/*!
 * \file gnss_block_factory.cc
 * \brief  This class implements a factory that returns instances of GNSS blocks.
 * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
 *         Luis Esteve, 2012. luis(at)epsilon-formacion.com
 *         Javier Arribas, 2011. jarribas(at)cttc.es
 *         Marc Majoral, 2018. mmajoral(at)cttc.es
 *
 * This class encapsulates the complexity behind the instantiation
 * of GNSS blocks.
 *
 * -------------------------------------------------------------------------
 *
 * 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 "gnss_block_factory.h"
#include "array_signal_conditioner.h"
#include "beamformer_filter.h"
#include "beidou_b1i_dll_pll_tracking.h"
#include "beidou_b1i_pcps_acquisition.h"
#include "beidou_b1i_telemetry_decoder.h"
#include "byte_to_short.h"
#include "channel.h"
#include "configuration_interface.h"
#include "direct_resampler_conditioner.h"
#include "file_signal_source.h"
#include "fir_filter.h"
#include "freq_xlating_fir_filter.h"
#include "galileo_e1_dll_pll_veml_tracking.h"
#include "galileo_e1_pcps_8ms_ambiguous_acquisition.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "galileo_e1_pcps_cccwsr_ambiguous_acquisition.h"
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
#include "galileo_e1_pcps_tong_ambiguous_acquisition.h"
#include "galileo_e1_tcp_connector_tracking.h"
#include "galileo_e1b_telemetry_decoder.h"
#include "galileo_e5a_dll_pll_tracking.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "galileo_e5a_pcps_acquisition.h"
#include "galileo_e5a_telemetry_decoder.h"
#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
#include "glonass_l1_ca_dll_pll_tracking.h"
#include "glonass_l1_ca_pcps_acquisition.h"
#include "glonass_l1_ca_telemetry_decoder.h"
#include "glonass_l2_ca_dll_pll_c_aid_tracking.h"
#include "glonass_l2_ca_dll_pll_tracking.h"
#include "glonass_l2_ca_pcps_acquisition.h"
#include "glonass_l2_ca_telemetry_decoder.h"
#include "gnss_block_interface.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
#include "gps_l1_ca_dll_pll_tracking.h"
#include "gps_l1_ca_kf_tracking.h"
#include "gps_l1_ca_pcps_acquisition.h"
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
#include "gps_l1_ca_pcps_assisted_acquisition.h"
#include "gps_l1_ca_pcps_quicksync_acquisition.h"
#include "gps_l1_ca_pcps_tong_acquisition.h"
#include "gps_l1_ca_tcp_connector_tracking.h"
#include "gps_l1_ca_telemetry_decoder.h"
#include "gps_l2_m_dll_pll_tracking.h"
#include "gps_l2_m_pcps_acquisition.h"
#include "gps_l2c_telemetry_decoder.h"
#include "gps_l5_dll_pll_tracking.h"
#include "gps_l5_telemetry_decoder.h"
#include "gps_l5i_pcps_acquisition.h"
#include "hybrid_observables.h"
#include "ibyte_to_cbyte.h"
#include "ibyte_to_complex.h"
#include "ibyte_to_cshort.h"
#include "in_memory_configuration.h"
#include "ishort_to_complex.h"
#include "ishort_to_cshort.h"
#include "labsat_signal_source.h"
#include "mmse_resampler_conditioner.h"
#include "notch_filter.h"
#include "notch_filter_lite.h"
#include "nsr_file_signal_source.h"
#include "pass_through.h"
#include "pulse_blanking_filter.h"
#include "rtklib_pvt.h"
#include "rtl_tcp_signal_source.h"
#include "sbas_l1_telemetry_decoder.h"
#include "signal_conditioner.h"
#include "spir_file_signal_source.h"
#include "spir_gss6450_file_signal_source.h"
#include "two_bit_cpx_file_signal_source.h"
#include "two_bit_packed_file_signal_source.h"

#if RAW_UDP
#include "custom_udp_signal_source.h"
#endif

#if ENABLE_FPGA
#include "galileo_e1_dll_pll_veml_tracking_fpga.h"
#include "galileo_e1_pcps_ambiguous_acquisition_fpga.h"
#include "galileo_e5a_dll_pll_tracking_fpga.h"
#include "galileo_e5a_pcps_acquisition_fpga.h"
#include "gps_l1_ca_dll_pll_tracking_fpga.h"
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "gps_l2_m_dll_pll_tracking_fpga.h"
#include "gps_l2_m_pcps_acquisition_fpga.h"
#include "gps_l5_dll_pll_tracking_fpga.h"
#include "gps_l5i_pcps_acquisition_fpga.h"
#endif

#if OPENCL_BLOCKS
#include "gps_l1_ca_pcps_opencl_acquisition.h"
#endif

#if GN3S_DRIVER
#include "gn3s_signal_source.h"
#endif

#if RAW_ARRAY_DRIVER
#include "raw_array_signal_source.h"
#endif

#if OSMOSDR_DRIVER
#include "osmosdr_signal_source.h"
#endif

#if UHD_DRIVER
#include "uhd_signal_source.h"
#endif

#if PLUTOSDR_DRIVER
#include "plutosdr_signal_source.h"
#endif

#if FMCOMMS2_DRIVER
#include "fmcomms2_signal_source.h"
#endif

#if AD9361_DRIVER
#include "ad9361_fpga_signal_source.h"
#endif

#if FLEXIBAND_DRIVER
#include "flexiband_signal_source.h"
#endif

#if CUDA_GPU_ACCEL
#include "gps_l1_ca_dll_pll_tracking_gpu.h"
#endif

#include <glog/logging.h>
#include <iostream>
#include <sstream>
#include <string>
#include <utility>


using google::LogMessage;


GNSSBlockFactory::GNSSBlockFactory() = default;


GNSSBlockFactory::~GNSSBlockFactory() = default;


std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetSignalSource(
    const std::shared_ptr<ConfigurationInterface>& configuration, const gr::msg_queue::sptr queue, int ID)  // NOLINT(performance-unnecessary-value-param)
{
    std::string default_implementation = "File_Signal_Source";
    std::string role = "SignalSource";  //backwards compatibility for old conf files
    try
        {
            if (ID != -1)
                {
                    role = "SignalSource" + std::to_string(ID);
                }
        }
    catch (const std::exception& e)
        {
            LOG(WARNING) << e.what();
        }
    std::string implementation = configuration->property(role + ".implementation", default_implementation);
    LOG(INFO) << "Getting SignalSource with implementation " << implementation;
    return GetBlock(configuration, role, implementation, 0, 1, queue);
}


std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetSignalConditioner(
    const std::shared_ptr<ConfigurationInterface>& configuration, int ID)
{
    std::string default_implementation = "Pass_Through";
    //backwards compatibility for old conf files
    std::string role_conditioner = "SignalConditioner";
    std::string role_datatypeadapter = "DataTypeAdapter";
    std::string role_inputfilter = "InputFilter";
    std::string role_resampler = "Resampler";
    try
        {
            if (ID != -1)
                {
                    role_conditioner = "SignalConditioner" + std::to_string(ID);
                    role_datatypeadapter = "DataTypeAdapter" + std::to_string(ID);
                    role_inputfilter = "InputFilter" + std::to_string(ID);
                    role_resampler = "Resampler" + std::to_string(ID);
                }
        }
    catch (const std::exception& e)
        {
            LOG(WARNING) << e.what();
        }
    std::string signal_conditioner = configuration->property(role_conditioner + ".implementation", default_implementation);

    std::string data_type_adapter;
    std::string input_filter;
    std::string resampler;
    if (signal_conditioner == "Pass_Through")
        {
            data_type_adapter = "Pass_Through";
            input_filter = "Pass_Through";
            resampler = "Pass_Through";
        }
    else
        {
            data_type_adapter = configuration->property(role_datatypeadapter + ".implementation", default_implementation);
            input_filter = configuration->property(role_inputfilter + ".implementation", default_implementation);
            resampler = configuration->property(role_resampler + ".implementation", default_implementation);
        }

    LOG(INFO) << "Getting SignalConditioner with DataTypeAdapter implementation: "
              << data_type_adapter << ", InputFilter implementation: "
              << input_filter << ", and Resampler implementation: "
              << resampler;

    if (signal_conditioner == "Array_Signal_Conditioner")
        {
            //instantiate the array version
            std::unique_ptr<GNSSBlockInterface> conditioner_(new ArraySignalConditioner(configuration.get(),
                GetBlock(configuration, role_datatypeadapter, data_type_adapter, 1, 1),
                GetBlock(configuration, role_inputfilter, input_filter, 1, 1),
                GetBlock(configuration, role_resampler, resampler, 1, 1),
                role_conditioner, "Signal_Conditioner"));
            return conditioner_;
        }

    //single-antenna version
    std::unique_ptr<GNSSBlockInterface> conditioner_(new SignalConditioner(configuration.get(),
        GetBlock(configuration, role_datatypeadapter, data_type_adapter, 1, 1),
        GetBlock(configuration, role_inputfilter, input_filter, 1, 1),
        GetBlock(configuration, role_resampler, resampler, 1, 1),
        role_conditioner, "Signal_Conditioner"));
    return conditioner_;
}


std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(const std::shared_ptr<ConfigurationInterface>& configuration)
{
    std::string default_implementation = "Hybrid_Observables";
    std::string implementation = configuration->property("Observables.implementation", default_implementation);
    LOG(INFO) << "Getting Observables with implementation " << implementation;
    unsigned int Galileo_channels = configuration->property("Channels_1B.count", 0);
    Galileo_channels += configuration->property("Channels_5X.count", 0);
    unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
    GPS_channels += configuration->property("Channels_2S.count", 0);
    GPS_channels += configuration->property("Channels_L5.count", 0);
    unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
    Glonass_channels += configuration->property("Channels_2G.count", 0);
    unsigned int Beidou_channels = configuration->property("Channels_B1.count", 0);
    unsigned int extra_channels = 1;  // For monitor channel sample counter
    return GetBlock(configuration, "Observables", implementation,
        Galileo_channels +
            GPS_channels +
            Glonass_channels +
            Beidou_channels +
            extra_channels,
        Galileo_channels +
            GPS_channels +
            Glonass_channels +
            Beidou_channels);
}


std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetPVT(const std::shared_ptr<ConfigurationInterface>& configuration)
{
    std::string default_implementation = "RTKLIB_PVT";
    std::string implementation = configuration->property("PVT.implementation", default_implementation);
    LOG(INFO) << "Getting PVT with implementation " << implementation;
    unsigned int Galileo_channels = configuration->property("Channels_1B.count", 0);
    Galileo_channels += configuration->property("Channels_5X.count", 0);
    unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
    GPS_channels += configuration->property("Channels_2S.count", 0);
    GPS_channels += configuration->property("Channels_L5.count", 0);
    unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
    Glonass_channels += configuration->property("Channels_2G.count", 0);
    unsigned int Beidou_channels = configuration->property("Channels_B1.count", 0);
    return GetBlock(configuration, "PVT", implementation,
        Galileo_channels + GPS_channels + Glonass_channels + Beidou_channels, 0);
}


//********* GPS L1 C/A CHANNEL *****************
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1C(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
    gr::msg_queue::sptr queue)
{
    //"appendix" is added to the "role" with the aim of Acquisition, Tracking and Telemetry Decoder adapters
    //can find their specific configurations when they read the config
    //TODO: REMOVE APPENDIX!! AND CHECK ALTERNATIVE MECHANISM TO GET PARTICULARIZED PARAMETERS
    LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
              << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm;

    std::string aux = configuration->property("Acquisition_1C" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix1;
    if (aux != "W")
        {
            appendix1 = std::to_string(channel);
        }
    else
        {
            appendix1 = "";
        }
    aux = configuration->property("Tracking_1C" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix2;
    if (aux != "W")
        {
            appendix2 = std::to_string(channel);
        }
    else
        {
            appendix2 = "";
        }
    aux = configuration->property("TelemetryDecoder_1C" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix3;
    if (aux != "W")
        {
            appendix3 = std::to_string(channel);
        }
    else
        {
            appendix3 = "";
        }
    // Automatically detect input data type
    std::shared_ptr<InMemoryConfiguration> config;
    config = std::make_shared<InMemoryConfiguration>();
    std::string default_item_type = "gr_complex";
    std::string acq_item_type = configuration->property("Acquisition_1C" + appendix1 + ".item_type", default_item_type);
    std::string trk_item_type = configuration->property("Tracking_1C" + appendix2 + ".item_type", default_item_type);
    if (acq_item_type != trk_item_type)
        {
            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
        }
    config->set_property("Channel.item_type", acq_item_type);

    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1C" + appendix1, acq, 1, 0);
    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1C" + appendix2, trk, 1, 1);
    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1C" + appendix3, tlm, 1, 1);

    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
        std::move(acq_),
        std::move(trk_),
        std::move(tlm_),
        "Channel", "1C", std::move(queue)));

    return channel_;
}


//********* GPS L2C (M) CHANNEL *****************
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2S(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
    gr::msg_queue::sptr queue)
{
    LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
              << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm;
    std::string aux = configuration->property("Acquisition_2S" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix1;
    if (aux != "W")
        {
            appendix1 = std::to_string(channel);
        }
    else
        {
            appendix1 = "";
        }
    aux = configuration->property("Tracking_2S" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix2;
    if (aux != "W")
        {
            appendix2 = std::to_string(channel);
        }
    else
        {
            appendix2 = "";
        }
    aux = configuration->property("TelemetryDecoder_2S" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix3;
    if (aux != "W")
        {
            appendix3 = std::to_string(channel);
        }
    else
        {
            appendix3 = "";
        }
    // Automatically detect input data type
    std::shared_ptr<InMemoryConfiguration> config;
    config = std::make_shared<InMemoryConfiguration>();
    std::string default_item_type = "gr_complex";
    std::string acq_item_type = configuration->property("Acquisition_2S" + appendix1 + ".item_type", default_item_type);
    std::string trk_item_type = configuration->property("Tracking_2S" + appendix2 + ".item_type", default_item_type);
    if (acq_item_type != trk_item_type)
        {
            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
        }
    config->set_property("Channel.item_type", acq_item_type);

    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_2S" + appendix1, acq, 1, 0);
    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_2S" + appendix2, trk, 1, 1);
    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_2S" + appendix3, tlm, 1, 1);

    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
        std::move(acq_),
        std::move(trk_),
        std::move(tlm_),
        "Channel", "2S", std::move(queue)));

    return channel_;
}


//********* GALILEO E1 B CHANNEL *****************
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1B(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
    gr::msg_queue::sptr queue)
{
    std::stringstream stream;
    stream << channel;
    std::string id = stream.str();
    LOG(INFO) << "Instantiating Channel " << id << " with Acquisition Implementation: "
              << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm;
    std::string aux = configuration->property("Acquisition_1B" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix1;
    if (aux != "W")
        {
            appendix1 = std::to_string(channel);
        }
    else
        {
            appendix1 = "";
        }
    aux = configuration->property("Tracking_1B" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix2;
    if (aux != "W")
        {
            appendix2 = std::to_string(channel);
        }
    else
        {
            appendix2 = "";
        }
    aux = configuration->property("TelemetryDecoder_1B" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix3;
    if (aux != "W")
        {
            appendix3 = std::to_string(channel);
        }
    else
        {
            appendix3 = "";
        }
    // Automatically detect input data type
    std::shared_ptr<InMemoryConfiguration> config;
    config = std::make_shared<InMemoryConfiguration>();
    std::string default_item_type = "gr_complex";
    std::string acq_item_type = configuration->property("Acquisition_1B" + appendix1 + ".item_type", default_item_type);
    std::string trk_item_type = configuration->property("Tracking_1B" + appendix2 + ".item_type", default_item_type);
    if (acq_item_type != trk_item_type)
        {
            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
        }
    config->set_property("Channel.item_type", acq_item_type);

    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1B" + appendix1, acq, 1, 0);
    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1B" + appendix2, trk, 1, 1);
    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1B" + appendix3, tlm, 1, 1);

    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
        std::move(acq_),
        std::move(trk_),
        std::move(tlm_),
        "Channel", "1B", std::move(queue)));

    return channel_;
}


//********* GALILEO E5a  CHANNEL *****************
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
    gr::msg_queue::sptr queue)
{
    std::stringstream stream;
    stream << channel;
    std::string id = stream.str();
    LOG(INFO) << "Instantiating Channel " << id << " with Acquisition Implementation: "
              << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm;
    std::string aux = configuration->property("Acquisition_5X" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix1;
    if (aux != "W")
        {
            appendix1 = std::to_string(channel);
        }
    else
        {
            appendix1 = "";
        }
    aux = configuration->property("Tracking_5X" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix2;
    if (aux != "W")
        {
            appendix2 = std::to_string(channel);
        }
    else
        {
            appendix2 = "";
        }
    aux = configuration->property("TelemetryDecoder_5X" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix3;
    if (aux != "W")
        {
            appendix3 = std::to_string(channel);
        }
    else
        {
            appendix3 = "";
        }
    // Automatically detect input data type
    std::shared_ptr<InMemoryConfiguration> config;
    config = std::make_shared<InMemoryConfiguration>();
    std::string default_item_type = "gr_complex";
    std::string acq_item_type = configuration->property("Acquisition_5X" + appendix1 + ".item_type", default_item_type);
    std::string trk_item_type = configuration->property("Tracking_5X" + appendix2 + ".item_type", default_item_type);
    if (acq_item_type != trk_item_type)
        {
            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
        }
    config->set_property("Channel.item_type", acq_item_type);

    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_5X" + appendix1, acq, 1, 0);
    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_5X" + appendix2, trk, 1, 1);
    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_5X" + appendix3, tlm, 1, 1);

    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
        std::move(acq_),
        std::move(trk_),
        std::move(tlm_),
        "Channel", "5X", std::move(queue)));

    return channel_;
}


//********* GLONASS L1 C/A CHANNEL *****************
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
    boost::shared_ptr<gr::msg_queue> queue)
{
    std::stringstream stream;
    stream << channel;
    std::string id = stream.str();
    LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
              << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder Implementation: " << tlm;

    std::string aux = configuration->property("Acquisition_1G" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix1;
    if (aux != "W")
        {
            appendix1 = std::to_string(channel);
        }
    else
        {
            appendix1 = "";
        }
    aux = configuration->property("Tracking_1G" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix2;
    if (aux != "W")
        {
            appendix2 = std::to_string(channel);
        }
    else
        {
            appendix2 = "";
        }
    aux = configuration->property("TelemetryDecoder_1G" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix3;
    if (aux != "W")
        {
            appendix3 = std::to_string(channel);
        }
    else
        {
            appendix3 = "";
        }
    // Automatically detect input data type
    std::shared_ptr<InMemoryConfiguration> config;
    config = std::make_shared<InMemoryConfiguration>();
    std::string default_item_type = "gr_complex";
    std::string acq_item_type = configuration->property("Acquisition_1G" + appendix1 + ".item_type", default_item_type);
    std::string trk_item_type = configuration->property("Tracking_1G" + appendix2 + ".item_type", default_item_type);
    if (acq_item_type != trk_item_type)
        {
            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
        }
    config->set_property("Channel.item_type", acq_item_type);

    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1G" + appendix1, acq, 1, 0);
    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1G" + appendix2, trk, 1, 1);
    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1G" + appendix3, tlm, 1, 1);

    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
        std::move(acq_),
        std::move(trk_),
        std::move(tlm_),
        "Channel", "1G", std::move(queue)));

    return channel_;
}


//********* GLONASS L2 C/A CHANNEL *****************
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2G(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
    boost::shared_ptr<gr::msg_queue> queue)
{
    std::stringstream stream;
    stream << channel;
    std::string id = stream.str();
    LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: "
              << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder Implementation: " << tlm;

    std::string aux = configuration->property("Acquisition_2G" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix1;
    if (aux != "W")
        {
            appendix1 = std::to_string(channel);
        }
    else
        {
            appendix1 = "";
        }
    aux = configuration->property("Tracking_2G" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix2;
    if (aux != "W")
        {
            appendix2 = std::to_string(channel);
        }
    else
        {
            appendix2 = "";
        }
    aux = configuration->property("TelemetryDecoder_2G" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix3;
    if (aux != "W")
        {
            appendix3 = std::to_string(channel);
        }
    else
        {
            appendix3 = "";
        }
    // Automatically detect input data type
    std::shared_ptr<InMemoryConfiguration> config;
    config = std::make_shared<InMemoryConfiguration>();
    std::string default_item_type = "gr_complex";
    std::string acq_item_type = configuration->property("Acquisition_2G" + appendix1 + ".item_type", default_item_type);
    std::string trk_item_type = configuration->property("Tracking_2G" + appendix2 + ".item_type", default_item_type);
    if (acq_item_type != trk_item_type)
        {
            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
        }
    config->set_property("Channel.item_type", acq_item_type);

    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_2G" + appendix1, acq, 1, 0);
    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_2G" + appendix2, trk, 1, 1);
    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_2G" + appendix3, tlm, 1, 1);

    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
        std::move(acq_),
        std::move(trk_),
        std::move(tlm_),
        "Channel", "2G", std::move(queue)));

    return channel_;
}


//********* GPS L5  CHANNEL *****************
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_L5(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
    gr::msg_queue::sptr queue)
{
    std::stringstream stream;
    stream << channel;
    std::string id = stream.str();
    LOG(INFO) << "Instantiating Channel " << id << " with Acquisition Implementation: "
              << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm;
    std::string aux = configuration->property("Acquisition_L5" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix1;
    if (aux != "W")
        {
            appendix1 = std::to_string(channel);
        }
    else
        {
            appendix1 = "";
        }
    aux = configuration->property("Tracking_L5" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix2;
    if (aux != "W")
        {
            appendix2 = std::to_string(channel);
        }
    else
        {
            appendix2 = "";
        }
    aux = configuration->property("TelemetryDecoder_L5" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix3;
    if (aux != "W")
        {
            appendix3 = std::to_string(channel);
        }
    else
        {
            appendix3 = "";
        }
    // Automatically detect input data type
    std::shared_ptr<InMemoryConfiguration> config;
    config = std::make_shared<InMemoryConfiguration>();
    std::string default_item_type = "gr_complex";
    std::string acq_item_type = configuration->property("Acquisition_L5" + appendix1 + ".item_type", default_item_type);
    std::string trk_item_type = configuration->property("Tracking_L5" + appendix2 + ".item_type", default_item_type);
    if (acq_item_type != trk_item_type)
        {
            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
        }
    config->set_property("Channel.item_type", acq_item_type);

    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_L5" + appendix1, acq, 1, 0);
    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_L5" + appendix2, trk, 1, 1);
    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_L5" + appendix3, tlm, 1, 1);

    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
        std::move(acq_),
        std::move(trk_),
        std::move(tlm_),
        "Channel", "L5", std::move(queue)));

    return channel_;
}


//********* BeiDou B1I  CHANNEL *****************
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_B1(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
    gr::msg_queue::sptr queue)
{
    std::stringstream stream;
    stream << channel;
    std::string id = stream.str();
    LOG(INFO) << "Instantiating Channel " << id << " with Acquisition Implementation: "
              << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm;
    std::string aux = configuration->property("Acquisition_B1" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix1;
    if (aux != "W")
        {
            appendix1 = std::to_string(channel);
        }
    else
        {
            appendix1 = "";
        }
    aux = configuration->property("Tracking_B1" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix2;
    if (aux != "W")
        {
            appendix2 = std::to_string(channel);
        }
    else
        {
            appendix2 = "";
        }
    aux = configuration->property("TelemetryDecoder_B1" + std::to_string(channel) + ".implementation", std::string("W"));
    std::string appendix3;
    if (aux != "W")
        {
            appendix3 = std::to_string(channel);
        }
    else
        {
            appendix3 = "";
        }
    // Automatically detect input data type
    std::shared_ptr<InMemoryConfiguration> config;
    config = std::make_shared<InMemoryConfiguration>();
    std::string default_item_type = "gr_complex";
    std::string acq_item_type = configuration->property("Acquisition_B1" + appendix1 + ".item_type", default_item_type);
    std::string trk_item_type = configuration->property("Tracking_B1" + appendix2 + ".item_type", default_item_type);
    if (acq_item_type != trk_item_type)
        {
            LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
        }
    config->set_property("Channel.item_type", acq_item_type);

    std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_B1" + appendix1, acq, 1, 0);
    std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_B1" + appendix2, trk, 1, 1);
    std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_B1" + appendix3, tlm, 1, 1);

    std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
        std::move(acq_),
        std::move(trk_),
        std::move(tlm_),
        "Channel", "B1", std::move(queue)));

    return channel_;
}

std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFactory::GetChannels(
    const std::shared_ptr<ConfigurationInterface>& configuration, const gr::msg_queue::sptr queue)  // NOLINT(performance-unnecessary-value-param)
{
    std::string default_implementation = "Pass_Through";
    std::string tracking_implementation;
    std::string telemetry_decoder_implementation;
    std::string acquisition_implementation;

    unsigned int channel_absolute_id = 0;

    unsigned int Channels_1C_count = configuration->property("Channels_1C.count", 0);
    unsigned int Channels_1B_count = configuration->property("Channels_1B.count", 0);
    unsigned int Channels_1G_count = configuration->property("Channels_1G.count", 0);
    unsigned int Channels_2G_count = configuration->property("Channels_2G.count", 0);
    unsigned int Channels_2S_count = configuration->property("Channels_2S.count", 0);
    unsigned int Channels_5X_count = configuration->property("Channels_5X.count", 0);
    unsigned int Channels_L5_count = configuration->property("Channels_L5.count", 0);
    unsigned int Channels_B1_count = configuration->property("Channels_B1.count", 0);

    unsigned int total_channels = Channels_1C_count +
                                  Channels_1B_count +
                                  Channels_1G_count +
                                  Channels_2S_count +
                                  Channels_2G_count +
                                  Channels_5X_count +
                                  Channels_L5_count +
                                  Channels_B1_count;

    std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels(new std::vector<std::unique_ptr<GNSSBlockInterface>>(total_channels));
    try
        {
            //**************** GPS L1 C/A  CHANNELS **********************
            LOG(INFO) << "Getting " << Channels_1C_count << " GPS L1 C/A channels";
            acquisition_implementation = configuration->property("Acquisition_1C.implementation", default_implementation);
            tracking_implementation = configuration->property("Tracking_1C.implementation", default_implementation);
            telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1C.implementation", default_implementation);

            for (unsigned int i = 0; i < Channels_1C_count; i++)
                {
                    //(i.e. Acquisition_1C0.implementation=xxxx)
                    std::string acquisition_implementation_specific = configuration->property(
                        "Acquisition_1C" + std::to_string(channel_absolute_id) + ".implementation",
                        acquisition_implementation);
                    //(i.e. Tracking_1C0.implementation=xxxx)
                    std::string tracking_implementation_specific = configuration->property(
                        "Tracking_1C" + std::to_string(channel_absolute_id) + ".implementation",
                        tracking_implementation);
                    std::string telemetry_decoder_implementation_specific = configuration->property(
                        "TelemetryDecoder_1C" + std::to_string(channel_absolute_id) + ".implementation",
                        telemetry_decoder_implementation);

                    // Push back the channel to the vector of channels
                    channels->at(channel_absolute_id) = GetChannel_1C(configuration,
                        acquisition_implementation_specific,
                        tracking_implementation_specific,
                        telemetry_decoder_implementation_specific,
                        channel_absolute_id,
                        queue);
                    channel_absolute_id++;
                }

            //**************** GPS L2C (M)  CHANNELS **********************
            LOG(INFO) << "Getting " << Channels_2S_count << " GPS L2C (M) channels";
            tracking_implementation = configuration->property("Tracking_2S.implementation", default_implementation);
            telemetry_decoder_implementation = configuration->property("TelemetryDecoder_2S.implementation", default_implementation);
            acquisition_implementation = configuration->property("Acquisition_2S.implementation", default_implementation);
            for (unsigned int i = 0; i < Channels_2S_count; i++)
                {
                    //(i.e. Acquisition_1C0.implementation=xxxx)
                    std::string acquisition_implementation_specific = configuration->property(
                        "Acquisition_2S" + std::to_string(channel_absolute_id) + ".implementation",
                        acquisition_implementation);
                    //(i.e. Tracking_1C0.implementation=xxxx)
                    std::string tracking_implementation_specific = configuration->property(
                        "Tracking_2S" + std::to_string(channel_absolute_id) + ".implementation",
                        tracking_implementation);
                    std::string telemetry_decoder_implementation_specific = configuration->property(
                        "TelemetryDecoder_2S" + std::to_string(channel_absolute_id) + ".implementation",
                        telemetry_decoder_implementation);

                    // Push back the channel to the vector of channels
                    channels->at(channel_absolute_id) = GetChannel_2S(configuration,
                        acquisition_implementation_specific,
                        tracking_implementation_specific,
                        telemetry_decoder_implementation_specific,
                        channel_absolute_id,
                        queue);
                    channel_absolute_id++;
                }

            //**************** GPS L5  CHANNELS **********************
            LOG(INFO) << "Getting " << Channels_L5_count << " GPS L5 channels";
            tracking_implementation = configuration->property("Tracking_L5.implementation", default_implementation);
            telemetry_decoder_implementation = configuration->property("TelemetryDecoder_L5.implementation", default_implementation);
            acquisition_implementation = configuration->property("Acquisition_L5.implementation", default_implementation);
            for (unsigned int i = 0; i < Channels_L5_count; i++)
                {
                    //(i.e. Acquisition_1C0.implementation=xxxx)
                    std::string acquisition_implementation_specific = configuration->property(
                        "Acquisition_L5" + std::to_string(channel_absolute_id) + ".implementation",
                        acquisition_implementation);
                    //(i.e. Tracking_1C0.implementation=xxxx)
                    std::string tracking_implementation_specific = configuration->property(
                        "Tracking_L5" + std::to_string(channel_absolute_id) + ".implementation",
                        tracking_implementation);
                    std::string telemetry_decoder_implementation_specific = configuration->property(
                        "TelemetryDecoder_L5" + std::to_string(channel_absolute_id) + ".implementation",
                        telemetry_decoder_implementation);

                    // Push back the channel to the vector of channels
                    channels->at(channel_absolute_id) = GetChannel_L5(configuration,
                        acquisition_implementation_specific,
                        tracking_implementation_specific,
                        telemetry_decoder_implementation_specific,
                        channel_absolute_id,
                        queue);
                    channel_absolute_id++;
                }

            //**************** GALILEO E1 B (I/NAV OS) CHANNELS **********************
            LOG(INFO) << "Getting " << Channels_1B_count << " GALILEO E1 B (I/NAV OS) channels";
            tracking_implementation = configuration->property("Tracking_1B.implementation", default_implementation);
            telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1B.implementation", default_implementation);
            acquisition_implementation = configuration->property("Acquisition_1B.implementation", default_implementation);
            for (unsigned int i = 0; i < Channels_1B_count; i++)
                {
                    //(i.e. Acquisition_1C0.implementation=xxxx)
                    std::string acquisition_implementation_specific = configuration->property(
                        "Acquisition_1B" + std::to_string(channel_absolute_id) + ".implementation",
                        acquisition_implementation);
                    //(i.e. Tracking_1C0.implementation=xxxx)
                    std::string tracking_implementation_specific = configuration->property(
                        "Tracking_1B" + std::to_string(channel_absolute_id) + ".implementation",
                        tracking_implementation);
                    std::string telemetry_decoder_implementation_specific = configuration->property(
                        "TelemetryDecoder_1B" + std::to_string(channel_absolute_id) + ".implementation",
                        telemetry_decoder_implementation);

                    // Push back the channel to the vector of channels
                    channels->at(channel_absolute_id) = GetChannel_1B(configuration,
                        acquisition_implementation_specific,
                        tracking_implementation_specific,
                        telemetry_decoder_implementation_specific,
                        channel_absolute_id,
                        queue);
                    channel_absolute_id++;
                }

            //**************** GALILEO E5a I (F/NAV OS)  CHANNELS **********************
            LOG(INFO) << "Getting " << Channels_5X_count << " GALILEO E5a I (F/NAV OS) channels";
            tracking_implementation = configuration->property("Tracking_5X.implementation", default_implementation);
            telemetry_decoder_implementation = configuration->property("TelemetryDecoder_5X.implementation", default_implementation);
            acquisition_implementation = configuration->property("Acquisition_5X.implementation", default_implementation);
            for (unsigned int i = 0; i < Channels_5X_count; i++)
                {
                    //(i.e. Acquisition_1C0.implementation=xxxx)
                    std::string acquisition_implementation_specific = configuration->property(
                        "Acquisition_5X" + std::to_string(channel_absolute_id) + ".implementation",
                        acquisition_implementation);
                    //(i.e. Tracking_1C0.implementation=xxxx)
                    std::string tracking_implementation_specific = configuration->property(
                        "Tracking_5X" + std::to_string(channel_absolute_id) + ".implementation",
                        tracking_implementation);
                    std::string telemetry_decoder_implementation_specific = configuration->property(
                        "TelemetryDecoder_5X" + std::to_string(channel_absolute_id) + ".implementation",
                        telemetry_decoder_implementation);

                    // Push back the channel to the vector of channels
                    channels->at(channel_absolute_id) = GetChannel_5X(configuration,
                        acquisition_implementation_specific,
                        tracking_implementation_specific,
                        telemetry_decoder_implementation_specific,
                        channel_absolute_id,
                        queue);
                    channel_absolute_id++;
                }

            //**************** GLONASS L1 C/A  CHANNELS **********************
            LOG(INFO) << "Getting " << Channels_1G_count << " GLONASS L1 C/A channels";
            acquisition_implementation = configuration->property("Acquisition_1G.implementation", default_implementation);
            tracking_implementation = configuration->property("Tracking_1G.implementation", default_implementation);
            telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1G.implementation", default_implementation);

            for (unsigned int i = 0; i < Channels_1G_count; i++)
                {
                    //(i.e. Acquisition_1G0.implementation=xxxx)
                    std::string acquisition_implementation_specific = configuration->property(
                        "Acquisition_1G" + std::to_string(channel_absolute_id) + ".implementation",
                        acquisition_implementation);
                    //(i.e. Tracking_1G0.implementation=xxxx)
                    std::string tracking_implementation_specific = configuration->property(
                        "Tracking_1G" + std::to_string(channel_absolute_id) + ".implementation",
                        tracking_implementation);
                    std::string telemetry_decoder_implementation_specific = configuration->property(
                        "TelemetryDecoder_1G" + std::to_string(channel_absolute_id) + ".implementation",
                        telemetry_decoder_implementation);

                    // Push back the channel to the vector of channels
                    channels->at(channel_absolute_id) = GetChannel_1G(configuration,
                        acquisition_implementation_specific,
                        tracking_implementation_specific,
                        telemetry_decoder_implementation_specific,
                        channel_absolute_id,
                        queue);
                    channel_absolute_id++;
                }

            //**************** GLONASS L2 C/A  CHANNELS **********************
            LOG(INFO) << "Getting " << Channels_2G_count << " GLONASS L2 C/A channels";
            acquisition_implementation = configuration->property("Acquisition_2G.implementation", default_implementation);
            tracking_implementation = configuration->property("Tracking_2G.implementation", default_implementation);
            telemetry_decoder_implementation = configuration->property("TelemetryDecoder_2G.implementation", default_implementation);

            for (unsigned int i = 0; i < Channels_2G_count; i++)
                {
                    //(i.e. Acquisition_2G0.implementation=xxxx)
                    std::string acquisition_implementation_specific = configuration->property(
                        "Acquisition_2G" + std::to_string(channel_absolute_id) + ".implementation",
                        acquisition_implementation);
                    //(i.e. Tracking_2G0.implementation=xxxx)
                    std::string tracking_implementation_specific = configuration->property(
                        "Tracking_2G" + std::to_string(channel_absolute_id) + ".implementation",
                        tracking_implementation);
                    std::string telemetry_decoder_implementation_specific = configuration->property(
                        "TelemetryDecoder_2G" + std::to_string(channel_absolute_id) + ".implementation",
                        telemetry_decoder_implementation);

                    // Push back the channel to the vector of channels
                    channels->at(channel_absolute_id) = GetChannel_2G(configuration,
                        acquisition_implementation_specific,
                        tracking_implementation_specific,
                        telemetry_decoder_implementation_specific,
                        channel_absolute_id,
                        queue);
                    channel_absolute_id++;
                }

            //**************** BEIDOU B1I  CHANNELS **********************
            LOG(INFO) << "Getting " << Channels_B1_count << " BEIDOU B1I channels";
            acquisition_implementation = configuration->property("Acquisition_B1.implementation", default_implementation);
            tracking_implementation = configuration->property("Tracking_B1.implementation", default_implementation);
            telemetry_decoder_implementation = configuration->property("TelemetryDecoder_B1.implementation", default_implementation);

            for (unsigned int i = 0; i < Channels_B1_count; i++)
                {
                    //(i.e. Acquisition_2G0.implementation=xxxx)
                    std::string acquisition_implementation_specific = configuration->property(
                        "Acquisition_B1" + std::to_string(channel_absolute_id) + ".implementation",
                        acquisition_implementation);
                    //(i.e. Tracking_2G0.implementation=xxxx)
                    std::string tracking_implementation_specific = configuration->property(
                        "Tracking_B1" + std::to_string(channel_absolute_id) + ".implementation",
                        tracking_implementation);
                    std::string telemetry_decoder_implementation_specific = configuration->property(
                        "TelemetryDecoder_B1" + std::to_string(channel_absolute_id) + ".implementation",
                        telemetry_decoder_implementation);

                    // Push back the channel to the vector of channels
                    channels->at(channel_absolute_id) = GetChannel_B1(configuration,
                        acquisition_implementation_specific,
                        tracking_implementation_specific,
                        telemetry_decoder_implementation_specific,
                        channel_absolute_id,
                        queue);
                    channel_absolute_id++;
                }
        }
    catch (const std::exception& e)
        {
            LOG(WARNING) << e.what();
        }

    return channels;
}


/*
 * Returns the block with the required configuration and implementation
 *
 * PLEASE ADD YOUR NEW BLOCK HERE!!
 *
 * IMPORTANT NOTE: Acquisition, Tracking and telemetry blocks are only included here for testing purposes.
 * To be included in a channel they must be also be included in GetAcqBlock(), GetTrkBlock() and GetTlmBlock()
 * (see below)
 */
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& role,
    const std::string& implementation, unsigned int in_streams,
    unsigned int out_streams, const gr::msg_queue::sptr queue)  // NOLINT(performance-unnecessary-value-param)
{
    std::unique_ptr<GNSSBlockInterface> block;

    //PASS THROUGH ----------------------------------------------------------------
    if (implementation == "Pass_Through")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new Pass_Through(configuration.get(), role, in_streams, out_streams));
            block = std::move(block_);
        }

    // SIGNAL SOURCES -------------------------------------------------------------
    else if (implementation == "File_Signal_Source")
        {
            try
                {
                    std::unique_ptr<GNSSBlockInterface> block_(new FileSignalSource(configuration.get(), role, in_streams,
                        out_streams, queue));
                    block = std::move(block_);
                }

            catch (const std::exception& e)
                {
                    std::cout << "GNSS-SDR program ended." << std::endl;
                    exit(1);
                }
        }
#if RAW_UDP
    else if (implementation == "Custom_UDP_Signal_Source")
        {
            try
                {
                    std::unique_ptr<GNSSBlockInterface> block_(new CustomUDPSignalSource(configuration.get(), role, in_streams,
                        out_streams, queue));
                    block = std::move(block_);
                }

            catch (const std::exception& e)
                {
                    std::cout << "GNSS-SDR program ended." << std::endl;
                    exit(1);
                }
        }
#endif
    else if (implementation == "Nsr_File_Signal_Source")
        {
            try
                {
                    std::unique_ptr<GNSSBlockInterface> block_(new NsrFileSignalSource(configuration.get(), role, in_streams,
                        out_streams, queue));
                    block = std::move(block_);
                }
            catch (const std::exception& e)
                {
                    std::cout << "GNSS-SDR program ended." << std::endl;
                    exit(1);
                }
        }
#if MODERN_GNURADIO
    else if (implementation == "Two_Bit_Cpx_File_Signal_Source")
        {
            try
                {
                    std::unique_ptr<GNSSBlockInterface> block_(new TwoBitCpxFileSignalSource(configuration.get(), role, in_streams,
                        out_streams, queue));
                    block = std::move(block_);
                }
            catch (const std::exception& e)
                {
                    std::cout << "GNSS-SDR program ended." << std::endl;
                    exit(1);
                }
        }
    else if (implementation == "Two_Bit_Packed_File_Signal_Source")
        {
            try
                {
                    std::unique_ptr<GNSSBlockInterface> block_(new TwoBitPackedFileSignalSource(configuration.get(), role, in_streams,
                        out_streams, queue));
                    block = std::move(block_);
                }
            catch (const std::exception& e)
                {
                    std::cout << "GNSS-SDR program ended." << std::endl;
                    exit(1);
                }
        }
#endif
    else if (implementation == "Spir_File_Signal_Source")
        {
            try
                {
                    std::unique_ptr<GNSSBlockInterface> block_(new SpirFileSignalSource(configuration.get(), role, in_streams,
                        out_streams, queue));
                    block = std::move(block_);
                }
            catch (const std::exception& e)
                {
                    std::cout << "GNSS-SDR program ended." << std::endl;
                    exit(1);
                }
        }
    else if (implementation == "Spir_GSS6450_File_Signal_Source")
        {
            try
                {
                    std::unique_ptr<GNSSBlockInterface> block_(new SpirGSS6450FileSignalSource(configuration.get(), role, in_streams,
                        out_streams, queue));
                    block = std::move(block_);
                }
            catch (const std::exception& e)
                {
                    std::cout << "GNSS-SDR program ended." << std::endl;
                    exit(1);
                }
        }
    else if (implementation == "RtlTcp_Signal_Source")
        {
            try
                {
                    std::unique_ptr<GNSSBlockInterface> block_(new RtlTcpSignalSource(configuration.get(), role, in_streams,
                        out_streams, queue));
                    block = std::move(block_);
                }
            catch (const std::exception& e)
                {
                    std::cout << "GNSS-SDR program ended." << std::endl;
                    exit(1);
                }
        }
    else if (implementation == "Labsat_Signal_Source")
        {
            try
                {
                    std::unique_ptr<GNSSBlockInterface> block_(new LabsatSignalSource(configuration.get(), role, in_streams,
                        out_streams, queue));
                    block = std::move(block_);
                }

            catch (const std::exception& e)
                {
                    std::cout << "GNSS-SDR program ended." << std::endl;
                    exit(1);
                }
        }
#if UHD_DRIVER
    else if (implementation == "UHD_Signal_Source")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new UhdSignalSource(configuration.get(), role, in_streams,
                out_streams, queue));
            block = std::move(block_);
        }
#endif
#if GN3S_DRIVER
    else if (implementation == "GN3S_Signal_Source")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new Gn3sSignalSource(configuration.get(), role, in_streams,
                out_streams, queue));
            block = std::move(block_);
        }
#endif

#if RAW_ARRAY_DRIVER
    else if (implementation == "Raw_Array_Signal_Source")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new RawArraySignalSource(configuration.get(), role, in_streams,
                out_streams, queue));
            block = std::move(block_);
        }
#endif

#if OSMOSDR_DRIVER
    else if (implementation == "Osmosdr_Signal_Source")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new OsmosdrSignalSource(configuration.get(), role, in_streams,
                out_streams, queue));
            block = std::move(block_);
        }
#endif

#if PLUTOSDR_DRIVER
    else if (implementation == "Plutosdr_Signal_Source")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new PlutosdrSignalSource(configuration.get(), role, in_streams,
                out_streams, queue));
            block = std::move(block_);
        }
#endif

#if FMCOMMS2_DRIVER
    else if (implementation == "Fmcomms2_Signal_Source")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new Fmcomms2SignalSource(configuration.get(), role, in_streams,
                out_streams, queue));
            block = std::move(block_);
        }
#endif

#if AD9361_DRIVER
    else if (implementation == "Ad9361_Fpga_Signal_Source")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new Ad9361FpgaSignalSource(configuration.get(), role, in_streams,
                out_streams, queue));
            block = std::move(block_);
        }
#endif

#if FLEXIBAND_DRIVER
    else if (implementation == "Flexiband_Signal_Source")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new FlexibandSignalSource(configuration.get(), role, in_streams,
                out_streams, queue));
            block = std::move(block_);
        }
#endif

    // DATA TYPE ADAPTER -----------------------------------------------------------
    else if (implementation == "Byte_To_Short")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new ByteToShort(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Ibyte_To_Cbyte")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new IbyteToCbyte(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Ibyte_To_Cshort")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new IbyteToCshort(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Ibyte_To_Complex")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new IbyteToComplex(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Ishort_To_Cshort")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new IshortToCshort(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Ishort_To_Complex")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new IshortToComplex(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }

    // INPUT FILTER ----------------------------------------------------------------
    else if (implementation == "Fir_Filter")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new FirFilter(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Freq_Xlating_Fir_Filter")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new FreqXlatingFirFilter(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Beamformer_Filter")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new BeamformerFilter(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Pulse_Blanking_Filter")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new PulseBlankingFilter(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Notch_Filter")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new NotchFilter(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Notch_Filter_Lite")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new NotchFilterLite(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }

    // RESAMPLER -------------------------------------------------------------------
    else if (implementation == "Direct_Resampler")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new DirectResamplerConditioner(configuration.get(), role,
                in_streams, out_streams));
            block = std::move(block_);
        }

    else if ((implementation == "Fractional_Resampler") || (implementation == "Mmse_Resampler"))
        {
            std::unique_ptr<GNSSBlockInterface> block_(new MmseResamplerConditioner(configuration.get(), role,
                in_streams, out_streams));
            block = std::move(block_);
        }

    // ACQUISITION BLOCKS ---------------------------------------------------------
    else if (implementation == "GPS_L1_CA_PCPS_Acquisition")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }

#if ENABLE_FPGA
    else if (implementation == "GPS_L1_CA_PCPS_Acquisition_Fpga")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaPcpsAcquisitionFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "GPS_L1_CA_PCPS_Assisted_Acquisition")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaPcpsAssistedAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L1_CA_PCPS_Tong_Acquisition")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaPcpsTongAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }

#if OPENCL_BLOCKS
    else if (implementation == "GPS_L1_CA_PCPS_OpenCl_Acquisition")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaPcpsOpenClAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif

    else if (implementation == "GPS_L1_CA_PCPS_Acquisition_Fine_Doppler")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaPcpsAcquisitionFineDoppler(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L1_CA_PCPS_QuickSync_Acquisition")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaPcpsQuickSyncAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L2_M_PCPS_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL2MPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "GPS_L2_M_PCPS_Acquisition_Fpga")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL2MPcpsAcquisitionFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "GPS_L5i_PCPS_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL5iPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "GPS_L5i_PCPS_Acquisition_Fpga")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL5iPcpsAcquisitionFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "Galileo_E1_PCPS_Ambiguous_Acquisition")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1PcpsAmbiguousAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "Galileo_E1_PCPS_Ambiguous_Acquisition_Fpga")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1PcpsAmbiguousAcquisitionFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "Galileo_E1_PCPS_8ms_Ambiguous_Acquisition")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1Pcps8msAmbiguousAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E1_PCPS_Tong_Ambiguous_Acquisition")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1PcpsTongAmbiguousAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E1_PCPS_CCCWSR_Ambiguous_Acquisition")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1PcpsCccwsrAmbiguousAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E5a_Noncoherent_IQ_Acquisition_CAF")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE5aNoncoherentIQAcquisitionCaf(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E5a_Pcps_Acquisition")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE5aPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "Galileo_E5a_Pcps_Acquisition_Fpga")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE5aPcpsAcquisitionFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1PcpsQuickSyncAmbiguousAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L1_CA_PCPS_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L2_CA_PCPS_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GlonassL2CaPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "BEIDOU_B1I_PCPS_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new BeidouB1iPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }

    // TRACKING BLOCKS -------------------------------------------------------------
    else if (implementation == "GPS_L1_CA_DLL_PLL_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L1_CA_KF_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaKfTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_Fpga")
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllTrackingFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "GPS_L1_CA_TCP_CONNECTOR_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaTcpConnectorTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L2_M_DLL_PLL_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL2MDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "GPS_L2_M_DLL_PLL_Tracking_Fpga")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL2MDllPllTrackingFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if ((implementation == "GPS_L5i_DLL_PLL_Tracking") or (implementation == "GPS_L5_DLL_PLL_Tracking"))
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL5DllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if ((implementation == "GPS_L5i_DLL_PLL_Tracking_Fpga") or (implementation == "GPS_L5_DLL_PLL_Tracking_Fpga"))
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL5DllPllTrackingFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
#if CUDA_GPU_ACCEL
    else if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_GPU")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaDllPllTrackingGPU(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "Galileo_E1_DLL_PLL_VEML_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1DllPllVemlTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "Galileo_E1_DLL_PLL_VEML_Tracking_Fpga")
        {
            std::unique_ptr<TrackingInterface> block_(new GalileoE1DllPllVemlTrackingFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "Galileo_E1_TCP_CONNECTOR_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1TcpConnectorTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E5a_DLL_PLL_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE5aDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "Galileo_E5a_DLL_PLL_Tracking_Fpga")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE5aDllPllTrackingFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "GLONASS_L1_CA_DLL_PLL_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL1CaDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L2_CA_DLL_PLL_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL2CaDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L2_CA_DLL_PLL_C_Aid_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL2CaDllPllCAidTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "BEIDOU_B1I_DLL_PLL_Tracking")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new BeidouB1iDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    // TELEMETRY DECODERS ----------------------------------------------------------
    else if (implementation == "GPS_L1_CA_Telemetry_Decoder")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL1CaTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L2C_Telemetry_Decoder")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL2CTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L5_Telemetry_Decoder")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GpsL5TelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E1B_Telemetry_Decoder")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE1BTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "SBAS_L1_Telemetry_Decoder")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new SbasL1TelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E5a_Telemetry_Decoder")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GalileoE5aTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L1_CA_Telemetry_Decoder")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL1CaTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L2_CA_Telemetry_Decoder")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new GlonassL2CaTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "BEIDOU_B1I_Telemetry_Decoder")
        {
            std::unique_ptr<GNSSBlockInterface> block_(new BeidouB1iTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }

    // OBSERVABLES -----------------------------------------------------------------
    else if ((implementation == "Hybrid_Observables") || (implementation == "GPS_L1_CA_Observables") || (implementation == "GPS_L2C_Observables") ||
             (implementation == "Galileo_E5A_Observables"))
        {
            std::unique_ptr<GNSSBlockInterface> block_(new HybridObservables(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }

    // PVT -------------------------------------------------------------------------
    else if ((implementation == "RTKLIB_PVT") || (implementation == "GPS_L1_CA_PVT") || (implementation == "Galileo_E1_PVT") || (implementation == "Hybrid_PVT"))
        {
            std::unique_ptr<GNSSBlockInterface> block_(new RtklibPvt(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else
        {
            // Log fatal. This causes execution to stop.
            LOG(ERROR) << role << "." << implementation << ": Undefined implementation for block";
        }
    return block;
}


/*
 *
 * PLEASE ADD YOUR NEW BLOCK HERE!!
 *
 * Not very elegant, Acq, Trk and Tlm blocks must be added here, too.
 * To be improved!
 */

std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& role,
    const std::string& implementation, unsigned int in_streams,
    unsigned int out_streams)
{
    std::unique_ptr<AcquisitionInterface> block;
    // ACQUISITION BLOCKS ---------------------------------------------------------
    if (implementation == "GPS_L1_CA_PCPS_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL1CaPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "GPS_L1_CA_PCPS_Acquisition_Fpga")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL1CaPcpsAcquisitionFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "GPS_L1_CA_PCPS_Assisted_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL1CaPcpsAssistedAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L1_CA_PCPS_Tong_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL1CaPcpsTongAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }

#if OPENCL_BLOCKS
    else if (implementation == "GPS_L1_CA_PCPS_OpenCl_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL1CaPcpsOpenClAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif

    else if (implementation == "GPS_L1_CA_PCPS_Acquisition_Fine_Doppler")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL1CaPcpsAcquisitionFineDoppler(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L1_CA_PCPS_QuickSync_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL1CaPcpsQuickSyncAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L2_M_PCPS_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL2MPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "GPS_L2_M_PCPS_Acquisition_Fpga")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL2MPcpsAcquisitionFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "GPS_L5i_PCPS_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL5iPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "GPS_L5i_PCPS_Acquisition_Fpga")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GpsL5iPcpsAcquisitionFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "Galileo_E1_PCPS_Ambiguous_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GalileoE1PcpsAmbiguousAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "Galileo_E1_PCPS_Ambiguous_Acquisition_Fpga")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GalileoE1PcpsAmbiguousAcquisitionFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "Galileo_E1_PCPS_8ms_Ambiguous_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GalileoE1Pcps8msAmbiguousAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E1_PCPS_Tong_Ambiguous_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GalileoE1PcpsTongAmbiguousAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E1_PCPS_CCCWSR_Ambiguous_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GalileoE1PcpsCccwsrAmbiguousAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }

    else if (implementation == "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GalileoE1PcpsQuickSyncAmbiguousAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E5a_Noncoherent_IQ_Acquisition_CAF")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GalileoE5aNoncoherentIQAcquisitionCaf(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E5a_Pcps_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GalileoE5aPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "Galileo_E5a_Pcps_Acquisition_Fpga")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GalileoE5aPcpsAcquisitionFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "GLONASS_L1_CA_PCPS_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GlonassL1CaPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L2_CA_PCPS_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new GlonassL2CaPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "BEIDOU_B1I_PCPS_Acquisition")
        {
            std::unique_ptr<AcquisitionInterface> block_(new BeidouB1iPcpsAcquisition(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }

    else
        {
            // Log fatal. This causes execution to stop.
            LOG(ERROR) << role << "." << implementation << ": Undefined implementation for block";
        }
    return block;
}


std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& role,
    const std::string& implementation, unsigned int in_streams,
    unsigned int out_streams)
{
    std::unique_ptr<TrackingInterface> block;

    // TRACKING BLOCKS -------------------------------------------------------------
    if (implementation == "GPS_L1_CA_DLL_PLL_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L1_CA_KF_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL1CaKfTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_Fpga")
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllTrackingFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "GPS_L1_CA_TCP_CONNECTOR_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL1CaTcpConnectorTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E1_DLL_PLL_VEML_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GalileoE1DllPllVemlTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "Galileo_E1_DLL_PLL_VEML_Tracking_Fpga")
        {
            std::unique_ptr<TrackingInterface> block_(new GalileoE1DllPllVemlTrackingFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "Galileo_E1_TCP_CONNECTOR_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GalileoE1TcpConnectorTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E5a_DLL_PLL_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GalileoE5aDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "Galileo_E5a_DLL_PLL_Tracking_Fpga")
        {
            std::unique_ptr<TrackingInterface> block_(new GalileoE5aDllPllTrackingFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "GPS_L2_M_DLL_PLL_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL2MDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if (implementation == "GPS_L2_M_DLL_PLL_Tracking_Fpga")
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL2MDllPllTrackingFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if ((implementation == "GPS_L5i_DLL_PLL_Tracking") or (implementation == "GPS_L5_DLL_PLL_Tracking"))
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL5DllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#if ENABLE_FPGA
    else if ((implementation == "GPS_L5i_DLL_PLL_Tracking_Fpga") or (implementation == "GPS_L5_DLL_PLL_Tracking_Fpga"))
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL5DllPllTrackingFpga(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
#if CUDA_GPU_ACCEL
    else if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_GPU")
        {
            std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllTrackingGPU(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
#endif
    else if (implementation == "GLONASS_L1_CA_DLL_PLL_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GlonassL1CaDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GlonassL1CaDllPllCAidTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L2_CA_DLL_PLL_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GlonassL2CaDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L2_CA_DLL_PLL_C_Aid_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new GlonassL2CaDllPllCAidTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "BEIDOU_B1I_DLL_PLL_Tracking")
        {
            std::unique_ptr<TrackingInterface> block_(new BeidouB1iDllPllTracking(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }

    else
        {
            // Log fatal. This causes execution to stop.
            LOG(ERROR) << role << "." << implementation << ": Undefined implementation for block";
        }
    return block;
}


std::unique_ptr<TelemetryDecoderInterface> GNSSBlockFactory::GetTlmBlock(
    const std::shared_ptr<ConfigurationInterface>& configuration,
    const std::string& role,
    const std::string& implementation, unsigned int in_streams,
    unsigned int out_streams)
{
    std::unique_ptr<TelemetryDecoderInterface> block;

    // TELEMETRY DECODERS ----------------------------------------------------------
    if (implementation == "GPS_L1_CA_Telemetry_Decoder")
        {
            std::unique_ptr<TelemetryDecoderInterface> block_(new GpsL1CaTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E1B_Telemetry_Decoder")
        {
            std::unique_ptr<TelemetryDecoderInterface> block_(new GalileoE1BTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "SBAS_L1_Telemetry_Decoder")
        {
            std::unique_ptr<TelemetryDecoderInterface> block_(new SbasL1TelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "Galileo_E5a_Telemetry_Decoder")
        {
            std::unique_ptr<TelemetryDecoderInterface> block_(new GalileoE5aTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L2C_Telemetry_Decoder")
        {
            std::unique_ptr<TelemetryDecoderInterface> block_(new GpsL2CTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L1_CA_Telemetry_Decoder")
        {
            std::unique_ptr<TelemetryDecoderInterface> block_(new GlonassL1CaTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GLONASS_L2_CA_Telemetry_Decoder")
        {
            std::unique_ptr<TelemetryDecoderInterface> block_(new GlonassL2CaTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "GPS_L5_Telemetry_Decoder")
        {
            std::unique_ptr<TelemetryDecoderInterface> block_(new GpsL5TelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }
    else if (implementation == "BEIDOU_B1I_Telemetry_Decoder")
        {
            std::unique_ptr<TelemetryDecoderInterface> block_(new BeidouB1iTelemetryDecoder(configuration.get(), role, in_streams,
                out_streams));
            block = std::move(block_);
        }


    else
        {
            // Log fatal. This causes execution to stop.
            LOG(ERROR) << role << "." << implementation << ": Undefined implementation for block";
        }
    return block;
}