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

src/algorithms/PVT/adapters/CMakeLists.txt

@@ -32,6 +32,7 @@ add_library(pvt_adapters ${PVT_ADAPTER_SOURCES} ${PVT_ADAPTER_HEADERS})
 target_link_libraries(pvt_adapters
     PUBLIC
         pvt_gr_blocks
+        algorithms_libs_rtklib
         core_system_parameters
     PRIVATE
         gnss_sdr_flags

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -33,6 +33,7 @@
 #include "configuration_interface.h"
 #include "gnss_sdr_flags.h"
 #include "pvt_conf.h"
+#include "rtklib_rtkpos.h"
 #include <glog/logging.h>
 #if OLD_BOOST
 #include <boost/math/common_factor_rt.hpp>

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h

@@ -81,6 +81,10 @@ private:
         const Pvt_Conf& conf_,
         const rtk_t& rtk);
 
+    rtklib_pvt_gs(uint32_t nchannels,
+        const Pvt_Conf& conf_,
+        const rtk_t& rtk);
+
     void msg_handler_telemetry(const pmt::pmt_t& msg);
 
     bool d_dump;
@@ -135,7 +139,7 @@ private:
     int sysv_msqid;
     typedef struct
     {
-        long mtype;  //required by sys v message
+        long mtype;  // NOLINT(google-runtime-int) required by SysV queue messaging
         double ttff;
     } ttff_msgbuf;
     bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
@@ -158,31 +162,40 @@ private:
     std::vector<std::string> split_string(const std::string& s, char delim) const;
 
 public:
-    rtklib_pvt_gs(uint32_t nchannels,
-        const Pvt_Conf& conf_,
-        const rtk_t& rtk);
-
     ~rtklib_pvt_gs();  //!< Default destructor
 
     /*!
      * \brief Get latest set of GPS ephemeris from PVT block
-     *
      */
     std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
 
+    /*!
+     * \brief Get latest set of GPS almanac from PVT block
+     */
     std::map<int, Gps_Almanac> get_gps_almanac_map() const;
 
+    /*!
+     * \brief Get latest set of Galileo ephemeris from PVT block
+     */
     std::map<int, Galileo_Ephemeris> get_galileo_ephemeris_map() const;
 
+    /*!
+     * \brief Get latest set of Galileo almanac from PVT block
+     */
     std::map<int, Galileo_Almanac> get_galileo_almanac_map() const;
 
+    /*!
+     * \brief Get latest set of BeiDou DNAV ephemeris from PVT block
+     */
     std::map<int, Beidou_Dnav_Ephemeris> get_beidou_dnav_ephemeris_map() const;
 
+    /*!
+     * \brief Get latest set of BeiDou DNAV almanac from PVT block
+     */
     std::map<int, Beidou_Dnav_Almanac> get_beidou_dnav_almanac_map() const;
 
     /*!
      * \brief Clear all ephemeris information and the almanacs for GPS and Galileo
-     *
      */
     void clear_ephemeris();
 

src/algorithms/PVT/libs/gpx_printer.h

@@ -33,7 +33,6 @@
 #ifndef GNSS_SDR_GPX_PRINTER_H_
 #define GNSS_SDR_GPX_PRINTER_H_
 
-#include "pvt_solution.h"
 #include "rtklib_solver.h"
 #include <fstream>
 #include <memory>

src/algorithms/PVT/libs/kml_printer.h

@@ -33,7 +33,6 @@
 #ifndef GNSS_SDR_KML_PRINTER_H_
 #define GNSS_SDR_KML_PRINTER_H_
 
-#include "pvt_solution.h"
 #include "rtklib_solver.h"
 #include <fstream>
 #include <memory>

src/algorithms/PVT/libs/ls_pvt.cc

@@ -33,7 +33,6 @@
 #include "GPS_L1_CA.h"
 #include "geofunctions.h"
 #include <glog/logging.h>
-#include <exception>
 #include <stdexcept>
 
 

src/algorithms/PVT/libs/pvt_conf.h

@@ -31,7 +31,6 @@
 #ifndef GNSS_SDR_PVT_CONF_H_
 #define GNSS_SDR_PVT_CONF_H_
 
-#include <cstddef>
 #include <cstdint>
 #include <map>
 #include <string>

src/algorithms/PVT/libs/pvt_solution.cc

@@ -33,7 +33,6 @@
 #include "GPS_L1_CA.h"
 #include "geofunctions.h"
 #include <glog/logging.h>
-#include <exception>
 
 
 Pvt_Solution::Pvt_Solution()
@@ -54,6 +53,7 @@ Pvt_Solution::Pvt_Solution()
     d_rx_dt_s = 0.0;
 }
 
+
 arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec &X_sat)
 {
     /*

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -57,6 +57,7 @@
 #include "GPS_L1_CA.h"
 #include "Galileo_E1.h"
 #include "rtklib_conversions.h"
+#include "rtklib_rtkpos.h"
 #include "rtklib_solution.h"
 #include <glog/logging.h>
 #include <matio.h>
@@ -479,11 +480,13 @@ double Rtklib_Solver::get_vdop() const
     return dop_[3];
 }
 
+
 Monitor_Pvt Rtklib_Solver::get_monitor_pvt() const
 {
     return monitor_pvt;
 }
 
+
 bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_map, bool flag_averaging)
 {
     std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;

src/algorithms/PVT/libs/rtklib_solver.h

@@ -55,16 +55,28 @@
 #define GNSS_SDR_RTKLIB_SOLVER_H_
 
 
-#include "beidou_dnav_navigation_message.h"
+#include "beidou_dnav_almanac.h"
+#include "beidou_dnav_ephemeris.h"
+#include "beidou_dnav_iono.h"
+#include "beidou_dnav_utc_model.h"
 #include "galileo_almanac.h"
-#include "galileo_navigation_message.h"
+#include "galileo_ephemeris.h"
-#include "glonass_gnav_navigation_message.h"
+#include "galileo_iono.h"
+#include "galileo_utc_model.h"
+#include "glonass_gnav_almanac.h"
+#include "glonass_gnav_ephemeris.h"
+#include "glonass_gnav_utc_model.h"
 #include "gnss_synchro.h"
-#include "gps_cnav_navigation_message.h"
+#include "gps_almanac.h"
-#include "gps_navigation_message.h"
+#include "gps_cnav_ephemeris.h"
+#include "gps_cnav_iono.h"
+#include "gps_cnav_utc_model.h"
+#include "gps_ephemeris.h"
+#include "gps_iono.h"
+#include "gps_utc_model.h"
 #include "monitor_pvt.h"
 #include "pvt_solution.h"
-#include "rtklib_rtkpos.h"
+#include "rtklib.h"
 #include <array>
 #include <fstream>
 #include <map>
@@ -89,12 +101,13 @@ private:
     Monitor_Pvt monitor_pvt;
 
 public:
-    sol_t pvt_sol;
-    ssat_t pvt_ssat[MAXSAT];
     Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t& rtk);
     ~Rtklib_Solver();
 
     bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
+
+    sol_t pvt_sol;
+    ssat_t pvt_ssat[MAXSAT];
     double get_hdop() const;
     double get_vdop() const;
     double get_pdop() const;

src/algorithms/channel/adapters/channel.cc

@@ -30,10 +30,14 @@
  */
 
 #include "channel.h"
+#include "acquisition_interface.h"
 #include "configuration_interface.h"
 #include "gnss_sdr_flags.h"
+#include "telemetry_decoder_interface.h"
+#include "tracking_interface.h"
 #include <glog/logging.h>
 #include <cstdint>
+#include <utility>
 
 
 // Constructor
@@ -157,16 +161,19 @@ gr::basic_block_sptr Channel::get_left_block()
     return nullptr;
 }
 
+
 gr::basic_block_sptr Channel::get_left_block_trk()
 {
     return trk_->get_left_block();
 }
 
+
 gr::basic_block_sptr Channel::get_left_block_acq()
 {
     return acq_->get_left_block();
 }
 
+
 gr::basic_block_sptr Channel::get_right_block()
 {
     return nav_->get_right_block();
@@ -201,6 +208,7 @@ void Channel::stop_channel()
         << "Channel stop_channel()";
 }
 
+
 void Channel::start_acquisition()
 {
     std::lock_guard<std::mutex> lk(mx);

src/algorithms/channel/adapters/channel.h

@@ -38,9 +38,12 @@
 #include "channel_fsm.h"
 #include "channel_interface.h"
 #include "channel_msg_receiver_cc.h"
+#include "gnss_signal.h"
 #include "gnss_synchro.h"
 #include <gnuradio/block.h>
 #include <gnuradio/msg_queue.h>
+#include <cstddef>
+#include <cstdint>
 #include <memory>
 #include <mutex>
 #include <string>

src/algorithms/channel/libs/CMakeLists.txt

@@ -36,8 +36,10 @@ add_library(channel_libs ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
 target_link_libraries(channel_libs
     PUBLIC
         Gnuradio::runtime
+        Gnuradio::pmt
         core_system_parameters
     PRIVATE
+        Boost::boost
         Gflags::gflags
         Glog::glog
         core_receiver

src/algorithms/channel/libs/channel_fsm.cc

@@ -32,7 +32,7 @@
 #include "channel_fsm.h"
 #include "control_message_factory.h"
 #include <glog/logging.h>
-
+#include <utility>
 
 ChannelFsm::ChannelFsm()
 {
@@ -57,13 +57,13 @@ bool ChannelFsm::Event_stop_channel()
     DLOG(INFO) << "CH = " << channel_ << ". Ev stop channel";
     switch (d_state)
         {
-        case 0:  //already in stanby
+        case 0:  // already in stanby
             break;
-        case 1:  //acquisition
+        case 1:  // acquisition
             d_state = 0;
             stop_acquisition();
             break;
-        case 2:  //tracking
+        case 2:  // tracking
             d_state = 0;
             stop_tracking();
             break;
@@ -73,6 +73,7 @@ bool ChannelFsm::Event_stop_channel()
     return true;
 }
 
+
 bool ChannelFsm::Event_start_acquisition()
 {
     std::lock_guard<std::mutex> lk(mx);

src/algorithms/channel/libs/channel_fsm.h

@@ -33,7 +33,6 @@
 #define GNSS_SDR_CHANNEL_FSM_H
 
 #include "acquisition_interface.h"
-#include "telemetry_decoder_interface.h"
 #include "tracking_interface.h"
 #include <gnuradio/msg_queue.h>
 #include <cstdint>
@@ -55,7 +54,7 @@ public:
     void set_queue(gr::msg_queue::sptr queue);
     void set_channel(uint32_t channel);
 
-    //FSM EVENTS
+    // FSM EVENTS
     bool Event_start_acquisition();
     bool Event_valid_acquisition();
     bool Event_stop_channel();
@@ -79,4 +78,4 @@ private:
     std::mutex mx;
 };
 
-#endif /*GNSS_SDR_CHANNEL_FSM_H*/
+#endif // GNSS_SDR_CHANNEL_FSM_H

src/algorithms/channel/libs/channel_msg_receiver_cc.cc

@@ -30,10 +30,13 @@
 
 
 #include "channel_msg_receiver_cc.h"
+#include <boost/any.hpp>
+#include <boost/bind.hpp>
 #include <glog/logging.h>
 #include <gnuradio/gr_complex.h>
 #include <gnuradio/io_signature.h>
 #include <cstdint>
+#include <utility>
 
 
 channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat)
@@ -42,6 +45,19 @@ channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<Channe
 }
 
 
+channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat) : gr::block("channel_msg_receiver_cc", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+{
+    this->message_port_register_in(pmt::mp("events"));
+    this->set_msg_handler(pmt::mp("events"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1));
+
+    d_channel_fsm = std::move(channel_fsm);
+    d_repeat = repeat;
+}
+
+
+channel_msg_receiver_cc::~channel_msg_receiver_cc() = default;
+
+
 void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
 {
     bool result = false;
@@ -80,16 +96,3 @@ void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
             LOG(WARNING) << "msg_handler_telemetry invalid event";
         }
 }
-
-
-channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat) : gr::block("channel_msg_receiver_cc", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
-{
-    this->message_port_register_in(pmt::mp("events"));
-    this->set_msg_handler(pmt::mp("events"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1));
-
-    d_channel_fsm = std::move(channel_fsm);
-    d_repeat = repeat;
-}
-
-
-channel_msg_receiver_cc::~channel_msg_receiver_cc() = default;

src/algorithms/channel/libs/channel_msg_receiver_cc.h

@@ -33,6 +33,8 @@
 
 #include "channel_fsm.h"
 #include <gnuradio/block.h>
+#include <pmt/pmt.h>
+#include <memory>
 
 class channel_msg_receiver_cc;
 

src/algorithms/conditioner/adapters/array_signal_conditioner.cc

@@ -30,6 +30,7 @@
  */
 
 #include "array_signal_conditioner.h"
+#include "configuration_interface.h"
 #include <glog/logging.h>
 #include <utility>
 

src/algorithms/conditioner/adapters/array_signal_conditioner.h

@@ -34,14 +34,14 @@
 
 
 #include "gnss_block_interface.h"
-#include <gnuradio/msg_queue.h>
+#include <gnuradio/block.h>
+#include <cstddef>
+#include <memory>
 #include <string>
 
 
 class ConfigurationInterface;
-class AcquisitionInterface;
+
-class TrackingInterface;
-class TelemetryDecoderInterface;
 
 /*!
  * \brief This class wraps blocks to change data_type_adapter, input_filter and resampler

src/algorithms/conditioner/adapters/signal_conditioner.cc

@@ -30,6 +30,7 @@
  */
 
 #include "signal_conditioner.h"
+#include "configuration_interface.h"
 #include <glog/logging.h>
 #include <utility>
 

src/algorithms/conditioner/adapters/signal_conditioner.h

@@ -33,12 +33,12 @@
 #define GNSS_SDR_SIGNAL_CONDITIONER_H_
 
 #include "gnss_block_interface.h"
+#include <gnuradio/block.h>
+#include <cstddef>
+#include <memory>
 #include <string>
 
 class ConfigurationInterface;
-class AcquisitionInterface;
-class TrackingInterface;
-class TelemetryDecoderInterface;
 
 /*!
  * \brief This class wraps blocks to change data_type_adapter, input_filter and resampler

src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc

@@ -2,8 +2,6 @@
  * \file galileo_e5a_dll_pll_tracking.cc
  * \brief Adapts a code DLL + carrier PLL
  *  tracking block to a TrackingInterface for Galileo E5a signals
- * \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
- *  Galileo E5a data and pilot Signals
  * \author Marc Sales, 2014. marcsales92(at)gmail.com
  * \based on work from:
  *          <ul>

src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.h

@@ -2,8 +2,6 @@
  * \file galileo_e5a_dll_pll_tracking.h
  * \brief Adapts a code DLL + carrier PLL
  *  tracking block to a TrackingInterface for Galileo E5a signals
- * \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
- *  Galileo E5a data and pilot Signals
  * \author Marc Sales, 2014. marcsales92(at)gmail.com
  * \based on work from:
  *          <ul>

src/core/receiver/gnss_block_factory.cc

@@ -166,6 +166,7 @@
 #endif
 
 #include <glog/logging.h>
+#include <exception>
 #include <iostream>
 #include <sstream>
 #include <string>

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

@@ -31,16 +31,6 @@
  */
 
 
-#include <gnuradio/analog/sig_source_waveform.h>
-#include <gnuradio/blocks/file_source.h>
-#include <gnuradio/top_block.h>
-#include <chrono>
-#include <utility>
-#ifdef GR_GREATER_38
-#include <gnuradio/analog/sig_source.h>
-#else
-#include <gnuradio/analog/sig_source_c.h>
-#endif
 #include "fir_filter.h"
 #include "galileo_e1_pcps_ambiguous_acquisition.h"
 #include "gen_signal_source.h"
@@ -50,8 +40,18 @@
 #include "in_memory_configuration.h"
 #include "signal_generator.h"
 #include "signal_generator_c.h"
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/blocks/file_source.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/msg_queue.h>
+#include <gnuradio/top_block.h>
+#include <chrono>
+#include <utility>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
+#include <gnuradio/analog/sig_source_c.h>
+#endif
 
 
 // ######## GNURADIO BLOCK MESSAGE RECEVER #########

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

@@ -41,8 +41,18 @@
  */
 
 
+#include "galileo_e1_pcps_ambiguous_acquisition.h"
+#include "gnss_block_factory.h"
+#include "gnss_block_interface.h"
+#include "gnss_sdr_valve.h"
+#include "gnss_signal.h"
+#include "gnss_synchro.h"
+#include "in_memory_configuration.h"
 #include <gnuradio/analog/sig_source_waveform.h>
 #include <gnuradio/blocks/file_source.h>
+#include <gnuradio/blocks/null_sink.h>
+#include <gnuradio/blocks/skiphead.h>
+#include <gnuradio/msg_queue.h>
 #include <gnuradio/top_block.h>
 #include <chrono>
 #include <utility>
@@ -51,16 +61,6 @@
 #else
 #include <gnuradio/analog/sig_source_c.h>
 #endif
-#include "galileo_e1_pcps_ambiguous_acquisition.h"
-#include "gnss_block_factory.h"
-#include "gnss_block_interface.h"
-#include "gnss_sdr_valve.h"
-#include "gnss_signal.h"
-#include "gnss_synchro.h"
-#include "in_memory_configuration.h"
-#include <gnuradio/blocks/null_sink.h>
-#include <gnuradio/blocks/skiphead.h>
-#include <gnuradio/msg_queue.h>
 
 // ######## GNURADIO BLOCK MESSAGE RECEVER #########
 class GalileoE1PcpsAmbiguousAcquisitionGSoCTest_msg_rx;

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

@@ -29,16 +29,6 @@
  * -------------------------------------------------------------------------
  */
 
-#include <gnuradio/analog/sig_source_waveform.h>
-#include <gnuradio/blocks/file_source.h>
-#include <gnuradio/top_block.h>
-#include <chrono>
-#include <utility>
-#ifdef GR_GREATER_38
-#include <gnuradio/analog/sig_source.h>
-#else
-#include <gnuradio/analog/sig_source_c.h>
-#endif
 #include "fir_filter.h"
 #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
 #include "gen_signal_source.h"
@@ -49,9 +39,18 @@
 #include "pass_through.h"
 #include "signal_generator.h"
 #include "signal_generator_c.h"
+#include <gnuradio/analog/sig_source_waveform.h>
+#include <gnuradio/blocks/file_source.h>
 #include <gnuradio/blocks/null_sink.h>
 #include <gnuradio/msg_queue.h>
-
+#include <gnuradio/top_block.h>
+#include <chrono>
+#include <utility>
+#ifdef GR_GREATER_38
+#include <gnuradio/analog/sig_source.h>
+#else
+#include <gnuradio/analog/sig_source_c.h>
+#endif
 
 // ######## GNURADIO BLOCK MESSAGE RECEVER #########
 class GalileoE5aPcpsAcquisitionGSoC2014GensourceTest_msg_rx;

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

@@ -30,6 +30,7 @@
 
 
 #include "nmea_printer.h"
+#include "rtklib_rtkpos.h"
 #include <cstdio>
 #include <fstream>
 #include <string>

src/utils/front-end-cal/front_end_cal.cc

@@ -30,6 +30,7 @@
  */
 
 #include "front_end_cal.h"
+#include "concurrent_map.h"
 #include "gnss_sdr_supl_client.h"
 #include "gps_almanac.h"
 #include "gps_cnav_ephemeris.h"

src/utils/front-end-cal/front_end_cal.h

@@ -32,7 +32,6 @@
 #ifndef GNSS_SDR_FRONT_END_CAL_H_
 #define GNSS_SDR_FRONT_END_CAL_H_
 
-#include "concurrent_map.h"
 #include "file_configuration.h"
 #include <armadillo>
 

src/utils/rinex2assist/main.cc

@@ -30,7 +30,7 @@
  */
 
 
-#include "galileo_ephemeris.h"
+#include "galileo_ephemeris.h"  // IWYU pragma: keep
 #include "galileo_iono.h"
 #include "galileo_utc_model.h"
 #include "gps_ephemeris.h"
@@ -45,6 +45,7 @@
 #include <gpstk/Rinex3NavData.hpp>
 #include <gpstk/Rinex3NavHeader.hpp>
 #include <gpstk/Rinex3NavStream.hpp>
+#include <cstddef>  // for size_t
 #include <cstdlib>
 #include <iostream>