mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-09-29 15:30:52 +00:00
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
Carles Fernandez
commit
f562b0f765
@ -352,7 +352,7 @@ set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
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set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
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set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10.6")
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set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.13")
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set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.9")
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################################################################################
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@ -1216,6 +1216,53 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
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endif(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERSION})
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################################################################################
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# PugiXML - https://pugixml.org/
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################################################################################
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find_package(PugiXML QUIET)
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if(PugiXML_FOUND)
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message(STATUS "PugiXML has been found. Reading of GSA Galileo almanac XML files enabled.")
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else(PugiXML_FOUND)
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message(STATUS " PugiXML v${GNSSSDR_PUGIXML_LOCAL_VERSION} will be downloaded and built automatically when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'.")
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set(PUGIXML_COMPILER -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER})
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set(TOOLCHAIN_ARG "")
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if(EXISTS $ENV{OECORE_TARGET_SYSROOT})
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set(PUGIXML_COMPILER "")
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set(TOOLCHAIN_ARG "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_CURRENT_SOURCE_DIR}/cmake/Toolchains/oe-sdk_cross.cmake")
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endif(EXISTS $ENV{OECORE_TARGET_SYSROOT})
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if(CMAKE_VERSION VERSION_LESS 3.2)
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ExternalProject_Add(
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pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
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PREFIX ${CMAKE_CURRENT_BINARY_DIR}/pugixml
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GIT_REPOSITORY https://github.com/zeux/pugixml
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GIT_TAG v${GNSSSDR_PUGIXML_LOCAL_VERSION}
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SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
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BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
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CMAKE_ARGS ${PUGIXML_COMPILER} ${TOOLCHAIN_ARG}
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UPDATE_COMMAND ""
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PATCH_COMMAND ""
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INSTALL_COMMAND ""
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)
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else(CMAKE_VERSION VERSION_LESS 3.2)
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ExternalProject_Add(
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pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
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PREFIX ${CMAKE_CURRENT_BINARY_DIR}/pugixml
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GIT_REPOSITORY https://github.com/zeux/pugixml
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GIT_TAG v${GNSSSDR_PUGIXML_LOCAL_VERSION}
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SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
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BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
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CMAKE_ARGS ${PUGIXML_COMPILER} ${TOOLCHAIN_ARG}
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UPDATE_COMMAND ""
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PATCH_COMMAND ""
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BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}
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INSTALL_COMMAND ""
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)
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endif(CMAKE_VERSION VERSION_LESS 3.2)
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set(PUGIXML_LIBRARY ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX} )
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set(PUGIXML_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/src )
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set(PUGIXML_LOCAL true)
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endif(PugiXML_FOUND)
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################################################################################
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# USRP Hardware Driver (UHD) - OPTIONAL
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11
README.md
11
README.md
@ -64,7 +64,8 @@ $ sudo apt-get install build-essential cmake git libboost-dev libboost-date-time
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libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev \
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libboost-serialization-dev liblog4cpp5-dev libuhd-dev gnuradio-dev gr-osmosdr \
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libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev \
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libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev libgtest-dev
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libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev libpugixml-dev \
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libgtest-dev
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~~~~~~
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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".
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@ -85,7 +86,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel cmake git boost-devel
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boost-date-time boost-system boost-filesystem boost-thread boost-chrono \
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boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \
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blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \
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glog-devel openssl-devel libpcap-devel python-mako python-six
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glog-devel openssl-devel libpcap-devel python-mako python-six pugixml-devel
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~~~~~~
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Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
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@ -102,7 +103,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel libtool \
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hdf5-devel cmake git boost-devel boost-date-time boost-system \
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boost-filesystem boost-thread boost-chrono boost-serialization \
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log4cpp-devel gnuradio-devel gr-osmosdr-devel blas-devel lapack-devel \
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armadillo-devel openssl-devel libpcap-devel python-mako python-six
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armadillo-devel openssl-devel libpcap-devel python-mako python-six pugixml-devel
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~~~~~~
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Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
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@ -113,7 +114,7 @@ If you are using Arch Linux (with base-devel group installed):
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~~~~~~
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$ pacman -S cmake git boost boost-libs log4cpp libvolk gnuradio gnuradio-osmosdr \
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blas lapack gflags google-glog openssl python2-mako python2-six \
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blas lapack gflags google-glog openssl pugixml python2-mako python2-six \
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libmatio libpcap gtest
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~~~~~~
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@ -547,6 +548,7 @@ $ sudo port install google-glog +gflags
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$ sudo port install py27-mako
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$ sudo port install py27-six
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$ sudo port install matio
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$ sudo port install pugixml
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~~~~~~
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You also might need to activate a Python installation. The list of installed versions can be retrieved with:
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@ -586,6 +588,7 @@ $ brew install armadillo
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$ brew install glog gflags gnutls
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$ brew install gnuradio
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$ brew install libmatio
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$ brew install pugixml
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$ pip install mako
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$ pip install six
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~~~~~~
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69
cmake/Modules/FindPugiXML.cmake
Normal file
69
cmake/Modules/FindPugiXML.cmake
Normal file
@ -0,0 +1,69 @@
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# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
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#
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# This file is part of GNSS-SDR.
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#
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# GNSS-SDR is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation, either version 3 of the License, or
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# (at your option) any later version.
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#
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# GNSS-SDR is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License
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# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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# Find the pugixml XML parsing library.
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#
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# Sets the usual variables expected for find_package scripts:
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#
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# PUGIXML_INCLUDE_DIR - header location
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# PUGIXML_LIBRARIES - library to link against
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# PUGIXML_FOUND - true if pugixml was found.
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find_path (PUGIXML_INCLUDE_DIR
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NAMES pugixml.hpp
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PATHS ${PUGIXML_HOME}/include
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/usr/include
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/usr/local/include
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/opt/local/include)
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find_library (PUGIXML_LIBRARY
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NAMES pugixml
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PATHS ${PUGIXML_HOME}/lib
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/usr/lib/x86_64-linux-gnu
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/usr/lib/aarch64-linux-gnu
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/usr/lib/arm-linux-gnueabi
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/usr/lib/arm-linux-gnueabihf
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/usr/lib/i386-linux-gnu
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/usr/lib/mips-linux-gnu
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/usr/lib/mips64el-linux-gnuabi64
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/usr/lib/mipsel-linux-gnu
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/usr/lib/powerpc64le-linux-gnu
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/usr/lib/s390x-linux-gnu
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/usr/local/lib
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/opt/local/lib
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/usr/lib
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/usr/lib64
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/usr/local/lib64 )
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# Support the REQUIRED and QUIET arguments, and set PUGIXML_FOUND if found.
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include (FindPackageHandleStandardArgs)
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FIND_PACKAGE_HANDLE_STANDARD_ARGS (PugiXML DEFAULT_MSG PUGIXML_LIBRARY
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PUGIXML_INCLUDE_DIR)
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if (PUGIXML_FOUND)
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set (PUGIXML_LIBRARIES ${PUGIXML_LIBRARY})
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if (NOT PugiXML_FIND_QUIETLY)
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message (STATUS "PugiXML include = ${PUGIXML_INCLUDE_DIR}")
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message (STATUS "PugiXML library = ${PUGIXML_LIBRARY}")
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endif (NOT PugiXML_FIND_QUIETLY)
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else (PUGIXML_FOUND)
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message (STATUS "PugiXML not found.")
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endif(PUGIXML_FOUND)
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mark_as_advanced (PUGIXML_LIBRARY PUGIXML_INCLUDE_DIR)
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@ -45,6 +45,7 @@ include_directories(
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${GLOG_INCLUDE_DIRS}
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${GFlags_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${PUGIXML_INCLUDE_DIR}
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)
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list(SORT CORE_LIBS_HEADERS)
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@ -52,4 +53,8 @@ list(SORT CORE_LIBS_SOURCES)
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add_library(rx_core_lib ${CORE_LIBS_SOURCES} ${CORE_LIBS_HEADERS})
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source_group(Headers FILES ${CORE_LIBS_HEADERS})
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target_link_libraries(rx_core_lib supl_library)
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target_link_libraries(rx_core_lib supl_library ${PUGIXML_LIBRARY})
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if(PUGIXML_LOCAL)
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add_dependencies(rx_core_lib pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION})
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endif(PUGIXML_LOCAL)
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@ -32,6 +32,7 @@
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*/
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#include "gnss_sdr_supl_client.h"
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#include <pugixml.hpp>
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#include <cmath>
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#include <utility>
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@ -842,11 +843,61 @@ bool gnss_sdr_supl_client::load_gal_almanac_xml(const std::string file_name)
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boost::archive::xml_iarchive xml(ifs);
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gal_almanac_map.clear();
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xml >> boost::serialization::make_nvp("GNSS-SDR_gal_almanac_map", this->gal_almanac_map);
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LOG(INFO) << "Loaded Galileo almanac map data with " << this->gal_almanac_map.size() << " satellites";
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}
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catch (std::exception& e)
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{
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LOG(WARNING) << e.what() << "File: " << file_name;
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// Maybe the file is from https://www.gsc-europa.eu/system-status/almanac-data ?
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return this->read_gal_almanac_from_gsa(file_name);
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}
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LOG(INFO) << "Loaded Galileo almanac map data with " << this->gal_almanac_map.size() << " satellites";
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return true;
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}
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bool gnss_sdr_supl_client::read_gal_almanac_from_gsa(const std::string file_name)
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{
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pugi::xml_document doc;
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pugi::xml_parse_result result = doc.load_file(file_name.c_str());
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if (!result)
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{
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LOG(WARNING) << "Error loading file " << file_name << ":" << result.description();
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return false;
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}
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for (pugi::xml_node almanac : doc.child("signalData")
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.child("body")
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.child("Almanacs")
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.children("svAlmanac"))
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{
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Galileo_Almanac gal_alm;
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try
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{
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uint32_t prn = static_cast<uint32_t>(std::stoi(almanac.child_value("SVID")));
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gal_alm.i_satellite_PRN = prn;
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gal_alm.i_Toa = std::stoi(almanac.child("almanac").child_value("t0a"));
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gal_alm.i_WNa = std::stoi(almanac.child("almanac").child_value("wna"));
|
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gal_alm.i_IODa = std::stoi(almanac.child("almanac").child_value("iod"));
|
||||
gal_alm.d_Delta_i = std::stod(almanac.child("almanac").child_value("deltai"));
|
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gal_alm.d_M_0 = std::stod(almanac.child("almanac").child_value("deltai"));
|
||||
gal_alm.d_e_eccentricity = std::stod(almanac.child("almanac").child_value("ecc"));
|
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gal_alm.d_Delta_sqrt_A = std::stod(almanac.child("almanac").child_value("aSqRoot"));
|
||||
gal_alm.d_OMEGA0 = std::stod(almanac.child("almanac").child_value("omega0"));
|
||||
gal_alm.d_OMEGA = std::stod(almanac.child("almanac").child_value("w"));
|
||||
gal_alm.d_OMEGA_DOT = std::stod(almanac.child("almanac").child_value("omegaDot"));
|
||||
gal_alm.d_A_f0 = std::stod(almanac.child("almanac").child_value("af0"));
|
||||
gal_alm.d_A_f1 = std::stod(almanac.child("almanac").child_value("af1"));
|
||||
gal_alm.E5b_HS = std::stoi(almanac.child("svINavSignalStatus").child_value("statusE5b"));
|
||||
gal_alm.E1B_HS = std::stoi(almanac.child("svINavSignalStatus").child_value("statusE1B"));
|
||||
gal_alm.E5a_HS = std::stoi(almanac.child("svFNavSignalStatus").child_value("statusE5a"));
|
||||
|
||||
this->gal_almanac_map[static_cast<int>(prn)] = gal_alm;
|
||||
}
|
||||
catch (const std::exception& e)
|
||||
{
|
||||
std::cerr << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
if (this->gal_almanac_map.empty())
|
||||
{
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
|
||||
@ -77,6 +77,7 @@ private:
|
||||
supl_ctx_t ctx;
|
||||
// assistance data
|
||||
supl_assist_t assist;
|
||||
bool read_gal_almanac_from_gsa(const std::string file_name);
|
||||
|
||||
public:
|
||||
// SUPL SERVER INFO
|
||||
|
||||
@ -157,6 +157,7 @@ include_directories(
|
||||
${GFlags_INCLUDE_DIRS}
|
||||
${Boost_INCLUDE_DIRS}
|
||||
${GNURADIO_RUNTIME_INCLUDE_DIRS}
|
||||
${PUGIXML_INCLUDE_DIR}
|
||||
${OPT_RECEIVER_INCLUDE_DIRS}
|
||||
${VOLK_GNSSSDR_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
@ -241,8 +241,8 @@ bool ControlThread::read_assistance_from_XML()
|
||||
std::string cnav_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_cnav_utc_model_xml", cnav_utc_default_xml_filename);
|
||||
std::string eph_glo_xml_filename = configuration_->property("GNSS-SDR.SUPL_glo_ephemeris_xml", eph_glo_gnav_default_xml_filename);
|
||||
std::string glo_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_glo_utc_model_xml", glo_utc_default_xml_filename);
|
||||
std::string gal_almanac_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_almanacl_xml", gal_almanac_default_xml_filename);
|
||||
std::string gps_almanac_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_almanacl_xml", gps_almanac_default_xml_filename);
|
||||
std::string gal_almanac_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_almanac_xml", gal_almanac_default_xml_filename);
|
||||
std::string gps_almanac_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_almanac_xml", gps_almanac_default_xml_filename);
|
||||
|
||||
if (configuration_->property("GNSS-SDR.AGNSS_XML_enabled", false) == true)
|
||||
{
|
||||
@ -258,7 +258,8 @@ bool ControlThread::read_assistance_from_XML()
|
||||
cnav_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_cnav_utc_model_xml", cnav_utc_default_xml_filename);
|
||||
eph_glo_xml_filename = configuration_->property("GNSS-SDR.AGNSS_glo_ephemeris_xml", eph_glo_gnav_default_xml_filename);
|
||||
glo_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_glo_utc_model_xml", glo_utc_default_xml_filename);
|
||||
gal_almanac_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gal_almanacl_xml", gal_almanac_default_xml_filename);
|
||||
gal_almanac_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gal_almanac_xml", gal_almanac_default_xml_filename);
|
||||
gps_almanac_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_almanac_xml", gps_almanac_default_xml_filename);
|
||||
}
|
||||
|
||||
std::cout << "Trying to read GNSS ephemeris from XML file(s)..." << std::endl;
|
||||
|
||||
@ -61,6 +61,7 @@ include_directories(
|
||||
${ARMADILLO_INCLUDE_DIRS}
|
||||
${Boost_INCLUDE_DIRS}
|
||||
${GNURADIO_RUNTIME_INCLUDE_DIRS}
|
||||
${PUGIXML_INCLUDE_DIR}
|
||||
${GNSS_SDR_OPTIONAL_HEADERS}
|
||||
${VOLK_GNSSSDR_INCLUDE_DIRS}
|
||||
${OPT_GNSSSDR_INCLUDE_DIRS}
|
||||
|
||||
@ -376,6 +376,7 @@ set(LIST_INCLUDE_DIRS
|
||||
${VOLK_INCLUDE_DIRS}
|
||||
${VOLK_GNSSSDR_INCLUDE_DIRS}
|
||||
${MATIO_INCLUDE_DIRS}
|
||||
${PUGIXML_INCLUDE_DIR}
|
||||
${GNSS_SDR_TEST_OPTIONAL_HEADERS}
|
||||
)
|
||||
|
||||
|
||||
@ -43,6 +43,7 @@ include_directories(
|
||||
${GNURADIO_BLOCKS_INCLUDE_DIRS}
|
||||
${ARMADILLO_INCLUDE_DIRS}
|
||||
${Boost_INCLUDE_DIRS}
|
||||
${PUGIXML_INCLUDE_DIR}
|
||||
${VOLK_GNSSSDR_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user