GNSS-SDR.internal_fs_sps=50000000
;GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
;GNSS-SDR.SUPL_gps_acquisition_port=7275
;GNSS-SDR.SUPL_MCC=244
;GNSS-SDR.SUPL_MNS=5
;GNSS-SDR.SUPL_MNC=5
;GNSS-SDR.SUPL_LAC=0x59e2
;GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_Hybrid_ishort.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf
View File

@ -21,7 +21,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_1C_ephemeris_port=7275
GNSS-SDR.SUPL_1C_acquisition_server=supl.google.com
GNSS-SDR.SUPL_1C_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

2
conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf
View File

@ -22,7 +22,7 @@ GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_MNC=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0

26
docs/changelog
View File

@ -16,6 +16,7 @@ This release has several improvements in different dimensions, addition of new f
- Redesign of the time counter for enhanced continuity.
- Improved flow graph in multisystem configurations: the receiver does not get stalled anymore if no signal is found from the first system.
- Improved acquisition and tracking sensitivity.
- Added mechanisms for Assisted GNSS, thus shortening the Time-To-First-Fix. Provision of data via XML files or via SUPL v1.0. Documented at https://gnss-sdr.org/docs/sp-blocks/global-parameters/
- Other minor bug fixes.
@ -27,6 +28,7 @@ This release has several improvements in different dimensions, addition of new f
- New volk_gnsssdr kernels: volk_gnsssdr_16i_xn_resampler_16i_xn.h, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h, volk_gnsssdr_32f_xn_resampler_32f_xn.h, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn.h
- Some AVX2 implementations added to the volk_gnsssdr library.
- Improvement in C++ usage: Use of const container calls when result is immediately converted to a const iterator. Using these members removes an implicit conversion from iterator to const_iterator.
- Output printers can be shut down, with some savings in memory and storage requirements.
- A number of code optimizations here and there.
@ -34,7 +36,8 @@ This release has several improvements in different dimensions, addition of new f
- A number of new parameters have been exposed to the configuration system.
- Possibility to choose Pilot or Data component for tracking of GPS L5 and Galileo E5a signals.
- Enabled extended coherent integration times.
- Enabled extended coherent integration times for signal tracking.
- Configurable coherent and/or non-coherent signal acquisition.
- Some configuration parameters can now be overridden by commandline flags for easier use in scripts.
@ -48,11 +51,15 @@ This release has several improvements in different dimensions, addition of new f
- Added five more signal sources: "Fmcomms2_Signal_Source" (requires gr-iio), "Plutosdr_Signal Source" (requires gr-iio), "Spir_GSS6450_File_Signal_Source", "Labsat_Signal_Source" and "Custom_UDP_Signal_Source" (requires libpcap). Documented in https://gnss-sdr.org/docs/sp-blocks/signal-source/
- Improved support for BladeRF, HackRF and RTL-SDR front-ends.
- Added tools for the interaction with front-ends based on the AD9361 chipset.
- Intermediate results are now saved in .mat binary format, readable from Matlab/Octave and from Python via h5py.
- Intermediate results are now saved in MAT-file format (.mat), readable from Matlab/Octave and from Python via h5py.
- Added the GPX output format.
- Fixed a bug in the format of NMEA sentences when latitude or longitude minutes were >10.
- Improvements in the generation of KML files.
- Improvements in the NMEA output. The receiver can produce GPGGA, GPRMC, GPGSA, GPGSV, GAGSA and GAGSV sentences.
- Improvements in the RTCM server stability.
- Improvements in the correctness of generated RINEX files.
- The receiver can read and make use of Galileo almanac XML files published by the European GNSS Service Centre at https://www.gsc-europa.eu/system-status/almanac-data
- Own-defined XML schemas for navigation data published at https://github.com/gnss-sdr/gnss-sdr/tree/next/docs/xml-schemas
- Added program rinex2assist to convert RINEX navigation files into XML files usable for Assisted GNSS. Only available building from source. See https://github.com/gnss-sdr/gnss-sdr/tree/next/src/utils/rinex2assist
### Improvements in Maintainability:
@ -64,6 +71,8 @@ This release has several improvements in different dimensions, addition of new f
- Improvement in C++ usage: The override special identifier is now used when overriding a virtual function. This helps the compiler to check for type changes in the base class, making the detection of errors easier.
- Improvement in C++ usage: A number of unused includes have been removed. Order of includes set to: local (in-source) headers, then library headers, then system headers. This helps to detect missing includes.
- Improvement in C++ usage: Enhanced const correctness. Misuses of those variables are detected by the compiler.
- Applied some style rules to CMake scripts.
- Minimal versions of dependencies identified and detected.
### Improvements in Portability:
@ -76,15 +85,16 @@ This release has several improvements in different dimensions, addition of new f
- The Ninja build system can be used in replacement of make.
- The volk_gnsssdr library can be built using Python 2.7 or Python 3.6.
- The volk_gnsssdr library is now ready for AArch64 NEON instructions.
- Ready for GNU Radio 3.8 C++ API (as per current next branch of GNU Radio upstream repository).
- Ready for GNU Radio 3.8 C++ API (as per current master branch of GNU Radio upstream repository).
- Improved detection of required and optional dependencies in many GNU/Linux distributions and processor architectures.
- Improvement in C++ usage: The <ctime> library has been replaced by the more modern and portable <chrono>.
- Improvement in C++ usage: The <ctime> library has been replaced by the more modern and portable <chrono> (except for the interaction with RTKLIB).
- Improvement in C++ usage: The <stdio.h> library has been replaced by the more modern and portable <fstream> for file handling.
- Improvement in C++ usage: C++ libraries preferred over C libraries (e.g., <cctype> instead of <ctype.h>, <cmath> instead of <math.h>).
- Fixes required by Debian packaging.
- Fixes required by Macports packaging.
- A downside in portability: BLAS and LAPACK libraries are now required even in ARM devices.
- A downside in portability: the matio library >= 1.5.3 is a new required dependency. If not found, it is downloaded and built automatically at building time, but this requires libtool, automake and hdf5 already installed in the system.
- A downside in portability: the PugiXML library is a new required dependency. If not found, it is downloaded and built automatically at building time.
### Improvements in Reliability:
@ -93,6 +103,7 @@ This release has several improvements in different dimensions, addition of new f
- Improved flow graph stabiliy.
- Introduction of high-integrity C++ practices into the source code and included in the coding style guide. See https://gnss-sdr.org/coding-style/
- Fixed a number of defects detected by Coverity Scan.
- Improvement of QA code and addition of a number of new tests. Documented at https://gnss-sdr.org/docs/tutorials/testing-software-receiver-2/
- Improvement in C++ usage: rand() function replaced by <random> library.
- Improvement in C++ usage: strlen and strncpy have been replaced by safer C++ counterparts.
- Improvement in C++ usage: Some destructors have been fixed, avoiding segmentation faults when exiting the program.
@ -122,9 +133,10 @@ This release has several improvements in different dimensions, addition of new f
- All Observables block implementations have been merged into a single implementation for all kinds of GNSS signals, making it easier to configure.
- All PVT block implementations have been merged into a single implementation for all kinds of GNSS signals, making it easier to configure.
- Misleading parameter name GNSS-SDR.internal_fs_hz has been replaced by GNSS-SDR.internal_fs_sps. The old parameter name is still read. If found, a warning is provided to the user.
- Updated and improved documentation of processing blocks at https://gnss-sdr.org/docs/sp-blocks/
- Misleading parameter name GNSS-SDR.internal_fs_hz has been replaced by GNSS-SDR.internal_fs_sps. The old parameter name is still read. If found, a warning is provided to the user. The old name will be removed in future releases.
- Updated and improved online documentation of processing blocks at https://gnss-sdr.org/docs/sp-blocks/
- Improved documentation of required dependency packages in several GNU/Linux distributions.
- Dump and output files can now be stored anywhere.
- Parameter names with the same role have been harmonized within different block implementations.
- Added a changelog, a code of conduct, a contributing guide and a pull-request template in the source tree.
- Added colors to the commandline user interface.

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@ -0,0 +1,35 @@
# XML Schemas for Assisted GNSS-SDR
GNSS-SDR can read assistance data from [Extensible Markup Language (XML)](https://www.w3.org/XML/) files for faster [Time-To-First-Fix](https://gnss-sdr.org/design-forces/availability/#time-to-first-fix-ttff), and can store navigation data decoded from GNSS signals in the same format. This folder provides XML Schemas which describe those XML files structure.
[XSD (XML Schema Definition)](https://www.w3.org/XML/Schema) is a World Wide Web Consortium (W3C) recommendation that specifies how to formally describe the elements in an XML document.
GPS L1 C/A
----------
- [ephemeris_map.xsd](./ephemeris_map.xsd) - GPS NAV message ephemeris parameters.
- [iono_model.xsd](./iono_model.xsd) - GPS NAV message ionospheric model parameters.
- [utc_model.xsd](./utc_model.xsd) - GPS NAV message UTC model parameters.
- [gps_almanac_map.xsd](./gps_almanac_map.xsd) - GPS NAV message almanac.
GPS L2C and L5
--------------
- [cnav_ephemeris_map.xsd](./cnav_ephemeris_map.xsd) - GPS CNAV message ephemeris parameters.
Galileo
-------
- [gal_ephemeris_map.xsd](./gal_ephemeris_map.xsd) - Galileo ephemeris parameters.
- [gal_iono_model.xsd](./gal_iono_model.xsd) - Galileo ionospheric model parameters.
- [gal_utc_model.xsd](./gal_utc_model.xsd) - Galileo UTC model parameters.
- [gal_almanac_map.xsd](./gal_almanac_map.xsd) - Galileo almanac.
-------
Please check https://gnss-sdr.org/docs/sp-blocks/global-parameters/ for more information about the usage of XML files in GNSS-SDR.
You could find useful the utility program [rinex2assist](https://github.com/gnss-sdr/gnss-sdr/tree/next/src/utils/rinex2assist) for the generation of compatible XML files from recent, publicly available RINEX navigation data files.

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<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:element name="boost_serialization">
<xs:complexType>
<xs:sequence>
<xs:element name="GNSS-SDR_cnav_ephemeris_map">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="count"/>
<xs:element type="xs:byte" name="item_version"/>
<xs:element name="item" maxOccurs="unbounded" minOccurs="0">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="first"/>
<xs:element name="second">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="i_satellite_PRN"/>
<xs:element type="xs:float" name="d_TOW"/>
<xs:element type="xs:float" name="d_Crs"/>
<xs:element type="xs:float" name="d_M_0"/>
<xs:element type="xs:float" name="d_Cuc"/>
<xs:element type="xs:float" name="d_e_eccentricity"/>
<xs:element type="xs:float" name="d_Cus"/>
<xs:element type="xs:float" name="d_Toe1"/>
<xs:element type="xs:float" name="d_Toe2"/>
<xs:element type="xs:float" name="d_Toc"/>
<xs:element type="xs:float" name="d_Cic"/>
<xs:element type="xs:float" name="d_OMEGA0"/>
<xs:element type="xs:float" name="d_Cis"/>
<xs:element type="xs:float" name="d_i_0"/>
<xs:element type="xs:float" name="d_Crc"/>
<xs:element type="xs:float" name="d_OMEGA"/>
<xs:element type="xs:float" name="d_IDOT"/>
<xs:element type="xs:short" name="i_GPS_week"/>
<xs:element type="xs:float" name="d_TGD"/>
<xs:element type="xs:float" name="d_ISCL1"/>
<xs:element type="xs:float" name="d_ISCL2"/>
<xs:element type="xs:float" name="d_ISCL5I"/>
<xs:element type="xs:float" name="d_ISCL5Q"/>
<xs:element type="xs:float" name="d_DELTA_A"/>
<xs:element type="xs:float" name="d_A_DOT"/>
<xs:element type="xs:float" name="d_DELTA_OMEGA_DOT"/>
<xs:element type="xs:float" name="d_A_f0"/>
<xs:element type="xs:float" name="d_A_f1"/>
<xs:element type="xs:float" name="d_A_f2"/>
<xs:element type="xs:byte" name="b_integrity_status_flag"/>
<xs:element type="xs:byte" name="b_alert_flag"/>
<xs:element type="xs:byte" name="b_antispoofing_flag"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id" use="optional"/>
<xs:attribute type="xs:byte" name="tracking_level" use="optional"/>
<xs:attribute type="xs:byte" name="version" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id" use="optional"/>
<xs:attribute type="xs:byte" name="tracking_level" use="optional"/>
<xs:attribute type="xs:byte" name="version" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>
<xs:attribute type="xs:byte" name="tracking_level"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:string" name="signature"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:schema>

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@ -0,0 +1,78 @@
<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:element name="boost_serialization">
<xs:complexType>
<xs:sequence>
<xs:element name="GNSS-SDR_ephemeris_map">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="count"/>
<xs:element type="xs:byte" name="item_version"/>
<xs:element name="item" maxOccurs="unbounded" minOccurs="0">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="first"/>
<xs:element name="second">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="i_satellite_PRN"/>
<xs:element type="xs:float" name="d_TOW"/>
<xs:element type="xs:float" name="d_IODE_SF2"/>
<xs:element type="xs:float" name="d_IODE_SF3"/>
<xs:element type="xs:float" name="d_Crs"/>
<xs:element type="xs:float" name="d_Delta_n"/>
<xs:element type="xs:float" name="d_M_0"/>
<xs:element type="xs:float" name="d_Cuc"/>
<xs:element type="xs:float" name="d_e_eccentricity"/>
<xs:element type="xs:float" name="d_Cus"/>
<xs:element type="xs:float" name="d_sqrt_A"/>
<xs:element type="xs:float" name="d_Toe"/>
<xs:element type="xs:float" name="d_Toc"/>
<xs:element type="xs:float" name="d_Cic"/>
<xs:element type="xs:float" name="d_OMEGA0"/>
<xs:element type="xs:float" name="d_Cis"/>
<xs:element type="xs:float" name="d_i_0"/>
<xs:element type="xs:float" name="d_Crc"/>
<xs:element type="xs:float" name="d_OMEGA"/>
<xs:element type="xs:float" name="d_OMEGA_DOT"/>
<xs:element type="xs:float" name="d_IDOT"/>
<xs:element type="xs:byte" name="i_code_on_L2"/>
<xs:element type="xs:short" name="i_GPS_week"/>
<xs:element type="xs:byte" name="b_L2_P_data_flag"/>
<xs:element type="xs:byte" name="i_SV_accuracy"/>
<xs:element type="xs:byte" name="i_SV_health"/>
<xs:element type="xs:float" name="d_TGD"/>
<xs:element type="xs:float" name="d_IODC"/>
<xs:element type="xs:short" name="i_AODO"/>
<xs:element type="xs:byte" name="b_fit_interval_flag"/>
<xs:element type="xs:float" name="d_spare1"/>
<xs:element type="xs:float" name="d_spare2"/>
<xs:element type="xs:float" name="d_A_f0"/>
<xs:element type="xs:float" name="d_A_f1"/>
<xs:element type="xs:float" name="d_A_f2"/>
<xs:element type="xs:byte" name="b_integrity_status_flag"/>
<xs:element type="xs:byte" name="b_alert_flag"/>
<xs:element type="xs:byte" name="b_antispoofing_flag"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id" use="optional"/>
<xs:attribute type="xs:byte" name="tracking_level" use="optional"/>
<xs:attribute type="xs:byte" name="version" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id" use="optional"/>
<xs:attribute type="xs:byte" name="tracking_level" use="optional"/>
<xs:attribute type="xs:byte" name="version" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>
<xs:attribute type="xs:byte" name="tracking_level"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:string" name="signature"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:schema>

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<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:element name="boost_serialization">
<xs:complexType>
<xs:sequence>
<xs:element name="GNSS-SDR_gal_almanac_map">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="count"/>
<xs:element type="xs:byte" name="item_version"/>
<xs:element name="item" maxOccurs="unbounded" minOccurs="0">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="first"/>
<xs:element name="second">
<xs:complexType mixed="true">
<xs:sequence>
<xs:element type="xs:byte" name="i_satellite_PRN"/>
<xs:element type="xs:byte" name="i_Toa"/>
<xs:element type="xs:byte" name="i_WNa"/>
<xs:element type="xs:byte" name="i_IODa"/>
<xs:element type="xs:float" name="d_Delta_i"/>
<xs:element type="xs:float" name="d_M_0"/>
<xs:element type="xs:float" name="d_e_eccentricity"/>
<xs:element type="xs:float" name="d_Delta_sqrt_A"/>
<xs:element type="xs:float" name="d_OMEGA0"/>
<xs:element type="xs:float" name="d_OMEGA"/>
<xs:element type="xs:float" name="d_OMEGA_DOT"/>
<xs:element type="xs:float" name="d_A_f0"/>
<xs:element type="xs:float" name="d_A_f1"/>
<xs:element type="xs:byte" name="E5b_HS"/>
<xs:element type="xs:byte" name="E1B_HS"/>
<xs:element type="xs:byte" name="E5a_HS"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id" use="optional"/>
<xs:attribute type="xs:byte" name="tracking_level" use="optional"/>
<xs:attribute type="xs:byte" name="version" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id" use="optional"/>
<xs:attribute type="xs:byte" name="tracking_level" use="optional"/>
<xs:attribute type="xs:byte" name="version" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>
<xs:attribute type="xs:byte" name="tracking_level"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:string" name="signature"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:schema>

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<<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:element name="boost_serialization">
<xs:complexType>
<xs:sequence>
<xs:element name="GNSS-SDR_gal_ephemeris_map">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="count"/>
<xs:element type="xs:byte" name="item_version"/>
<xs:element name="item" maxOccurs="unbounded" minOccurs="0">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="first"/>
<xs:element name="second">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="i_satellite_PRN"/>
<xs:element type="xs:float" name="M0_1"/>
<xs:element type="xs:float" name="delta_n_3"/>
<xs:element type="xs:float" name="e_1"/>
<xs:element type="xs:float" name="A_1"/>
<xs:element type="xs:float" name="OMEGA_0_2"/>
<xs:element type="xs:float" name="i_0_2"/>
<xs:element type="xs:float" name="omega_2"/>
<xs:element type="xs:float" name="OMEGA_dot_3"/>
<xs:element type="xs:float" name="iDot_2"/>
<xs:element type="xs:float" name="C_uc_3"/>
<xs:element type="xs:float" name="C_us_3"/>
<xs:element type="xs:float" name="C_rc_3"/>
<xs:element type="xs:float" name="C_rs_3"/>
<xs:element type="xs:float" name="C_ic_4"/>
<xs:element type="xs:float" name="C_is_4"/>
<xs:element type="xs:float" name="t0e_1"/>
<xs:element type="xs:float" name="t0c_4"/>
<xs:element type="xs:float" name="af0_4"/>
<xs:element type="xs:float" name="af1_4"/>
<xs:element type="xs:float" name="af2_4"/>
<xs:element type="xs:float" name="WN_5"/>
<xs:element type="xs:float" name="TOW_5"/>
<xs:element type="xs:float" name="Galileo_satClkDrift"/>
<xs:element type="xs:float" name="Galileo_dtr"/>
<xs:element type="xs:byte" name="flag_all_ephemeris"/>
<xs:element type="xs:byte" name="IOD_ephemeris"/>
<xs:element type="xs:byte" name="IOD_nav_1"/>
<xs:element type="xs:float" name="SISA_3"/>
<xs:element type="xs:byte" name="E5a_HS"/>
<xs:element type="xs:float" name="E5b_HS_5"/>
<xs:element type="xs:float" name="E1B_HS_5"/>
<xs:element type="xs:byte" name="E5a_DVS"/>
<xs:element type="xs:float" name="E5b_DVS_5"/>
<xs:element type="xs:float" name="E1B_DVS_5"/>
<xs:element type="xs:float" name="BGD_E1E5a_5"/>
<xs:element type="xs:float" name="BGD_E1E5b_5"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id" use="optional"/>
<xs:attribute type="xs:byte" name="tracking_level" use="optional"/>
<xs:attribute type="xs:byte" name="version" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id" use="optional"/>
<xs:attribute type="xs:byte" name="tracking_level" use="optional"/>
<xs:attribute type="xs:byte" name="version" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>
<xs:attribute type="xs:byte" name="tracking_level"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:string" name="signature"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:schema>

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@ -0,0 +1,29 @@
<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:element name="boost_serialization">
<xs:complexType>
<xs:sequence>
<xs:element name="GNSS-SDR_gal_iono_model">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:float" name="ai0_5"/>
<xs:element type="xs:float" name="ai1_5"/>
<xs:element type="xs:float" name="ai2_5"/>
<xs:element type="xs:byte" name="Region1_flag_5"/>
<xs:element type="xs:byte" name="Region2_flag_5"/>
<xs:element type="xs:byte" name="Region3_flag_5"/>
<xs:element type="xs:byte" name="Region4_flag_5"/>
<xs:element type="xs:byte" name="Region5_flag_5"/>
<xs:element type="xs:float" name="TOW_5"/>
<xs:element type="xs:float" name="WN_5"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>
<xs:attribute type="xs:byte" name="tracking_level"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:string" name="signature"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:schema>

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@ -0,0 +1,28 @@
<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:element name="boost_serialization">
<xs:complexType>
<xs:sequence>
<xs:element name="GNSS-SDR_gal_utc_model">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:float" name="A0_6"/>
<xs:element type="xs:float" name="A1_6"/>
<xs:element type="xs:float" name="Delta_tLS_6"/>
<xs:element type="xs:float" name="t0t_6"/>
<xs:element type="xs:float" name="WNot_6"/>
<xs:element type="xs:float" name="WN_LSF_6"/>
<xs:element type="xs:float" name="DN_6"/>
<xs:element type="xs:float" name="Delta_tLSF_6"/>
<xs:element type="xs:byte" name="flag_utc_model"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>
<xs:attribute type="xs:byte" name="tracking_level"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:string" name="signature"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:schema>

54
docs/xml-schemas/gps_almanac_map.xsd Normal file
View File

@ -0,0 +1,54 @@
<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:element name="boost_serialization">
<xs:complexType>
<xs:sequence>
<xs:element name="GNSS-SDR_gps_almanac_map">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="count"/>
<xs:element type="xs:byte" name="item_version"/>
<xs:element name="item" maxOccurs="unbounded" minOccurs="0">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="first"/>
<xs:element name="second">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="i_satellite_PRN"/>
<xs:element type="xs:float" name="d_Delta_i"/>
<xs:element type="xs:byte" name="i_Toa"/>
<xs:element type="xs:byte" name="i_WNa"/>
<xs:element type="xs:float" name="d_M_0"/>
<xs:element type="xs:float" name="d_e_eccentricity"/>
<xs:element type="xs:float" name="d_sqrt_A"/>
<xs:element type="xs:float" name="d_OMEGA0"/>
<xs:element type="xs:float" name="d_OMEGA"/>
<xs:element type="xs:float" name="d_OMEGA_DOT"/>
<xs:element type="xs:byte" name="i_SV_health"/>
<xs:element type="xs:byte" name="i_AS_status"/>
<xs:element type="xs:float" name="d_A_f0"/>
<xs:element type="xs:float" name="d_A_f1"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id" use="optional"/>
<xs:attribute type="xs:byte" name="tracking_level" use="optional"/>
<xs:attribute type="xs:byte" name="version" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id" use="optional"/>
<xs:attribute type="xs:byte" name="tracking_level" use="optional"/>
<xs:attribute type="xs:byte" name="version" use="optional"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>
<xs:attribute type="xs:byte" name="tracking_level"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:string" name="signature"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:schema>

27
docs/xml-schemas/iono_model.xsd Normal file
View File

@ -0,0 +1,27 @@
<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:element name="boost_serialization">
<xs:complexType>
<xs:sequence>
<xs:element name="GNSS-SDR_iono_model">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:float" name="d_alpha0"/>
<xs:element type="xs:float" name="d_alpha1"/>
<xs:element type="xs:float" name="d_alpha2"/>
<xs:element type="xs:float" name="d_alpha3"/>
<xs:element type="xs:float" name="d_beta0"/>
<xs:element type="xs:float" name="d_beta1"/>
<xs:element type="xs:float" name="d_beta2"/>
<xs:element type="xs:float" name="d_beta3"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>
<xs:attribute type="xs:byte" name="tracking_level"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:string" name="signature"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:schema>

28
docs/xml-schemas/utc_model.xsd Normal file
View File

@ -0,0 +1,28 @@
<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:element name="boost_serialization">
<xs:complexType>
<xs:sequence>
<xs:element name="GNSS-SDR_utc_model">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="valid"/>
<xs:element type="xs:float" name="d_A1"/>
<xs:element type="xs:float" name="d_A0"/>
<xs:element type="xs:float" name="d_t_OT"/>
<xs:element type="xs:short" name="i_WN_T"/>
<xs:element type="xs:float" name="d_DeltaT_LS"/>
<xs:element type="xs:short" name="i_WN_LSF"/>
<xs:element type="xs:byte" name="i_DN"/>
<xs:element type="xs:float" name="d_DeltaT_LSF"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>
<xs:attribute type="xs:byte" name="tracking_level"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:sequence>
<xs:attribute type="xs:string" name="signature"/>
<xs:attribute type="xs:byte" name="version"/>
</xs:complexType>
</xs:element>
</xs:schema>

2
src/CMakeLists.txt
View File

@ -21,5 +21,5 @@ add_subdirectory(core)
add_subdirectory(main)
if(ENABLE_UNIT_TESTING OR ENABLE_SYSTEM_TESTING)
add_subdirectory(tests)
endif(ENABLE_UNIT_TESTING OR ENABLE_SYSTEM_TESTING)
endif()
add_subdirectory(utils)

19
src/algorithms/PVT/adapters/CMakeLists.txt
View File

@ -16,10 +16,19 @@
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
if(Boost_VERSION LESS 105800)
add_definitions(-DOLD_BOOST=1)
endif()
set(PVT_ADAPTER_SOURCES
rtklib_pvt.cc
)
set(PVT_ADAPTER_HEADERS
rtklib_pvt.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
@ -36,8 +45,12 @@ include_directories(
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
file(GLOB PVT_ADAPTER_HEADERS "*.h")
list(SORT PVT_ADAPTER_HEADERS)
add_library(pvt_adapters ${PVT_ADAPTER_SOURCES} ${PVT_ADAPTER_HEADERS})
source_group(Headers FILES ${PVT_ADAPTER_HEADERS})
target_link_libraries(pvt_adapters pvt_gr_blocks ${ARMADILLO_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})
target_link_libraries(pvt_adapters
pvt_gr_blocks
${ARMADILLO_LIBRARIES}
${GNURADIO_RUNTIME_LIBRARIES}
)

259
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -30,17 +30,45 @@
#include "rtklib_pvt.h"
#include "pvt_conf.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/math/common_factor_rt.hpp>
#include <boost/serialization/map.hpp>
#include <glog/logging.h>
#if OLD_BOOST
#include <boost/math/common_factor_rt.hpp>
namespace bc = boost::math;
#else
#include <boost/integer/common_factor_rt.hpp>
namespace bc = boost::integer;
#endif
using google::LogMessage;
bool RtklibPvt::get_latest_PVT(double* longitude_deg,
double* latitude_deg,
double* height_m,
double* ground_speed_kmh,
double* course_over_ground_deg,
time_t* UTC_time)
{
return pvt_->get_latest_PVT(longitude_deg,
latitude_deg,
height_m,
ground_speed_kmh,
course_over_ground_deg,
UTC_time);
}
void RtklibPvt::clear_ephemeris()
{
pvt_->clear_ephemeris();
}
RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
@ -48,97 +76,87 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
in_streams_(in_streams),
out_streams_(out_streams)
{
Pvt_Conf pvt_output_parameters = Pvt_Conf();
// dump parameters
std::string default_dump_filename = "./pvt.dat";
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
pvt_output_parameters.dump = configuration->property(role + ".dump", false);
pvt_output_parameters.dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
pvt_output_parameters.dump_mat = configuration->property(role + ".dump_mat", true);
// output rate
int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
pvt_output_parameters.output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
// display rate
int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
pvt_output_parameters.display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
// NMEA Printer settings
bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
pvt_output_parameters.flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
pvt_output_parameters.nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RINEX version
int rinex_version = configuration->property(role + ".rinex_version", 3);
pvt_output_parameters.rinex_version = configuration->property(role + ".rinex_version", 3);
if (FLAGS_RINEX_version.compare("3.01") == 0)
{
rinex_version = 3;
pvt_output_parameters.rinex_version = 3;
}
else if (FLAGS_RINEX_version.compare("3.02") == 0)
{
rinex_version = 3;
pvt_output_parameters.rinex_version = 3;
}
else if (FLAGS_RINEX_version.compare("3") == 0)
{
rinex_version = 3;
pvt_output_parameters.rinex_version = 3;
}
else if (FLAGS_RINEX_version.compare("2.11") == 0)
{
rinex_version = 2;
pvt_output_parameters.rinex_version = 2;
}
else if (FLAGS_RINEX_version.compare("2.10") == 0)
{
rinex_version = 2;
pvt_output_parameters.rinex_version = 2;
}
else if (FLAGS_RINEX_version.compare("2") == 0)
{
rinex_version = 2;
pvt_output_parameters.rinex_version = 2;
}
int rinexobs_rate_ms = boost::math::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), output_rate_ms);
int rinexnav_rate_ms = boost::math::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), output_rate_ms);
pvt_output_parameters.rinexobs_rate_ms = bc::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.rinexnav_rate_ms = bc::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), pvt_output_parameters.output_rate_ms);
// RTCM Printer settings
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
pvt_output_parameters.flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
pvt_output_parameters.rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
pvt_output_parameters.flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
pvt_output_parameters.rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
pvt_output_parameters.rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
// RTCM message rates: least common multiple with output_rate_ms
int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
int rtcm_MT1020_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1020_rate_ms", 5000), output_rate_ms);
int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int, int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
int rtcm_MT1019_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), pvt_output_parameters.output_rate_ms);
int rtcm_MT1020_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1020_rate_ms", 5000), pvt_output_parameters.output_rate_ms);
int rtcm_MT1045_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), pvt_output_parameters.output_rate_ms);
int rtcm_MSM_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), pvt_output_parameters.output_rate_ms);
int rtcm_MT1077_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
int rtcm_MT1087_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
int rtcm_MT1097_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), pvt_output_parameters.output_rate_ms);
//std::map<int, int> rtcm_msg_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
for (int k = 1071; k < 1078; k++) // All GPS MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
}
for (int k = 1081; k < 1088; k++) // All GLONASS MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1087_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[k] = rtcm_MT1087_rate_ms;
}
for (int k = 1091; k < 1098; k++) // All Galileo MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
pvt_output_parameters.rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
}
// getting names from the config file, if available
// default filename for assistance data
const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
const std::string utc_default_xml_filename = "./gps_utc_model.xml";
const std::string iono_default_xml_filename = "./gps_iono.xml";
const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
eph_xml_filename_ = configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
//std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
//std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
//std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
// Infer the type of receiver
/*
@ -182,47 +200,46 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
int glo_1G_count = configuration->property("Channels_1G.count", 0);
int glo_2G_count = configuration->property("Channels_2G.count", 0);
unsigned int type_of_receiver = 0;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 1; // L1
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 2;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 3; // L5
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 4; // E1
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 5; // E5a
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 6;
// *******************WARNING!!!!!!!***********
// GPS L5 only configurable for single frequency, single system at the moment!!!!!!
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 1;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 2;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 3;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 4;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 5;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 6;
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 7;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 8; // L1+L5
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 9; // L1+E1
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 10;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 11;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 12;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 13; // L5+E5a
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 14;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 15;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 16;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 17;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 18;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) pvt_output_parameters.type_of_receiver = 20;
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 21;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) pvt_output_parameters.type_of_receiver = 22;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) pvt_output_parameters.type_of_receiver = 23;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) pvt_output_parameters.type_of_receiver = 24;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0)) pvt_output_parameters.type_of_receiver = 25;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 26;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 27;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 28;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) pvt_output_parameters.type_of_receiver = 29;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) pvt_output_parameters.type_of_receiver = 30;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) pvt_output_parameters.type_of_receiver = 31;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 32; // L1+E1+L5+E5a
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 7;
//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 9;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 10;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 11;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 12;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 14;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 15;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 17;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 18;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) type_of_receiver = 21;
//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 24;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count != 0)) type_of_receiver = 25;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) type_of_receiver = 26;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) type_of_receiver = 27;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_2G_count == 0)) type_of_receiver = 28;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 29;
if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 30;
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) type_of_receiver = 31;
// RTKLIB PVT solver options
// Settings 1
int positioning_mode = -1;
std::string default_pos_mode("Single");
std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); // (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h
if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
@ -483,8 +500,29 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
rtkinit(&rtk, &rtklib_configuration_options);
// Outputs
bool default_output_enabled = configuration->property(role + ".output_enabled", true);
pvt_output_parameters.output_enabled = default_output_enabled;
pvt_output_parameters.rinex_output_enabled = configuration->property(role + ".rinex_output_enabled", default_output_enabled);
pvt_output_parameters.gpx_output_enabled = configuration->property(role + ".gpx_output_enabled", default_output_enabled);
pvt_output_parameters.geojson_output_enabled = configuration->property(role + ".geojson_output_enabled", default_output_enabled);
pvt_output_parameters.kml_output_enabled = configuration->property(role + ".kml_output_enabled", default_output_enabled);
pvt_output_parameters.xml_output_enabled = configuration->property(role + ".xml_output_enabled", default_output_enabled);
pvt_output_parameters.nmea_output_file_enabled = configuration->property(role + ".nmea_output_file_enabled", default_output_enabled);
pvt_output_parameters.rtcm_output_file_enabled = configuration->property(role + ".rtcm_output_file_enabled", default_output_enabled);
std::string default_output_path = configuration->property(role + ".output_path", std::string("."));
pvt_output_parameters.output_path = default_output_path;
pvt_output_parameters.rinex_output_path = configuration->property(role + ".rinex_output_path", default_output_path);
pvt_output_parameters.gpx_output_path = configuration->property(role + ".gpx_output_path", default_output_path);
pvt_output_parameters.geojson_output_path = configuration->property(role + ".geojson_output_path", default_output_path);
pvt_output_parameters.kml_output_path = configuration->property(role + ".kml_output_path", default_output_path);
pvt_output_parameters.xml_output_path = configuration->property(role + ".xml_output_path", default_output_path);
pvt_output_parameters.nmea_output_file_path = configuration->property(role + ".nmea_output_file_path", default_output_path);
pvt_output_parameters.rtcm_output_file_path = configuration->property(role + ".rtcm_output_file_path", default_output_path);
// make PVT object
pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, rinexobs_rate_ms, rinexnav_rate_ms, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
pvt_ = rtklib_make_pvt_cc(in_streams_, pvt_output_parameters, rtk);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
if (out_streams_ > 0)
{
@ -493,40 +531,33 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
}
bool RtklibPvt::save_assistance_to_XML()
{
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
std::map<int, Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
if (eph_map.size() > 0)
{
try
{
std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
ofs.close();
LOG(INFO) << "Saved GPS L1 Ephemeris map data";
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
return true; // return variable (true == succeeded)
}
else
{
LOG(WARNING) << "Failed to save Ephemeris, map is empty";
return false;
}
}
RtklibPvt::~RtklibPvt()
{
rtkfree(&rtk);
save_assistance_to_XML();
}
std::map<int, Gps_Ephemeris> RtklibPvt::get_gps_ephemeris() const
{
return pvt_->get_gps_ephemeris_map();
}
std::map<int, Galileo_Ephemeris> RtklibPvt::get_galileo_ephemeris() const
{
return pvt_->get_galileo_ephemeris_map();
}
std::map<int, Gps_Almanac> RtklibPvt::get_gps_almanac() const
{
return pvt_->get_gps_almanac_map();
}
std::map<int, Galileo_Almanac> RtklibPvt::get_galileo_almanac() const
{
return pvt_->get_galileo_almanac_map();
}

21
src/algorithms/PVT/adapters/rtklib_pvt.h
View File

@ -40,7 +40,7 @@
class ConfigurationInterface;
/*!
* \brief This class implements a PvtInterface for Galileo E1
* \brief This class implements a PvtInterface for the RTKLIB PVT block
*/
class RtklibPvt : public PvtInterface
{
@ -57,12 +57,18 @@ public:
return role_;
}
//! Returns "RTKLIB_Pvt"
//! Returns "RTKLIB_PVT"
inline std::string implementation() override
{
return "RTKLIB_PVT";
}
void clear_ephemeris() override;
std::map<int, Gps_Ephemeris> get_gps_ephemeris() const override;
std::map<int, Galileo_Ephemeris> get_galileo_ephemeris() const override;
std::map<int, Gps_Almanac> get_gps_almanac() const override;
std::map<int, Galileo_Almanac> get_galileo_almanac() const override;
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
@ -79,16 +85,19 @@ public:
return sizeof(gr_complex);
}
bool get_latest_PVT(double* longitude_deg,
double* latitude_deg,
double* height_m,
double* ground_speed_kmh,
double* course_over_ground_deg,
time_t* UTC_time) override;
private:
rtklib_pvt_cc_sptr pvt_;
rtk_t rtk;
bool dump_;
std::string dump_filename_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
std::string eph_xml_filename_;
bool save_assistance_to_XML();
};
#endif

12
src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
View File

@ -16,10 +16,19 @@
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
if(Boost_VERSION LESS 105800)
add_definitions(-DOLD_BOOST=1)
endif()
set(PVT_GR_BLOCKS_SOURCES
rtklib_pvt_cc.cc
)
set(PVT_GR_BLOCKS_HEADERS
rtklib_pvt_cc.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
@ -27,6 +36,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${ARMADILLO_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
@ -34,8 +44,6 @@ include_directories(
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
file(GLOB PVT_GR_BLOCKS_HEADERS "*.h")
list(SORT PVT_GR_BLOCKS_HEADERS)
add_library(pvt_gr_blocks ${PVT_GR_BLOCKS_SOURCES} ${PVT_GR_BLOCKS_HEADERS})
source_group(Headers FILES ${PVT_GR_BLOCKS_HEADERS})
target_link_libraries(pvt_gr_blocks pvt_lib ${ARMADILLO_LIBRARIES})

2456
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

File diff suppressed because it is too large Load Diff

146
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -31,19 +31,23 @@
#ifndef GNSS_SDR_RTKLIB_PVT_CC_H
#define GNSS_SDR_RTKLIB_PVT_CC_H
#include "gps_ephemeris.h"
#include "nmea_printer.h"
#include "kml_printer.h"
#include "gpx_printer.h"
#include "geojson_printer.h"
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "pvt_conf.h"
#include "rtklib_solver.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/date_time/gregorian/gregorian.hpp>
#include <gnuradio/sync_block.h>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <chrono>
#include <cstdint>
#include <fstream>
#include <utility>
#include <string>
@ -53,78 +57,48 @@ class rtklib_pvt_cc;
typedef boost::shared_ptr<rtklib_pvt_cc> rtklib_pvt_cc_sptr;
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
bool dump,
std::string dump_filename,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t n_channels,
const Pvt_Conf& conf_,
rtk_t& rtk);
/*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
* \brief This class implements a block that computes the PVT solution using the RTKLIB integrated library
*/
class rtklib_pvt_cc : public gr::sync_block
{
private:
friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
bool dump,
std::string dump_filename,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
const Pvt_Conf& conf_,
rtk_t& rtk);
void msg_handler_telemetry(pmt::pmt_t msg);
bool d_dump;
bool d_dump_mat;
bool b_rinex_output_enabled;
bool b_rinex_header_written;
bool b_rinex_header_updated;
double d_rinex_version;
int d_rinexobs_rate_ms;
int d_rinexnav_rate_ms;
int32_t d_rinexobs_rate_ms;
int32_t d_rinexnav_rate_ms;
bool b_rtcm_writing_started;
int d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
int d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)
int d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits)
int d_rtcm_MT1077_rate_ms; //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
int d_rtcm_MT1087_rate_ms; //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
int d_rtcm_MT1097_rate_ms; //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
int d_rtcm_MSM_rate_ms;
bool b_rtcm_enabled;
int32_t d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
int32_t d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1077_rate_ms; //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
int32_t d_rtcm_MT1087_rate_ms; //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
int32_t d_rtcm_MT1097_rate_ms; //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
int32_t d_rtcm_MSM_rate_ms;
int d_last_status_print_seg; //for status printer
int32_t d_last_status_print_seg; //for status printer
unsigned int d_nchannels;
uint32_t d_nchannels;
std::string d_dump_filename;
std::ofstream d_dump_file;
int d_output_rate_ms;
int d_display_rate_ms;
int32_t d_output_rate_ms;
int32_t d_display_rate_ms;
std::shared_ptr<Rinex_Printer> rp;
std::shared_ptr<Kml_Printer> d_kml_dump;
@ -134,12 +108,17 @@ private:
std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
double d_rx_time;
std::shared_ptr<rtklib_solver> d_ls_pvt;
bool d_geojson_output_enabled;
bool d_gpx_output_enabled;
bool d_kml_output_enabled;
bool d_nmea_output_file_enabled;
std::shared_ptr<rtklib_solver> d_pvt_solver;
std::map<int, Gnss_Synchro> gnss_observables_map;
bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
unsigned int type_of_rx;
uint32_t type_of_rx;
bool first_fix;
key_t sysv_msg_key;
@ -152,32 +131,51 @@ private:
bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
std::chrono::time_point<std::chrono::system_clock> start, end;
bool save_gnss_synchro_map_xml(const std::string file_name); //debug helper function
bool load_gnss_synchro_map_xml(const std::string file_name); //debug helper function
bool d_xml_storage;
std::string xml_base_path;
inline std::time_t to_time_t(boost::posix_time::ptime pt)
{
return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds();
}
public:
rtklib_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
rtklib_pvt_cc(uint32_t nchannels,
const Pvt_Conf& conf_,
rtk_t& rtk);
/*!
* \brief Get latest set of GPS L1 ephemeris from PVT block
* \brief Get latest set of ephemeris from PVT block
*
* It is used to save the assistance data at the receiver shutdown
*/
std::map<int, Gps_Ephemeris> get_GPS_L1_ephemeris_map();
std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
std::map<int, Gps_Almanac> get_gps_almanac_map() const;
std::map<int, Galileo_Ephemeris> get_galileo_ephemeris_map() const;
std::map<int, Galileo_Almanac> get_galileo_almanac_map() const;
/*!
* \brief Clear all ephemeris information and the almanacs for GPS and Galileo
*
*/
void clear_ephemeris();
/*!
* \brief Get the latest Position WGS84 [deg], Ground Velocity, Course over Ground, and UTC Time, if available
*/
bool get_latest_PVT(double* longitude_deg,
double* latitude_deg,
double* height_m,
double* ground_speed_kmh,
double* course_over_ground_deg,
time_t* UTC_time);
~rtklib_pvt_cc(); //!< Default destructor

36
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -29,6 +29,21 @@ set(PVT_LIB_SOURCES
rtcm_printer.cc
geojson_printer.cc
rtklib_solver.cc
pvt_conf.cc
)
set(PVT_LIB_HEADERS
pvt_solution.h
ls_pvt.h
hybrid_ls_pvt.h
kml_printer.h
gpx_printer.h
rinex_printer.h
nmea_printer.h
rtcm_printer.h
geojson_printer.h
rtklib_solver.h
pvt_conf.h
)
include_directories(
@ -43,22 +58,37 @@ include_directories(
${ARMADILLO_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${MATIO_INCLUDE_DIRS}
)
file(GLOB PVT_LIB_HEADERS "*.h")
list(SORT PVT_LIB_HEADERS)
list(SORT PVT_LIB_SOURCES)
add_library(pvt_lib ${PVT_LIB_SOURCES} ${PVT_LIB_HEADERS})
source_group(Headers FILES ${PVT_LIB_HEADERS})
add_dependencies(pvt_lib rtklib_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE})
if(MATIO_FOUND)
add_dependencies(pvt_lib
glog-${glog_RELEASE}
armadillo-${armadillo_RELEASE}
)
else()
add_dependencies(pvt_lib
glog-${glog_RELEASE}
armadillo-${armadillo_RELEASE}
matio-${GNSSSDR_MATIO_LOCAL_VERSION}
)
endif()
target_link_libraries(
pvt_lib
rtklib_lib
gnss_sdr_flags
gnss_sp_libs
${Boost_LIBRARIES}
${GLOG_LIBRARIES}
${ARMADILLO_LIBRARIES}
${BLAS}
${LAPACK}
${MATIO_LIBRARIES}
)

38
src/algorithms/PVT/libs/geojson_printer.cc
View File

@ -32,14 +32,48 @@
#include "geojson_printer.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <glog/logging.h>
#include <iomanip>
#include <sstream>
GeoJSON_Printer::GeoJSON_Printer()
GeoJSON_Printer::GeoJSON_Printer(const std::string& base_path)
{
first_pos = true;
geojson_base_path = base_path;
boost::filesystem::path full_path(boost::filesystem::current_path());
const boost::filesystem::path p(geojson_base_path);
if (!boost::filesystem::exists(p))
{
std::string new_folder;
for (auto& folder : boost::filesystem::path(geojson_base_path))
{
new_folder += folder.string();
boost::system::error_code ec;
if (!boost::filesystem::exists(new_folder))
{
if (!boost::filesystem::create_directory(new_folder, ec))
{
std::cout << "Could not create the " << new_folder << " folder." << std::endl;
geojson_base_path = full_path.string();
}
}
new_folder += boost::filesystem::path::preferred_separator;
}
}
else
{
geojson_base_path = p.string();
}
if (geojson_base_path.compare(".") != 0)
{
std::cout << "GeoJSON files will be stored at " << geojson_base_path << std::endl;
}
geojson_base_path = geojson_base_path + boost::filesystem::path::preferred_separator;
}
@ -96,6 +130,7 @@ bool GeoJSON_Printer::set_headers(std::string filename, bool time_tag_name)
{
filename_ = filename + ".geojson";
}
filename_ = geojson_base_path + filename_;
geojson_file.open(filename_.c_str());
@ -124,6 +159,7 @@ bool GeoJSON_Printer::set_headers(std::string filename, bool time_tag_name)
}
else
{
std::cout << "File " << filename_ << " cannot be saved. Wrong permissions?" << std::endl;
return false;
}
}

3
src/algorithms/PVT/libs/geojson_printer.h
View File

@ -50,9 +50,10 @@ private:
std::ofstream geojson_file;
bool first_pos;
std::string filename_;
std::string geojson_base_path;
public:
GeoJSON_Printer();
GeoJSON_Printer(const std::string& base_path = ".");
~GeoJSON_Printer();
bool set_headers(std::string filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values);

86
src/algorithms/PVT/libs/gpx_printer.cc
View File

@ -32,11 +32,53 @@
#include "gpx_printer.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <glog/logging.h>
#include <sstream>
using google::LogMessage;
Gpx_Printer::Gpx_Printer(const std::string& base_path)
{
positions_printed = false;
indent = " ";
gpx_base_path = base_path;
boost::filesystem::path full_path(boost::filesystem::current_path());
const boost::filesystem::path p(gpx_base_path);
if (!boost::filesystem::exists(p))
{
std::string new_folder;
for (auto& folder : boost::filesystem::path(gpx_base_path))
{
new_folder += folder.string();
boost::system::error_code ec;
if (!boost::filesystem::exists(new_folder))
{
if (!boost::filesystem::create_directory(new_folder, ec))
{
std::cout << "Could not create the " << new_folder << " folder." << std::endl;
gpx_base_path = full_path.string();
}
}
new_folder += boost::filesystem::path::preferred_separator;
}
}
else
{
gpx_base_path = p.string();
}
if (gpx_base_path.compare(".") != 0)
{
std::cout << "GPX files will be stored at " << gpx_base_path << std::endl;
}
gpx_base_path = gpx_base_path + boost::filesystem::path::preferred_separator;
}
bool Gpx_Printer::set_headers(std::string filename, bool time_tag_name)
{
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
@ -84,6 +126,8 @@ bool Gpx_Printer::set_headers(std::string filename, bool time_tag_name)
{
gpx_filename = filename + ".gpx";
}
gpx_filename = gpx_base_path + gpx_filename;
gpx_file.open(gpx_filename.c_str());
if (gpx_file.is_open())
@ -94,17 +138,20 @@ bool Gpx_Printer::set_headers(std::string filename, bool time_tag_name)
gpx_file << std::setprecision(14);
gpx_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
<< "<gpx version=\"1.1\" creator=\"GNSS-SDR\"" << std::endl
<< "xsi:schemaLocation=\"http://www.topografix.com/GPX/1/1 http://www.topografix.com/GPX/1/1/gpx.xsd\"" << std::endl
<< "xmlns=\"http://www.topografix.com/GPX/1/1\"" << std::endl
<< "xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\">" << std::endl
<< "<trk>" << std::endl
<< indent << "<name>Position fixes computed by GNSS-SDR v" << GNSS_SDR_VERSION << "</name>" << std::endl
<< indent << "<desc>GNSS-SDR position log generated at " << pt << " (local time)</desc>" << std::endl
<< indent << "<trkseg>" << std::endl;
<< indent << "xsi:schemaLocation=\"http://www.topografix.com/GPX/1/1 http://www.topografix.com/GPX/1/1/gpx.xsd http://www.garmin.com/xmlschemas/GpxExtensions/v3 http://www.garmin.com/xmlschemas/GpxExtensionsv3.xsd http://www.garmin.com/xmlschemas/TrackPointExtension/v2 http://www.garmin.com/xmlschemas/TrackPointExtensionv2.xsd\"" << std::endl
<< indent << "xmlns=\"http://www.topografix.com/GPX/1/1\"" << std::endl
<< indent << "xmlns:gpxx=\"http://www.garmin.com/xmlschemas/GpxExtensions/v3\"" << std::endl
<< indent << "xmlns:gpxtpx=\"http://www.garmin.com/xmlschemas/TrackPointExtension/v2\"" << std::endl
<< indent << "xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\">" << std::endl
<< indent << "<trk>" << std::endl
<< indent << indent << "<name>Position fixes computed by GNSS-SDR v" << GNSS_SDR_VERSION << "</name>" << std::endl
<< indent << indent << "<desc>GNSS-SDR position log generated at " << pt << " (local time)</desc>" << std::endl
<< indent << indent << "<trkseg>" << std::endl;
return true;
}
else
{
std::cout << "File " << gpx_filename << " cannot be saved. Wrong permissions?" << std::endl;
return false;
}
}
@ -119,11 +166,15 @@ bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
positions_printed = true;
std::shared_ptr<rtklib_solver> position_ = position;
double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s
double course_over_ground = position_->get_course_over_ground(); // expressed in deg
double hdop = position_->get_hdop();
double vdop = position_->get_vdop();
double pdop = position_->get_pdop();
std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time());
utc_time.resize(23); // time up to ms
if (utc_time.length() < 23) utc_time += ".";
utc_time.resize(23, '0'); // time up to ms
utc_time.append("Z"); // UTC time zone
if (print_average_values == false)
@ -141,9 +192,13 @@ bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
if (gpx_file.is_open())
{
gpx_file << indent << indent << "<trkpt lon=\"" << longitude << "\" lat=\"" << latitude << "\"><ele>" << height << "</ele>"
gpx_file << indent << indent << indent << "<trkpt lon=\"" << longitude << "\" lat=\"" << latitude << "\"><ele>" << height << "</ele>"
<< "<time>" << utc_time << "</time>"
<< "<hdop>" << hdop << "</hdop><vdop>" << vdop << "</vdop><pdop>" << pdop << "</pdop></trkpt>" << std::endl;
<< "<hdop>" << hdop << "</hdop><vdop>" << vdop << "</vdop><pdop>" << pdop << "</pdop>"
<< "<extensions><gpxtpx:TrackPointExtension>"
<< "<gpxtpx:speed>" << speed_over_ground << "</gpxtpx:speed>"
<< "<gpxtpx:course>" << course_over_ground << "</gpxtpx:course>"
<< "</gpxtpx:TrackPointExtension></extensions></trkpt>" << std::endl;
return true;
}
else
@ -157,8 +212,8 @@ bool Gpx_Printer::close_file()
{
if (gpx_file.is_open())
{
gpx_file << indent << "</trkseg>" << std::endl
<< "</trk>" << std::endl
gpx_file << indent << indent << "</trkseg>" << std::endl
<< indent << "</trk>" << std::endl
<< "</gpx>";
gpx_file.close();
return true;
@ -170,13 +225,6 @@ bool Gpx_Printer::close_file()
}
Gpx_Printer::Gpx_Printer()
{
positions_printed = false;
indent = " ";
}
Gpx_Printer::~Gpx_Printer()
{
close_file();

3
src/algorithms/PVT/libs/gpx_printer.h
View File

@ -52,9 +52,10 @@ private:
bool positions_printed;
std::string gpx_filename;
std::string indent;
std::string gpx_base_path;
public:
Gpx_Printer();
Gpx_Printer(const std::string& base_path = ".");
~Gpx_Printer();
bool set_headers(std::string filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);

6
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
View File

@ -150,8 +150,6 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
// 4- fill the observations vector with the corrected observables
obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + SV_clock_bias_s * GALILEO_C_m_s - this->get_time_offset_s() * GALILEO_C_m_s;
this->set_visible_satellites_ID(valid_obs, galileo_ephemeris_iter->second.i_satellite_PRN);
this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
Galileo_week_number = galileo_ephemeris_iter->second.WN_5; //for GST
GST = galileo_ephemeris_iter->second.Galileo_System_Time(Galileo_week_number, hybrid_current_time);
@ -213,8 +211,6 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
double Code_bias_m = P1_P2 / (1.0 - Gamma);
obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s - Code_bias_m - this->get_time_offset_s() * GPS_C_m_s;
this->set_visible_satellites_ID(valid_obs, gps_ephemeris_iter->second.i_satellite_PRN);
this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
// SV ECEF DEBUG OUTPUT
LOG(INFO) << "(new)ECEF GPS L1 CA satellite SV ID=" << gps_ephemeris_iter->second.i_satellite_PRN
@ -265,8 +261,6 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
// 4- fill the observations vector with the corrected observables
obs.resize(valid_obs + 1, 1);
obs(valid_obs) = gnss_observables_iter->second.Pseudorange_m + dtr * GPS_C_m_s + SV_clock_bias_s * GPS_C_m_s;
this->set_visible_satellites_ID(valid_obs, gps_cnav_ephemeris_iter->second.i_satellite_PRN);
this->set_visible_satellites_CN0_dB(valid_obs, gnss_observables_iter->second.CN0_dB_hz);
GPS_week = gps_cnav_ephemeris_iter->second.i_GPS_week;
GPS_week = GPS_week % 1024; //Necessary due to the increase of WN bits in CNAV message (10 in GPS NAV and 13 in CNAV)

1
src/algorithms/PVT/libs/hybrid_ls_pvt.h
View File

@ -36,6 +36,7 @@
#include "galileo_navigation_message.h"
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "galileo_almanac.h"
#include "gnss_synchro.h"
#include "rtklib_rtkcmn.h"
#include <fstream>

220
src/algorithms/PVT/libs/kml_printer.cc
View File

@ -2,6 +2,7 @@
* \file kml_printer.cc
* \brief Implementation of a class that prints PVT information to a kml file
* \author Javier Arribas, 2011. jarribas(at)cttc.es
* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
*
*
* -------------------------------------------------------------------------
@ -31,11 +32,61 @@
#include "kml_printer.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <glog/logging.h>
#include <sstream>
using google::LogMessage;
Kml_Printer::Kml_Printer(const std::string& base_path)
{
positions_printed = false;
indent = " ";
kml_base_path = base_path;
boost::filesystem::path full_path(boost::filesystem::current_path());
const boost::filesystem::path p(kml_base_path);
if (!boost::filesystem::exists(p))
{
std::string new_folder;
for (auto& folder : boost::filesystem::path(kml_base_path))
{
new_folder += folder.string();
boost::system::error_code ec;
if (!boost::filesystem::exists(new_folder))
{
if (!boost::filesystem::create_directory(new_folder, ec))
{
std::cout << "Could not create the " << new_folder << " folder." << std::endl;
kml_base_path = full_path.string();
}
}
new_folder += boost::filesystem::path::preferred_separator;
}
}
else
{
kml_base_path = p.string();
}
if (kml_base_path.compare(".") != 0)
{
std::cout << "KML files will be stored at " << kml_base_path << std::endl;
}
kml_base_path = kml_base_path + boost::filesystem::path::preferred_separator;
boost::filesystem::path tmp_base_path = boost::filesystem::temp_directory_path();
boost::filesystem::path tmp_filename = boost::filesystem::unique_path();
boost::filesystem::path tmp_file = tmp_base_path / tmp_filename;
tmp_file_str = tmp_file.string();
point_id = 0;
}
bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
{
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
@ -83,48 +134,87 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
{
kml_filename = filename + ".kml";
}
kml_filename = kml_base_path + kml_filename;
kml_file.open(kml_filename.c_str());
if (kml_file.is_open())
tmp_file.open(tmp_file_str.c_str());
if (kml_file.is_open() && tmp_file.is_open())
{
DLOG(INFO) << "KML printer writing on " << filename.c_str();
// Set iostream numeric format and precision
kml_file.setf(kml_file.fixed, kml_file.floatfield);
kml_file << std::setprecision(14);
tmp_file.setf(tmp_file.fixed, tmp_file.floatfield);
tmp_file << std::setprecision(14);
kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
<< "<kml xmlns=\"http://www.opengis.net/kml/2.2\">" << std::endl
<< " <Document>" << std::endl
<< " <name>GNSS Track</name>" << std::endl
<< " <description>GNSS-SDR Receiver position log file created at " << pt
<< " </description>" << std::endl
<< "<Style id=\"yellowLineGreenPoly\">" << std::endl
<< " <LineStyle>" << std::endl
<< " <color>7f00ffff</color>" << std::endl
<< " <width>1</width>" << std::endl
<< " </LineStyle>" << std::endl
<< "<PolyStyle>" << std::endl
<< " <color>7f00ff00</color>" << std::endl
<< "</PolyStyle>" << std::endl
<< "</Style>" << std::endl
<< "<Placemark>" << std::endl
<< "<name>GNSS-SDR PVT</name>" << std::endl
<< "<description>GNSS-SDR position log</description>" << std::endl
<< "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
<< "<LineString>" << std::endl
<< "<extrude>0</extrude>" << std::endl
<< "<tessellate>1</tessellate>" << std::endl
<< "<altitudeMode>absolute</altitudeMode>" << std::endl
<< "<coordinates>" << std::endl;
<< "<kml xmlns=\"http://www.opengis.net/kml/2.2\" xmlns:gx=\"http://www.google.com/kml/ext/2.2\">" << std::endl
<< indent << "<Document>" << std::endl
<< indent << indent << "<name>GNSS Track</name>" << std::endl
<< indent << indent << "<description><![CDATA[" << std::endl
<< indent << indent << indent << "<table>" << std::endl
<< indent << indent << indent << indent << "<tr><td>GNSS-SDR Receiver position log file created at " << pt << "</td></tr>" << std::endl
<< indent << indent << indent << indent << "<tr><td>https://gnss-sdr.org/</td></tr>" << std::endl
<< indent << indent << indent << "</table>" << std::endl
<< indent << indent << "]]></description>" << std::endl
<< indent << indent << "<!-- Normal track style -->" << std::endl
<< indent << indent << "<Style id=\"track_n\">" << std::endl
<< indent << indent << indent << "<IconStyle>" << std::endl
<< indent << indent << indent << indent << "<color>ff00ffff</color>" << std::endl
<< indent << indent << indent << indent << "<scale>0.3</scale>" << std::endl
<< indent << indent << indent << indent << "<Icon>" << std::endl
<< indent << indent << indent << indent << indent << "<href>http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png</href>" << std::endl
<< indent << indent << indent << indent << "</Icon>" << std::endl
<< indent << indent << indent << "</IconStyle>" << std::endl
<< indent << indent << indent << "<LabelStyle>" << std::endl
<< indent << indent << indent << indent << "<scale>0</scale>" << std::endl
<< indent << indent << indent << "</LabelStyle>" << std::endl
<< indent << indent << "</Style>" << std::endl
<< indent << indent << "<!-- Highlighted track style -->" << std::endl
<< indent << indent << "<Style id=\"track_h\">" << std::endl
<< indent << indent << indent << "<IconStyle>" << std::endl
<< indent << indent << indent << indent << "<color>ff00ffff</color>" << std::endl
<< indent << indent << indent << indent << "<scale>1</scale>" << std::endl
<< indent << indent << indent << indent << "<Icon>" << std::endl
<< indent << indent << indent << indent << indent << "<href>http://maps.google.com/mapfiles/kml/shapes/shaded_dot.png</href>" << std::endl
<< indent << indent << indent << indent << "</Icon>" << std::endl
<< indent << indent << indent << "</IconStyle>" << std::endl
<< indent << indent << "</Style>" << std::endl
<< indent << indent << "<StyleMap id=\"track\">" << std::endl
<< indent << indent << indent << "<Pair>" << std::endl
<< indent << indent << indent << indent << "<key>normal</key>" << std::endl
<< indent << indent << indent << indent << "<styleUrl>#track_n</styleUrl>" << std::endl
<< indent << indent << indent << "</Pair>" << std::endl
<< indent << indent << indent << "<Pair>" << std::endl
<< indent << indent << indent << indent << "<key>highlight</key>" << std::endl
<< indent << indent << indent << indent << "<styleUrl>#track_h</styleUrl>" << std::endl
<< indent << indent << indent << "</Pair>" << std::endl
<< indent << indent << "</StyleMap>" << std::endl
<< indent << indent << "<Style id=\"yellowLineGreenPoly\">" << std::endl
<< indent << indent << indent << "<LineStyle>" << std::endl
<< indent << indent << indent << indent << "<color>7f00ffff</color>" << std::endl
<< indent << indent << indent << indent << "<width>1</width>" << std::endl
<< indent << indent << indent << "</LineStyle>" << std::endl
<< indent << indent << indent << "<PolyStyle>" << std::endl
<< indent << indent << indent << indent << "<color>7f00ff00</color>" << std::endl
<< indent << indent << indent << "</PolyStyle>" << std::endl
<< indent << indent << "</Style>" << std::endl
<< indent << indent << "<Folder>" << std::endl
<< indent << indent << indent << "<name>Points</name>" << std::endl;
return true;
}
else
{
std::cout << "File " << kml_filename << " cannot be saved. Wrong permissions?" << std::endl;
return false;
}
}
bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values)
bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values)
{
double latitude;
double longitude;
@ -132,7 +222,18 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
positions_printed = true;
std::shared_ptr<Pvt_Solution> position_ = position;
std::shared_ptr<rtklib_solver> position_ = position;
double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s
double course_over_ground = position_->get_course_over_ground(); // expressed in deg
double hdop = position_->get_hdop();
double vdop = position_->get_vdop();
double pdop = position_->get_pdop();
std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time());
if (utc_time.length() < 23) utc_time += ".";
utc_time.resize(23, '0'); // time up to ms
utc_time.append("Z"); // UTC time zone
if (print_average_values == false)
{
@ -147,9 +248,38 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
height = position_->get_avg_height();
}
if (kml_file.is_open())
if (kml_file.is_open() && tmp_file.is_open())
{
kml_file << longitude << "," << latitude << "," << height << std::endl;
point_id++;
kml_file << indent << indent << indent << "<Placemark>" << std::endl
<< indent << indent << indent << indent << "<name>" << point_id << "</name>" << std::endl
<< indent << indent << indent << indent << "<snippet/>" << std::endl
<< indent << indent << indent << indent << "<description><![CDATA[" << std::endl
<< indent << indent << indent << indent << indent << "<table>" << std::endl
<< indent << indent << indent << indent << indent << indent << "<tr><td>Time:</td><td>" << utc_time << "</td></tr>" << std::endl
<< indent << indent << indent << indent << indent << indent << "<tr><td>Longitude:</td><td>" << longitude << "</td><td>deg</td></tr>" << std::endl
<< indent << indent << indent << indent << indent << indent << "<tr><td>Latitude:</td><td>" << latitude << "</td><td>deg</td></tr>" << std::endl
<< indent << indent << indent << indent << indent << indent << "<tr><td>Altitude:</td><td>" << height << "</td><td>m</td></tr>" << std::endl
<< indent << indent << indent << indent << indent << indent << "<tr><td>Speed:</td><td>" << speed_over_ground << "</td><td>m/s</td></tr>" << std::endl
<< indent << indent << indent << indent << indent << indent << "<tr><td>Course:</td><td>" << course_over_ground << "</td><td>deg</td></tr>" << std::endl
<< indent << indent << indent << indent << indent << indent << "<tr><td>HDOP:</td><td>" << hdop << "</td></tr>" << std::endl
<< indent << indent << indent << indent << indent << indent << "<tr><td>VDOP:</td><td>" << vdop << "</td></tr>" << std::endl
<< indent << indent << indent << indent << indent << indent << "<tr><td>PDOP:</td><td>" << pdop << "</td></tr>" << std::endl
<< indent << indent << indent << indent << indent << "</table>" << std::endl
<< indent << indent << indent << indent << "]]></description>" << std::endl
<< indent << indent << indent << indent << "<TimeStamp>" << std::endl
<< indent << indent << indent << indent << indent << "<when>" << utc_time << "</when>" << std::endl
<< indent << indent << indent << indent << "</TimeStamp>" << std::endl
<< indent << indent << indent << indent << "<styleUrl>#track</styleUrl>" << std::endl
<< indent << indent << indent << indent << "<Point>" << std::endl
<< indent << indent << indent << indent << indent << "<altitudeMode>absolute</altitudeMode>" << std::endl
<< indent << indent << indent << indent << indent << "<coordinates>" << longitude << "," << latitude << "," << height << "</coordinates>" << std::endl
<< indent << indent << indent << indent << "</Point>" << std::endl
<< indent << indent << indent << "</Placemark>" << std::endl;
tmp_file << indent << indent << indent << indent << indent
<< longitude << "," << latitude << "," << height << std::endl;
return true;
}
else
@ -161,14 +291,32 @@ bool Kml_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position,
bool Kml_Printer::close_file()
{
if (kml_file.is_open())
if (kml_file.is_open() && tmp_file.is_open())
{
kml_file << "</coordinates>" << std::endl
<< "</LineString>" << std::endl
<< "</Placemark>" << std::endl
<< "</Document>" << std::endl
tmp_file.close();
kml_file << indent << indent << "</Folder>"
<< indent << indent << "<Placemark>" << std::endl
<< indent << indent << indent << "<name>Path</name>" << std::endl
<< indent << indent << indent << "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
<< indent << indent << indent << "<LineString>" << std::endl
<< indent << indent << indent << indent << "<extrude>0</extrude>" << std::endl
<< indent << indent << indent << indent << "<tessellate>1</tessellate>" << std::endl
<< indent << indent << indent << indent << "<altitudeMode>absolute</altitudeMode>" << std::endl
<< indent << indent << indent << indent << "<coordinates>" << std::endl;
// Copy the contents of tmp_file into kml_file
std::ifstream src(tmp_file_str, std::ios::binary);
kml_file << src.rdbuf();
kml_file << indent << indent << indent << indent << "</coordinates>" << std::endl
<< indent << indent << indent << "</LineString>" << std::endl
<< indent << indent << "</Placemark>" << std::endl
<< indent << "</Document>" << std::endl
<< "</kml>";
kml_file.close();
return true;
}
else
@ -178,12 +326,6 @@ bool Kml_Printer::close_file()
}
Kml_Printer::Kml_Printer()
{
positions_printed = false;
}
Kml_Printer::~Kml_Printer()
{
close_file();

12
src/algorithms/PVT/libs/kml_printer.h
View File

@ -2,7 +2,7 @@
* \file kml_printer.h
* \brief Interface of a class that prints PVT information to a kml file
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
*
* -------------------------------------------------------------------------
*
@ -34,6 +34,7 @@
#define GNSS_SDR_KML_PRINTER_H_
#include "pvt_solution.h"
#include "rtklib_solver.h"
#include <fstream>
#include <memory>
#include <string>
@ -48,14 +49,19 @@ class Kml_Printer
{
private:
std::ofstream kml_file;
std::ofstream tmp_file;
bool positions_printed;
std::string kml_filename;
std::string kml_base_path;
std::string tmp_file_str;
unsigned int point_id;
std::string indent;
public:
Kml_Printer();
Kml_Printer(const std::string& base_path = std::string("."));
~Kml_Printer();
bool set_headers(std::string filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values);
bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);
bool close_file();
};

13
src/algorithms/PVT/libs/ls_pvt.cc
View File

@ -31,6 +31,7 @@
#include "ls_pvt.h"
#include "GPS_L1_CA.h"
#include "geofunctions.h"
#include <glog/logging.h>
#include <exception>
#include <stdexcept>
@ -235,15 +236,12 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
double* azim = 0;
double* elev = 0;
double* dist = 0;
Ls_Pvt::topocent(azim, elev, dist, pos.subvec(0, 2), Rot_X - pos.subvec(0, 2));
this->set_visible_satellites_Az(i, *azim);
this->set_visible_satellites_El(i, *elev);
this->set_visible_satellites_Distance(i, *dist);
topocent(azim, elev, dist, pos.subvec(0, 2), Rot_X - pos.subvec(0, 2));
if (traveltime < 0.1 && nmbOfSatellites > 3)
{
//--- Find receiver's height
Ls_Pvt::togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
// Add troposphere correction if the receiver is below the troposphere
if (h > 15000)
{
@ -253,7 +251,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
else
{
//--- Find delay due to troposphere (in meters)
Ls_Pvt::tropo(&trop, sin(this->get_visible_satellites_El(i) * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
Ls_Pvt::tropo(&trop, sin(*elev * GPS_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
if (trop > 5.0) trop = 0.0; //check for erratic values
}
}
@ -280,9 +278,6 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
}
}
//-- compute the Dilution Of Precision values
//this->set_Q(arma::inv(arma::htrans(A) * A));
// check the consistency of the PVT solution
if (((fabs(pos(3)) * 1000.0) / GPS_C_m_s) > GPS_STARTOFFSET_ms * 2)
{

434
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -34,8 +34,13 @@
*/
#include "nmea_printer.h"
#include "rtklib_solution.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <glog/logging.h>
#include <cstdint>
#include <fcntl.h>
#include <termios.h>
@ -43,14 +48,56 @@
using google::LogMessage;
Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_tty_port, std::string nmea_dump_devname)
Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_devname, const std::string& base_path)
{
nmea_filename = filename;
nmea_base_path = base_path;
d_flag_nmea_output_file = flag_nmea_output_file;
if (d_flag_nmea_output_file == true)
{
boost::filesystem::path full_path(boost::filesystem::current_path());
const boost::filesystem::path p(nmea_base_path);
if (!boost::filesystem::exists(p))
{
std::string new_folder;
for (auto& folder : boost::filesystem::path(nmea_base_path))
{
new_folder += folder.string();
boost::system::error_code ec;
if (!boost::filesystem::exists(new_folder))
{
if (!boost::filesystem::create_directory(new_folder, ec))
{
std::cout << "Could not create the " << new_folder << " folder." << std::endl;
nmea_base_path = full_path.string();
}
}
new_folder += boost::filesystem::path::preferred_separator;
}
}
else
{
nmea_base_path = p.string();
}
if ((nmea_base_path.compare(".") != 0) and (d_flag_nmea_output_file == true))
{
std::cout << "NMEA files will be stored at " << nmea_base_path << std::endl;
}
nmea_base_path = nmea_base_path + boost::filesystem::path::preferred_separator;
nmea_filename = nmea_base_path + filename;
nmea_file_descriptor.open(nmea_filename.c_str(), std::ios::out);
if (nmea_file_descriptor.is_open())
{
DLOG(INFO) << "NMEA printer writing on " << nmea_filename.c_str();
}
else
{
std::cout << "File " << nmea_filename << " cannot be saved. Wrong permissions?" << std::endl;
}
}
nmea_devname = nmea_dump_devname;
if (flag_nmea_tty_port == true)
@ -86,11 +133,11 @@ int Nmea_Printer::init_serial(std::string serial_device)
*/
int fd = 0;
struct termios options;
long BAUD;
long DATABITS;
long STOPBITS;
long PARITYON;
long PARITY;
int64_t BAUD;
int64_t DATABITS;
int64_t STOPBITS;
int64_t PARITYON;
int64_t PARITY;
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) return fd; // failed to open TTY port
@ -148,6 +195,8 @@ bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<rtklib_solver>& pvt_dat
GPGSV = get_GPGSV();
// write to log file
if (d_flag_nmea_output_file)
{
try
{
// GPRMC
@ -162,7 +211,7 @@ bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr<rtklib_solver>& pvt_dat
catch (const std::exception& ex)
{
DLOG(INFO) << "NMEA printer can not write on output file" << nmea_filename.c_str();
;
}
}
// write to serial device
@ -328,100 +377,10 @@ std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_
std::string Nmea_Printer::get_GPRMC()
{
// Sample -> $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,*10
bool valid_fix = d_PVT_data->is_valid_position();
// ToDo: Compute speed and course over ground
double speed_over_ground_knots = 0;
double course_over_ground_deg = 0;
//boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time();
std::stringstream sentence_str;
//GPRMC (RMC-Recommended,Minimum Specific GNSS Data)
std::string sentence_header;
sentence_header = "$GPRMC,";
sentence_str << sentence_header;
//UTC Time: hhmmss.sss
sentence_str << get_UTC_NMEA_time(d_PVT_data->get_position_UTC_time());
//Status: A: data valid, V: data NOT valid
if (valid_fix == true)
{
sentence_str << ",A";
}
else
{
sentence_str << ",V";
};
if (print_avg_pos == true)
{
// Latitude ddmm.mmmm,(N or S)
sentence_str << "," << latitude_to_hm(d_PVT_data->get_avg_latitude());
// longitude dddmm.mmmm,(E or W)
sentence_str << "," << longitude_to_hm(d_PVT_data->get_avg_longitude());
}
else
{
// Latitude ddmm.mmmm,(N or S)
sentence_str << "," << latitude_to_hm(d_PVT_data->get_latitude());
// longitude dddmm.mmmm,(E or W)
sentence_str << "," << longitude_to_hm(d_PVT_data->get_longitude());
}
//Speed over ground (knots)
sentence_str << ",";
sentence_str.setf(std::ios::fixed, std::ios::floatfield);
sentence_str.precision(2);
sentence_str << speed_over_ground_knots;
//course over ground (degrees)
sentence_str << ",";
sentence_str.setf(std::ios::fixed, std::ios::floatfield);
sentence_str.precision(2);
sentence_str << course_over_ground_deg;
// Date ddmmyy
boost::gregorian::date sentence_date = d_PVT_data->get_position_UTC_time().date();
unsigned int year = sentence_date.year();
unsigned int day = sentence_date.day();
unsigned int month = sentence_date.month();
sentence_str << ",";
sentence_str.width(2);
sentence_str.fill('0');
sentence_str << day;
sentence_str.width(2);
sentence_str.fill('0');
sentence_str << month;
std::stringstream year_strs;
year_strs << std::dec << year;
sentence_str << std::dec << year_strs.str().substr(2);
//Magnetic Variation (degrees)
// ToDo: Implement magnetic compass
sentence_str << ",";
//Magnetic Variation (E or W)
// ToDo: Implement magnetic compass
sentence_str << ",";
// Checksum
char checksum;
std::string tmpstr;
tmpstr = sentence_str.str();
checksum = checkSum(tmpstr.substr(1));
sentence_str << "*";
sentence_str.width(2);
sentence_str.fill('0');
sentence_str << std::hex << static_cast<int>(checksum);
// end NMEA sentence
sentence_str << "\r\n";
unsigned char buff[1024] = {0};
outnmea_rmc(buff, &d_PVT_data->pvt_sol);
sentence_str << buff;
return sentence_str.str();
}
@ -430,82 +389,10 @@ std::string Nmea_Printer::get_GPGSA()
{
// $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
// GSA-GNSS DOP and Active Satellites
bool valid_fix = d_PVT_data->is_valid_position();
int n_sats_used = d_PVT_data->get_num_valid_observations();
double pdop = d_PVT_data->get_pdop();
double hdop = d_PVT_data->get_hdop();
double vdop = d_PVT_data->get_vdop();
std::stringstream sentence_str;
std::string sentence_header;
sentence_header = "$GPGSA,";
sentence_str << sentence_header;
// mode1:
// (M) Manual-forced to operate in 2D or 3D mode
// (A) Automatic-allowed to automatically switch 2D/3D
std::string mode1 = "M";
sentence_str << mode1;
// mode2:
// 1 fix not available
// 2 fix 2D
// 3 fix 3D
if (valid_fix == true)
{
sentence_str << ",3";
}
else
{
sentence_str << ",1";
};
// Used satellites
for (int i = 0; i < 12; i++)
{
sentence_str << ",";
if (i < n_sats_used)
{
sentence_str.width(2);
sentence_str.fill('0');
sentence_str << d_PVT_data->get_visible_satellites_ID(i);
}
}
// PDOP
sentence_str << ",";
sentence_str.setf(std::ios::fixed, std::ios::floatfield);
sentence_str.width(2);
sentence_str.precision(1);
sentence_str.fill('0');
sentence_str << pdop;
//HDOP
sentence_str << ",";
sentence_str.setf(std::ios::fixed, std::ios::floatfield);
sentence_str.width(2);
sentence_str.precision(1);
sentence_str.fill('0');
sentence_str << hdop;
//VDOP
sentence_str << ",";
sentence_str.setf(std::ios::fixed, std::ios::floatfield);
sentence_str.width(2);
sentence_str.precision(1);
sentence_str.fill('0');
sentence_str << vdop;
// Checksum
char checksum;
std::string tmpstr;
tmpstr = sentence_str.str();
checksum = checkSum(tmpstr.substr(1));
sentence_str << "*";
sentence_str.width(2);
sentence_str.fill('0');
sentence_str << std::hex << static_cast<int>(checksum);
// end NMEA sentence
sentence_str << "\r\n";
unsigned char buff[1024] = {0};
outnmea_gsa(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat);
sentence_str << buff;
return sentence_str.str();
}
@ -513,199 +400,22 @@ std::string Nmea_Printer::get_GPGSA()
std::string Nmea_Printer::get_GPGSV()
{
// GSV-GNSS Satellites in View
// Notice that NMEA 2.1 only supports 12 channels
int n_sats_used = d_PVT_data->get_num_valid_observations();
std::stringstream sentence_str;
std::stringstream frame_str;
std::string sentence_header;
sentence_header = "$GPGSV,";
char checksum;
std::string tmpstr;
// 1st step: How many GPGSV frames we need? (up to 3)
// Each frame contains up to 4 satellites
int n_frames;
n_frames = std::ceil((static_cast<double>(n_sats_used)) / 4.0);
// generate the frames
int current_satellite = 0;
for (int i = 1; i < (n_frames + 1); i++)
{
frame_str.str("");
frame_str << sentence_header;
// number of messages
frame_str << n_frames;
// message number
frame_str << ",";
frame_str << i;
// total number of satellites in view
frame_str << ",";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::dec << n_sats_used;
//satellites info
for (int j = 0; j < 4; j++)
{
// write satellite info
frame_str << ",";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::dec << d_PVT_data->get_visible_satellites_ID(current_satellite);
frame_str << ",";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_El(current_satellite));
frame_str << ",";
frame_str.width(3);
frame_str.fill('0');
frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_Az(current_satellite));
frame_str << ",";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::dec << static_cast<int>(d_PVT_data->get_visible_satellites_CN0_dB(current_satellite));
current_satellite++;
if (current_satellite == n_sats_used)
{
break;
}
}
// frame checksum
tmpstr = frame_str.str();
checksum = checkSum(tmpstr.substr(1));
frame_str << "*";
frame_str.width(2);
frame_str.fill('0');
frame_str << std::hex << static_cast<int>(checksum);
// end NMEA sentence
frame_str << "\r\n";
//add frame to sentence
sentence_str << frame_str.str();
}
return sentence_str.str();
// $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71
// Notice that NMEA 2.1 only supports 12 channels
std::stringstream sentence_str;
unsigned char buff[1024] = {0};
outnmea_gsv(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat);
sentence_str << buff;
return sentence_str.str();
}
std::string Nmea_Printer::get_GPGGA()
{
//boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time();
bool valid_fix = d_PVT_data->is_valid_position();
int n_channels = d_PVT_data->get_num_valid_observations(); //d_nchannels
double hdop = d_PVT_data->get_hdop();
double MSL_altitude;
if (d_PVT_data->is_averaging() == true)
{
MSL_altitude = d_PVT_data->get_avg_height();
}
else
{
MSL_altitude = d_PVT_data->get_height();
}
std::stringstream sentence_str;
//GPGGA (Global Positioning System Fixed Data)
std::string sentence_header;
sentence_header = "$GPGGA,";
sentence_str << sentence_header;
//UTC Time: hhmmss.sss
sentence_str << get_UTC_NMEA_time(d_PVT_data->get_position_UTC_time());
if (d_PVT_data->is_averaging() == true)
{
// Latitude ddmm.mmmm,(N or S)
sentence_str << "," << latitude_to_hm(d_PVT_data->get_avg_latitude());
// longitude dddmm.mmmm,(E or W)
sentence_str << "," << longitude_to_hm(d_PVT_data->get_avg_longitude());
}
else
{
// Latitude ddmm.mmmm,(N or S)
sentence_str << "," << latitude_to_hm(d_PVT_data->get_latitude());
// longitude dddmm.mmmm,(E or W)
sentence_str << "," << longitude_to_hm(d_PVT_data->get_longitude());
}
// Position fix indicator
// 0 - Fix not available or invalid
// 1 - GPS SPS Mode, fix valid
// 2 - Differential GPS, SPS Mode, fix valid
// 3-5 - Not supported
// 6 - Dead Reckoning Mode, fix valid
// ToDo: Update PVT module to identify the fix mode
if (valid_fix == true)
{
sentence_str << ",1";
}
else
{
sentence_str << ",0";
}
// Number of satellites used in PVT
sentence_str << ",";
if (n_channels < 10)
{
sentence_str << '0' << n_channels;
}
else
{
sentence_str << n_channels;
}
// HDOP
sentence_str << ",";
sentence_str.setf(std::ios::fixed, std::ios::floatfield);
sentence_str.width(2);
sentence_str.precision(1);
sentence_str.fill('0');
sentence_str << hdop;
// MSL Altitude
sentence_str << ",";
sentence_str.precision(1);
sentence_str << MSL_altitude;
sentence_str << ",M";
// Geoid-to-ellipsoid separation. Ellipsoid altitude = MSL Altitude + Geoid Separation.
// ToDo: Compute this value
sentence_str << ",";
sentence_str << "0.0";
sentence_str << ",M";
// Age of Diff. Corr. (Seconds) Null fields when DGPS is not used
// Diff. Ref. Station ID (0000)
// ToDo: Implement this fields for Differential GPS
sentence_str << ",";
sentence_str << "0.0,0000";
// Checksum
char checksum;
std::string tmpstr;
tmpstr = sentence_str.str();
checksum = checkSum(tmpstr.substr(1));
sentence_str << "*";
sentence_str.width(2);
sentence_str.fill('0');
sentence_str << std::hex << static_cast<int>(checksum);
// end NMEA sentence
sentence_str << "\r\n";
unsigned char buff[1024] = {0};
outnmea_gga(buff, &d_PVT_data->pvt_sol);
sentence_str << buff;
return sentence_str.str();
// $GPGGA,104427.591,5920.7009,N,01803.2938,E,1,05,3.3,78.2,M,23.2,M,0.0,0000*4A
}

4
src/algorithms/PVT/libs/nmea_printer.h
View File

@ -53,7 +53,7 @@ public:
/*!
* \brief Default constructor.
*/
Nmea_Printer(std::string filename, bool flag_nmea_tty_port, std::string nmea_dump_filename);
Nmea_Printer(std::string filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_filename, const std::string& base_path = ".");
/*!
* \brief Print NMEA PVT and satellite info to the initialized device
@ -67,6 +67,7 @@ public:
private:
std::string nmea_filename; // String with the NMEA log filename
std::string nmea_base_path;
std::ofstream nmea_file_descriptor; // Output file stream for NMEA log file
std::string nmea_devname;
int nmea_dev_descriptor; // NMEA serial device descriptor (i.e. COM port)
@ -82,6 +83,7 @@ private:
std::string latitude_to_hm(double lat);
char checkSum(std::string sentence);
bool print_avg_pos;
bool d_flag_nmea_output_file;
};
#endif

70
src/algorithms/PVT/libs/pvt_conf.cc Normal file
View File

@ -0,0 +1,70 @@
/*!
* \file pvt_conf.cc
* \brief Class that contains all the configuration parameters for a PVT block
* \author Carles Fernandez, 2018. 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 "pvt_conf.h"
Pvt_Conf::Pvt_Conf()
{
type_of_receiver = 0U;
output_rate_ms = 0;
display_rate_ms = 0;
rinex_version = 0;
rinexobs_rate_ms = 0;
rinexnav_rate_ms = 0;
dump = false;
dump_mat = true;
flag_nmea_tty_port = false;
flag_rtcm_server = false;
flag_rtcm_tty_port = false;
rtcm_tcp_port = 0U;
rtcm_station_id = 0U;
output_enabled = true;
rinex_output_enabled = true;
gpx_output_enabled = true;
geojson_output_enabled = true;
nmea_output_file_enabled = true;
kml_output_enabled = true;
xml_output_enabled = true;
rtcm_output_file_enabled = true;
output_path = std::string(".");
rinex_output_path = std::string(".");
gpx_output_path = std::string(".");
geojson_output_path = std::string(".");
nmea_output_file_path = std::string(".");
kml_output_path = std::string(".");
xml_output_path = std::string(".");
rtcm_output_file_path = std::string(".");
}

86
src/algorithms/PVT/libs/pvt_conf.h Normal file
View File

@ -0,0 +1,86 @@
/*!
* \file pvt_conf.h
* \brief Class that contains all the configuration parameters for the PVT block
* \author Carles Fernandez, 2018. 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/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_PVT_CONF_H_
#define GNSS_SDR_PVT_CONF_H_
#include <cstddef>
#include <cstdint>
#include <string>
#include <map>
class Pvt_Conf
{
public:
uint32_t type_of_receiver;
int32_t output_rate_ms;
int32_t display_rate_ms;
int32_t rinex_version;
int32_t rinexobs_rate_ms;
int32_t rinexnav_rate_ms;
std::map<int, int> rtcm_msg_rate_ms;
bool dump;
bool dump_mat;
std::string dump_filename;
bool flag_nmea_tty_port;
std::string nmea_dump_filename;
std::string nmea_dump_devname;
bool flag_rtcm_server;
bool flag_rtcm_tty_port;
uint16_t rtcm_tcp_port;
uint16_t rtcm_station_id;
std::string rtcm_dump_devname;
bool output_enabled;
bool rinex_output_enabled;
bool gpx_output_enabled;
bool geojson_output_enabled;
bool nmea_output_file_enabled;
bool kml_output_enabled;
bool xml_output_enabled;
bool rtcm_output_file_enabled;
std::string output_path;
std::string rinex_output_path;
std::string gpx_output_path;
std::string geojson_output_path;
std::string nmea_output_file_path;
std::string kml_output_path;
std::string xml_output_path;
std::string rtcm_output_file_path;
Pvt_Conf();
};
#endif

407
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -31,6 +31,7 @@
#include "pvt_solution.h"
#include "GPS_L1_CA.h"
#include "geofunctions.h"
#include <glog/logging.h>
#include <exception>
@ -43,6 +44,8 @@ Pvt_Solution::Pvt_Solution()
d_latitude_d = 0.0;
d_longitude_d = 0.0;
d_height_m = 0.0;
d_speed_over_ground_m_s = 0.0;
d_course_over_ground_d = 0.0;
d_avg_latitude_d = 0.0;
d_avg_longitude_d = 0.0;
d_avg_height_m = 0.0;
@ -73,16 +76,9 @@ 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);
R3(0, 0) = cos(omegatau);
R3(0, 1) = sin(omegatau);
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;
arma::mat R3 = {{cos(omegatau), sin(omegatau), 0.0},
{-sin(omegatau), cos(omegatau), 0.0},
{0.0, 0.0, 1.0}};
//--- Do the rotation ------------------------------------------------------
arma::vec X_sat_rot;
@ -133,125 +129,7 @@ int Pvt_Solution::cart2geo(double X, double Y, double Z, int elipsoid_selection)
d_latitude_d = phi * 180.0 / GPS_PI;
d_longitude_d = lambda * 180.0 / GPS_PI;
d_height_m = h;
return 0;
}
int Pvt_Solution::togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z)
{
/* 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
*/
*h = 0;
double tolsq = 1.e-10; // tolerance to accept convergence
int maxit = 10; // max number of iterations
double rtd = 180.0 / GPS_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;
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;
//todo: refactor this class. Mix of duplicated functions, use either RTKLIB geodetic functions or geofunctions.h
return 0;
}
@ -363,83 +241,6 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
}
int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx)
{
/* 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
*/
double lambda;
double phi;
double h;
double dtr = GPS_PI / 180.0;
double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84
double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
// Transform x into geodetic coordinates
Pvt_Solution::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 = arma::zeros(3, 3);
F(0, 0) = -sl;
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;
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;
*El = 90;
}
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;
}
void Pvt_Solution::set_averaging_depth(int depth)
{
d_averaging_depth = depth;
@ -534,6 +335,30 @@ double Pvt_Solution::get_height() const
}
double Pvt_Solution::get_speed_over_ground() const
{
return d_speed_over_ground_m_s;
}
void Pvt_Solution::set_speed_over_ground(double speed_m_s)
{
d_speed_over_ground_m_s = speed_m_s;
}
void Pvt_Solution::set_course_over_ground(double cog_deg)
{
d_course_over_ground_d = cog_deg;
}
double Pvt_Solution::get_course_over_ground() const
{
return d_course_over_ground_d;
}
double Pvt_Solution::get_avg_latitude() const
{
return d_avg_latitude_d;
@ -557,6 +382,7 @@ bool Pvt_Solution::is_averaging() const
return d_flag_averaging;
}
bool Pvt_Solution::is_valid_position() const
{
return b_valid_position;
@ -606,172 +432,3 @@ void Pvt_Solution::set_num_valid_observations(int num)
{
d_valid_observations = num;
}
bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
{
if (index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Setting sat ID to channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false;
}
else
{
if (prn >= PVT_MAX_PRN)
{
LOG(WARNING) << "Setting to channel " << index << " a PRN of " << prn << " (the maximum is " << PVT_MAX_PRN << ")";
return false;
}
else
{
d_visible_satellites_IDs[index] = prn;
return true;
}
}
}
unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const
{
if (index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting sat ID for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0;
}
else
{
return d_visible_satellites_IDs[index];
}
}
bool Pvt_Solution::set_visible_satellites_El(size_t index, double el)
{
if (index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Setting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false;
}
else
{
if (el > 90.0)
{
LOG(WARNING) << "Setting a sat elevation > 90 [degrees]. Saturating to 90";
d_visible_satellites_El[index] = 90.0;
}
else
{
if (el < -90.0)
{
LOG(WARNING) << "Setting a sat elevation < -90 [degrees]. Saturating to -90";
d_visible_satellites_El[index] = -90.0;
}
else
{
d_visible_satellites_El[index] = el;
}
}
return true;
}
}
double Pvt_Solution::get_visible_satellites_El(size_t index) const
{
if (index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0;
}
else
{
return d_visible_satellites_El[index];
}
}
bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
{
if (index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false;
}
else
{
d_visible_satellites_Az[index] = az;
return true;
}
}
double Pvt_Solution::get_visible_satellites_Az(size_t index) const
{
if (index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0;
}
else
{
return d_visible_satellites_Az[index];
}
}
bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
{
if (index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Setting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false;
}
else
{
d_visible_satellites_Distance[index] = dist;
return true;
}
}
double Pvt_Solution::get_visible_satellites_Distance(size_t index) const
{
if (index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0;
}
else
{
return d_visible_satellites_Distance[index];
}
}
bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
{
if (index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Setting sat Cn0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false;
}
else
{
d_visible_satellites_CN0_dB[index] = cn0;
return true;
}
}
double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const
{
if (index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting received CN0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0;
}
else
{
return d_visible_satellites_CN0_dB[index];
}
}

64
src/algorithms/PVT/libs/pvt_solution.h
View File

@ -52,6 +52,8 @@ private:
double d_latitude_d; // RX position Latitude WGS84 [deg]
double d_longitude_d; // RX position Longitude WGS84 [deg]
double d_height_m; // RX position height WGS84 [m]
double d_speed_over_ground_m_s; // RX speed over ground [m/s]
double d_course_over_ground_d; // RX course over ground [deg]
double d_avg_latitude_d; // Averaged latitude in degrees
double d_avg_longitude_d; // Averaged longitude in degrees
@ -70,12 +72,6 @@ private:
boost::posix_time::ptime d_position_UTC_time;
int d_valid_observations;
int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {}; // Array with the IDs of the valid satellites
double d_visible_satellites_El[PVT_MAX_CHANNELS] = {}; // Array with the LOS Elevation of the valid satellites
double d_visible_satellites_Az[PVT_MAX_CHANNELS] = {}; // Array with the LOS Azimuth of the valid satellites
double d_visible_satellites_Distance[PVT_MAX_CHANNELS] = {}; // Array with the LOS Distance of the valid satellites
double d_visible_satellites_CN0_dB[PVT_MAX_CHANNELS] = {}; // Array with the IDs of the valid satellites
public:
Pvt_Solution();
@ -86,6 +82,12 @@ public:
double get_longitude() const; //!< Get RX position Longitude WGS84 [deg]
double get_height() const; //!< Get RX position height WGS84 [m]
double get_speed_over_ground() const; //!< Get RX speed over ground [m/s]
void set_speed_over_ground(double speed_m_s); //!< Set RX speed over ground [m/s]
double get_course_over_ground() const; //!< Get RX course over ground [deg]
void set_course_over_ground(double cog_deg); //!< Set RX course over ground [deg]
double get_avg_latitude() const; //!< Get RX position averaged Latitude WGS84 [deg]
double get_avg_longitude() const; //!< Get RX position averaged Longitude WGS84 [deg]
double get_avg_height() const; //!< Get RX position averaged height WGS84 [m]
@ -102,21 +104,6 @@ public:
int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites)
void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites)
bool set_visible_satellites_ID(size_t index, unsigned int prn); //!< Set the ID of the visible satellite index channel
unsigned int get_visible_satellites_ID(size_t index) const; //!< Get the ID of the visible satellite index channel
bool set_visible_satellites_El(size_t index, double el); //!< Set the LOS Elevation, in degrees, of the visible satellite index channel
double get_visible_satellites_El(size_t index) const; //!< Get the LOS Elevation, in degrees, of the visible satellite index channel
bool set_visible_satellites_Az(size_t index, double az); //!< Set the LOS Azimuth, in degrees, of the visible satellite index channel
double get_visible_satellites_Az(size_t index) const; //!< Get the LOS Azimuth, in degrees, of the visible satellite index channel
bool set_visible_satellites_Distance(size_t index, double dist); //!< Set the LOS Distance of the visible satellite index channel
double get_visible_satellites_Distance(size_t index) const; //!< Get the LOS Distance of the visible satellite index channel
bool set_visible_satellites_CN0_dB(size_t index, double cn0); //!< Set the CN0 in dB of the visible satellite index channel
double get_visible_satellites_CN0_dB(size_t index) const; //!< Get the CN0 in dB of the visible satellite index channel
//averaging
void perform_pos_averaging();
void set_averaging_depth(int depth); //!< Set length of averaging window
@ -142,41 +129,6 @@ public:
*/
int cart2geo(double X, double Y, double Z, int elipsoid_selection);
/*!
* \brief Transformation of vector dx into topocentric coordinate system with origin at x
*
* \param[in] x Vector origin coordinates (in ECEF system [X; Y; Z;])
* \param[in] dx Vector ([dX; dY; dZ;]).
*
* \param[out] D Vector length. Units like the input
* \param[out] Az Azimuth from north positive clockwise, degrees
* \param[out] 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.
*
* \param[in] a - semi-major axis of the reference ellipsoid
* \param[in] finv - inverse of flattening of the reference ellipsoid
* \param[in] X,Y,Z - Cartesian coordinates
*
* \param[out] dphi - latitude
* \param[out] dlambda - longitude
* \param[out] 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);
/*!
* \brief Tropospheric correction
*

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