Merge 7333f0ce73 into 4910629a5d

- Added google tests for this method

.github/workflows/main.yml

@@ -204,7 +204,7 @@ jobs:
     runs-on: windows-latest
     steps:
       - uses: actions/checkout@v4
-      - uses: actions/setup-python@v4
+      - uses: actions/setup-python@v5
         with:
           python-version: '3.12'
       - name: Install dependencies

CMakeLists.txt

@@ -2542,7 +2542,11 @@ endif()
 if(((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")) OR
   ((CMAKE_CXX_COMPILER_ID STREQUAL "Clang") AND (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "9.0")) OR
   ((CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang") AND (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "11")))
-    find_package(Protobuf 21.12 EXACT)
+    if(CMAKE_VERSION VERSION_LESS 3.19)
+        find_package(Protobuf)
+    else()
+        find_package(Protobuf 3.0...21.12)
+    endif()
 else()
     find_package(Protobuf)
 endif()
@@ -2631,7 +2635,7 @@ if(Protobuf_FOUND AND CMAKE_CROSSCOMPILING)
     endif()
 endif()
 
-if((NOT Protobuf_FOUND) OR (NOT Protobuf_PROTOC_EXECUTABLE) OR (${Protobuf_VERSION} VERSION_LESS ${GNSSSDR_PROTOBUF_MIN_VERSION}) OR ((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND (CMAKE_CXX_COMPILER_VERSION VERSION_LESS "8.0.0")))
+if((NOT Protobuf_FOUND) OR (NOT Protobuf_PROTOC_EXECUTABLE) OR (${Protobuf_VERSION} VERSION_LESS ${GNSSSDR_PROTOBUF_MIN_VERSION}))
     unset(Protobuf_PROTOC_EXECUTABLE)
     if(CMAKE_CROSSCOMPILING)
         if(NOT Protobuf_FOUND)

cmake/Modules/FindMATIO.cmake

@@ -108,6 +108,7 @@ find_library(MATIO_LIBRARY
       /usr/lib/x86_64-linux-gnux32
       /usr/lib/x86_64-kfreebsd-gnu
       /usr/lib/i386-kfreebsd-gnu
+      /usr/lib/loongarch64-linux-gnu
       /usr/local/lib
       /usr/local/lib64
       /opt/local/lib

cmake/Modules/FindORC.cmake

@@ -80,6 +80,8 @@ find_path(ORC_LIBRARY_DIR
           /usr/lib/powerpc64le-linux-gnu
           /usr/lib/hppa-linux-gnu
           /usr/lib/s390x-linux-gnu
+          /usr/lib/riscv64-linux-gnu
+          /usr/lib/loongarch64-linux-gnu
           /usr/local/lib
           /usr/local/lib64
           /opt/local/lib
@@ -106,6 +108,8 @@ find_library(ORC_LIB orc-0.4
           /usr/lib/powerpc64le-linux-gnu
           /usr/lib/hppa-linux-gnu
           /usr/lib/s390x-linux-gnu
+          /usr/lib/riscv64-linux-gnu
+          /usr/lib/loongarch64-linux-gnu
           /usr/local/lib
           /usr/local/lib64
           /opt/local/lib
@@ -134,6 +138,8 @@ find_library(ORC_LIBRARY_STATIC ${CMAKE_STATIC_LIBRARY_PREFIX}orc-0.4${CMAKE_STA
           /usr/lib/powerpc64le-linux-gnu
           /usr/lib/hppa-linux-gnu
           /usr/lib/s390x-linux-gnu
+          /usr/lib/riscv64-linux-gnu
+          /usr/lib/loongarch64-linux-gnu
           /usr/local/lib
           /usr/local/lib64
           /opt/local/lib

cmake/Modules/FindPCAP.cmake

@@ -105,6 +105,7 @@ else()
             /usr/lib/powerpc64-linux-gnu
             /usr/lib/powerpc64le-linux-gnu
             /usr/lib/riscv64-linux-gnu
+            /usr/lib/loongarch64-linux-gnu
             /usr/lib/s390x-linux-gnu
             /usr/lib/sh4-linux-gnu
             /usr/lib/sparc64-linux-gnu

cmake/Modules/FindPUGIXML.cmake

@@ -88,6 +88,7 @@ find_library(PUGIXML_LIBRARY
           /usr/lib/sparc64-linux-gnu
           /usr/lib/x86_64-linux-gnux32
           /usr/lib/riscv64-linux-gnu
+          /usr/lib/loongarch64-linux-gnu
           /usr/lib/x86_64-kfreebsd-gnu
           /usr/lib/i386-kfreebsd-gnu
           /usr/local/lib

cmake/Modules/FindUHD.cmake

@@ -86,6 +86,7 @@ find_library(UHD_LIBRARIES
           /usr/lib/x86_64-linux-gnux32
           /usr/lib/alpha-linux-gnu
           /usr/lib/riscv64-linux-gnu
+          /usr/lib/loongarch64-linux-gnu
           /usr/local/lib
           /usr/local/lib64
           /opt/local/lib

cmake/Modules/FindVOLK.cmake

@@ -83,6 +83,7 @@ find_library(VOLK_LIBRARIES
           /usr/lib/x86_64-linux-gnux32
           /usr/lib/alpha-linux-gnu
           /usr/lib/riscv64-linux-gnu
+          /usr/lib/loongarch64-linux-gnu
           /usr/local/lib
           /usr/local/lib64
           /opt/local/lib

cmake/Modules/FindZEROMQ.cmake

@@ -46,6 +46,7 @@ find_library(ZEROMQ_LIBRARIES
         /usr/lib/powerpc64-linux-gnu
         /usr/lib/powerpc64le-linux-gnu
         /usr/lib/riscv64-linux-gnu
+        /usr/lib/loongarch64-linux-gnu
         /usr/lib/s390x-linux-gnu
         /usr/lib/sh4-linux-gnu
         /usr/lib/sparc64-linux-gnu

src/algorithms/libs/rtklib/rtklib_rtkcmn.cc

@@ -1034,7 +1034,7 @@ double *zeros(int n, int m)
         {
             return nullptr;
         }
-    if (!(p = static_cast<double *>(calloc(sizeof(double), n * m))))
+    if (!(p = static_cast<double *>(calloc(n * m, sizeof(double)))))
         {
             fatalerr("matrix memory allocation error: n=%d,m=%d\n", n, m);
         }

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindCPUFEATURES.cmake

@@ -34,6 +34,7 @@ find_library(CPUFEATURES_LIBRARIES
           /usr/lib/x86_64-linux-gnux32
           /usr/lib/alpha-linux-gnu
           /usr/lib/riscv64-linux-gnu
+          /usr/lib/loongarch64-linux-gnu
           /usr/local/lib
           /usr/local/lib64
           /opt/local/lib

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindORC.cmake

@@ -71,6 +71,8 @@ find_path(ORC_LIBRARY_DIR
           /usr/lib/powerpc64le-linux-gnu
           /usr/lib/hppa-linux-gnu
           /usr/lib/s390x-linux-gnu
+          /usr/lib/riscv64-linux-gnu
+          /usr/lib/loongarch64-linux-gnu
           /usr/local/lib
           /usr/local/lib64
           /opt/local/lib
@@ -97,6 +99,8 @@ find_library(ORC_LIB orc-0.4
           /usr/lib/powerpc64le-linux-gnu
           /usr/lib/hppa-linux-gnu
           /usr/lib/s390x-linux-gnu
+          /usr/lib/riscv64-linux-gnu
+          /usr/lib/loongarch64-linux-gnu
           /usr/local/lib
           /usr/local/lib64
           /opt/local/lib
@@ -125,6 +129,8 @@ find_library(ORC_LIBRARY_STATIC ${CMAKE_STATIC_LIBRARY_PREFIX}orc-0.4${CMAKE_STA
           /usr/lib/powerpc64le-linux-gnu
           /usr/lib/hppa-linux-gnu
           /usr/lib/s390x-linux-gnu
+          /usr/lib/riscv64-linux-gnu
+          /usr/lib/loongarch64-linux-gnu
           /usr/local/lib
           /usr/local/lib64
           /opt/local/lib

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cpu_features/include/cpuinfo_aarch64.h

@@ -180,6 +180,8 @@ typedef struct
     int smebi32i32 : 1;  // 1-bit binary to 32-bit integer outer product.
     int smeb16b16 : 1;   // SME2.1 BFloat16 instructions.
     int smef16f16 : 1;   // FP16 to FP16 outer product.
+    int mops : 1;        // Standardized memory operations.
+    int hbc : 1;         // Hinted conditional branches.
 
     // Make sure to update Aarch64FeaturesEnum below if you add a field here.
 } Aarch64Features;
@@ -276,6 +278,8 @@ typedef enum
     AARCH64_SME_BI32I32,
     AARCH64_SME_B16B16,
     AARCH64_SME_F16F16,
+    AARCH64_MOPS,
+    AARCH64_HBC,
     AARCH64_LAST_,
 } Aarch64FeaturesEnum;
 

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cpu_features/include/internal/hwcaps.h

@@ -92,6 +92,8 @@ CPU_FEATURES_START_CPP_NAMESPACE
 #define AARCH64_HWCAP2_SME_BI32I32 (1UL << 40)
 #define AARCH64_HWCAP2_SME_B16B16 (1UL << 41)
 #define AARCH64_HWCAP2_SME_F16F16 (1UL << 42)
+#define AARCH64_HWCAP2_MOPS (1UL << 43)
+#define AARCH64_HWCAP2_HBC (1UL << 44)
 
 // http://elixir.free-electrons.com/linux/latest/source/arch/arm/include/uapi/asm/hwcap.h
 #define ARM_HWCAP_SWP (1UL << 0)

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cpu_features/src/impl_aarch64__base_implementation.inl

@@ -100,7 +100,10 @@
         AARCH64_HWCAP2_SME_BI32I32)                                            \
     LINE(AARCH64_SME_B16B16, smeb16b16, "smeb16b16", 0,                        \
         AARCH64_HWCAP2_SME_B16B16)                                             \
-    LINE(AARCH64_SME_F16F16, smef16f16, "smef16f16", 0, AARCH64_HWCAP2_SME_F16F16)
+    LINE(AARCH64_SME_F16F16, smef16f16, "smef16f16", 0,                        \
+         AARCH64_HWCAP2_SME_F16F16)                                            \
+    LINE(AARCH64_MOPS, mops, "mops", 0, AARCH64_HWCAP2_MOPS)                   \
+    LINE(AARCH64_HBC, hbc, "hbc", 0, AARCH64_HWCAP2_HBC)
 #define INTROSPECTION_PREFIX Aarch64
 #define INTROSPECTION_ENUM_PREFIX AARCH64
 #include "define_introspection_and_hwcaps.inl"

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cpu_features/test/cpuinfo_aarch64_test.cc

@@ -324,6 +324,8 @@ CPU revision    : 3)");
     EXPECT_FALSE(info.features.smebi32i32);
     EXPECT_FALSE(info.features.smeb16b16);
     EXPECT_FALSE(info.features.smef16f16);
+    EXPECT_FALSE(info.features.mops);
+    EXPECT_FALSE(info.features.hbc);
 }
 #elif defined(CPU_FEATURES_OS_MACOS)
 TEST_F(CpuidAarch64Test, FromDarwinSysctlFromName)

src/core/system_parameters/GLONASS_L1_L2_CA.h

@@ -240,6 +240,9 @@ const std::vector<int32_t> GLONASS_GNAV_CRC_P_INDEX{66, 67, 68, 69, 70, 71, 72,
 const std::vector<int32_t> GLONASS_GNAV_CRC_Q_INDEX{9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};
 const std::vector<int32_t> GLONASS_GNAV_ECC_LOCATOR{0, 0, 1, 8, 2, 9, 10, 11, 3, 12, 13, 14, 15, 16, 17, 18, 4, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 5, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 6, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84};
 
+const std::vector<std::vector<int32_t>> GLONASS_GNAV_HAMMING_INDEX{GLONASS_GNAV_CRC_I_INDEX, GLONASS_GNAV_CRC_J_INDEX, GLONASS_GNAV_CRC_K_INDEX, GLONASS_GNAV_CRC_L_INDEX,
+    GLONASS_GNAV_CRC_M_INDEX, GLONASS_GNAV_CRC_N_INDEX, GLONASS_GNAV_CRC_P_INDEX, GLONASS_GNAV_CRC_Q_INDEX};
+
 // GLONASS GNAV NAVIGATION MESSAGE STRUCTURE
 // NAVIGATION MESSAGE FIELDS POSITIONS
 

src/core/system_parameters/glonass_gnav_navigation_message.cc

@@ -154,6 +154,95 @@ bool Glonass_Gnav_Navigation_Message::CRC_test(std::bitset<GLONASS_GNAV_STRING_B
 }
 
 
+bool Glonass_Gnav_Navigation_Message::hamming_correct(std::bitset<GLONASS_GNAV_STRING_BITS>& bits_io) const
+{
+    std::vector<int> bits(GLONASS_GNAV_STRING_BITS);
+
+    // Populate data and Hamming code vectors
+    for (size_t i = 0; i < bits.size(); i++)
+        {
+            bits[i] = static_cast<int>(bits_io[i]);
+        }
+
+    std::vector<int> C(GLONASS_GNAV_HAMMING_CODE_BITS, 0);
+    int sum_bits;
+    for (size_t m = 0; m < GLONASS_GNAV_HAMMING_CODE_BITS; ++m)
+        {
+            sum_bits = 0;
+            for (int i : GLONASS_GNAV_HAMMING_INDEX[m])
+                sum_bits += bits[i - 1];
+            C[m] = bits[m] ^ (sum_bits % 2);
+        }
+
+    int sum_hamming = 0;
+    for (int i = 0; i < GLONASS_GNAV_HAMMING_CODE_BITS; ++i)
+        {
+            sum_hamming += bits[i];
+        }
+
+    C[GLONASS_GNAV_HAMMING_CODE_BITS - 1] = (sum_hamming % 2) ^ (sum_bits % 2);
+
+    int shortSumC = 0;
+    for (size_t m = 0; m < GLONASS_GNAV_HAMMING_CODE_BITS - 1; ++m)
+        {
+            shortSumC += C[m];
+        }
+
+    if (C[GLONASS_GNAV_HAMMING_CODE_BITS - 1] == 0)
+        {
+            if (shortSumC == 0)
+                {
+                    // (A1) All checksums (C1, ..., C7 and C_Sigma) are equal to zero (all information
+                    // bits and check bits are valid)
+                    return true;
+                }
+        }
+    else
+        {
+            int highestNonZeroIdx = -1;
+            for (int i = 0; i < GLONASS_GNAV_HAMMING_CODE_BITS - 1; ++i)  // C_Sigma should not be taken into account
+                {
+                    if (C[i] != 0)
+                        highestNonZeroIdx = i + 1;  // 1-based indices
+                }
+
+            if (shortSumC == 1)
+                {
+                    // (A2) Only one of the checksums (C1, ..., C7) is equal to 1 and C_Sigma = 1 (all
+                    // information bits are valid and there is an error in one (!) of the check bits.
+                    bits_io[highestNonZeroIdx - 1] = 1 - bits_io[highestNonZeroIdx - 1];
+                    return true;
+                }
+
+            if (highestNonZeroIdx == -1)
+                {
+                    // Error only in parity bit (C_Sigma = 1)
+                    bits_io[GLONASS_GNAV_HAMMING_CODE_BITS - 1] = 1 - bits_io[GLONASS_GNAV_HAMMING_CODE_BITS - 1];
+                    return true;
+                }
+
+            int idx = C[GLONASS_GNAV_HAMMING_CODE_BITS - 2];
+            for (int i = GLONASS_GNAV_HAMMING_CODE_BITS - 3; i >= 0; --i)
+                {
+                    idx <<= 1;
+                    idx += C[i];
+                }
+
+            int position = idx + GLONASS_GNAV_HAMMING_CODE_BITS - highestNonZeroIdx - 1;
+
+            if (position < GLONASS_GNAV_STRING_BITS)
+                {
+                    // (B) Error only in a single information bit
+                    bits_io[position] = 1 - bits_io[position];
+                    return true;
+                }
+        }
+
+    // Irrecoverable error in information bits
+    return false;
+}
+
+
 bool Glonass_Gnav_Navigation_Message::read_navigation_bool(const std::bitset<GLONASS_GNAV_STRING_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
 {
     bool value = bits[GLONASS_GNAV_STRING_BITS - parameter[0].first];
@@ -235,8 +324,8 @@ int32_t Glonass_Gnav_Navigation_Message::string_decoder(const std::string& frame
     // Unpack bytes to bits
     std::bitset<GLONASS_GNAV_STRING_BITS> string_bits(frame_string);
 
-    // Perform data verification and exit code if error in bit sequence
-    flag_CRC_test = CRC_test(string_bits);
+    // Perform data correction and exit code if error in bit sequence is irrecoverable
+    flag_CRC_test = hamming_correct(string_bits);
     if (flag_CRC_test == false)
         {
             return 0;

src/core/system_parameters/glonass_gnav_navigation_message.h

@@ -57,6 +57,12 @@ public:
      */
     bool CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS>& bits) const;
 
+    /*!
+     * \brief Check and (if needed and possible) correct information bits for GLONASS GNAV strings
+     * \param[in,out] bits_io Bits of the string message (information and Hamming codes)
+     */
+    bool hamming_correct(std::bitset<GLONASS_GNAV_STRING_BITS>& bits_io) const;
+
     /*!
      * \brief Computes the frame number being decoded given the satellite slot number
      * \param satellite_slot_number [in] Satellite slot number identifier

src/tests/unit-tests/system-parameters/glonass_gnav_nav_message_test.cc

@@ -20,6 +20,9 @@
 #include "glonass_gnav_navigation_message.h"
 #include "gnss_signal_replica.h"
 
+// A valid GLONASS GNAV message string
+std::string valid_msg("0001110000000001001101001110100011111011010011001101001101110110010011110011100100011");
+
 /*!
  * \brief Testing CRC computation for GLONASS GNAV data bits of a string
  * \test The provided string was generated with a version of MATLAB GNSS-SDR that
@@ -60,6 +63,70 @@ TEST(GlonassGnavNavigationMessageTest, CRCTestFailure)
     ASSERT_FALSE(test_result);
 }
 
+/*!
+ * \brief Testing Hamming code correction method for GLONASS GNAV data.
+ * \test A single-bit error is introduced into each bit of a valid string
+ * and the result of error correction is compared to the original string
+ */
+TEST(GlonassGnavNavigationMessageTest, hamming_correct_1bit)
+{
+    bool test_result;
+    std::bitset<GLONASS_GNAV_STRING_BITS> bits(valid_msg);
+    const std::bitset<GLONASS_GNAV_STRING_BITS> bits_original = bits;
+
+    auto gnav_nav_message = Glonass_Gnav_Navigation_Message();
+
+    test_result = gnav_nav_message.hamming_correct(bits);
+
+    // check correct return value for a valid string
+    ASSERT_TRUE(test_result);
+
+    // check that a valid string is not being changed
+    ASSERT_EQ(bits, bits_original);
+
+    for (int i = 0; i < GLONASS_GNAV_STRING_BITS; ++i)
+        {
+            bits[i] = 1 - bits[i];
+            test_result = gnav_nav_message.hamming_correct(bits);
+
+            // check correct return value for a string with a single bit error
+            ASSERT_TRUE(test_result);
+
+            // check that a string is restored correctly
+            ASSERT_EQ(bits, bits_original);
+        }
+}
+
+/*!
+ * \brief Testing Hamming code correction method for GLONASS GNAV data.
+ * \test A two-bit error is introduced into each possible pair of bits of
+ * a valid string in order to check that the error correction method
+ * returns correction result as 'false'.
+ */
+TEST(GlonassGnavNavigationMessageTest, hamming_correct_2bits)
+{
+    std::bitset<GLONASS_GNAV_STRING_BITS> bits(valid_msg);
+    auto gnav_nav_message = Glonass_Gnav_Navigation_Message();
+
+    for (int i = 0; i < GLONASS_GNAV_STRING_BITS - 1; ++i)
+        {
+            bits[i] = 1 - bits[i];
+            for (int j = i + 1; j < GLONASS_GNAV_STRING_BITS; ++j)
+                {
+                    bits[j] = 1 - bits[j];
+                    std::bitset<GLONASS_GNAV_STRING_BITS> bits_with_errors = bits;
+                    bool test_result = gnav_nav_message.hamming_correct(bits);
+
+                    // check correct return value for a string with 2 wrong bits
+                    ASSERT_FALSE(test_result);
+
+                    // check that a string with 2 wrong bits is not being changed
+                    ASSERT_EQ(bits, bits_with_errors);
+                    bits[j] = 1 - bits[j];
+                }
+            bits[i] = 1 - bits[i];
+        }
+}
 
 /*!
  * \brief Testing string decoding for GLONASS GNAV messages