Merge branch 'next' of git+ssh://github.com/gnss-sdr/gnss-sdr into next

conf/gnss-sdr_Hybrid_short.conf

@@ -31,7 +31,7 @@ GNSS-SDR.SUPL_CI=0x31b0
 SignalSource.implementation=File_Signal_Source
 
 ;#filename: path to file with the captured GNSS signal samples to be processed
-SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
+SignalSource.filename=/Users/carlesfernandez/Documents/workspace/code2/trunk/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ;/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
 
 ;#item_type: Type and resolution for each of the signal samples.
 SignalSource.item_type=ishort
@@ -172,9 +172,9 @@ Resampler.sample_freq_out=4000000
 
 ;######### CHANNELS GLOBAL CONFIG ############
 ;#count: Number of available GPS satellite channels.
-Channels_1C.count=3
+Channels_1C.count=2
 ;#count: Number of available Galileo satellite channels.
-Channels_1B.count=3
+Channels_1B.count=4
 ;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
 Channels.in_acquisition=1
 
@@ -183,14 +183,14 @@ Channels.in_acquisition=1
 ;# "2S" GPS L2 L2C (M)
 ;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
 ;# "5X" GALILEO E5a I+Q
-Channel0.signal=1B
+Channel0.signal=1C
 Channel1.signal=1C
 Channel2.signal=1B
-Channel3.signal=1C
+Channel3.signal=1B
 Channel4.signal=1B
-Channel5.signal=1C
-;Channel6.signal=1B
-;Channel7.signal=1C
+Channel5.signal=1B
+Channel6.signal=1B
+Channel7.signal=1B
 
 
 
@@ -244,7 +244,7 @@ Acquisition_1B.doppler_step=125
 ;######### TRACKING GPS CONFIG ############
 
 ;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
-Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
+Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
 ;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
 Tracking_1C.item_type=gr_complex
 
@@ -258,10 +258,10 @@ Tracking_1C.dump=false
 Tracking_1C.dump_filename=../data/epl_tracking_ch_
 
 ;#pll_bw_hz: PLL loop filter bandwidth [Hz]
-Tracking_1C.pll_bw_hz=45.0;
+Tracking_1C.pll_bw_hz=50.0;
 
 ;#dll_bw_hz: DLL loop filter bandwidth [Hz]
-Tracking_1C.dll_bw_hz=4.0;
+Tracking_1C.dll_bw_hz=5.0;
 
 ;#fll_bw_hz: FLL loop filter bandwidth [Hz]
 Tracking_1C.fll_bw_hz=10.0;
@@ -347,7 +347,7 @@ PVT.display_rate_ms=500;
 ;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
 PVT.dump=false
 
-PVT.flag_rtcm_server=false
+PVT.flag_rtcm_server=true
 PVT.flag_rtcm_tty_port=false
 PVT.rtcm_dump_devname=/dev/pts/1
 

src/algorithms/PVT/adapters/galileo_e1_pvt.cc

@@ -41,12 +41,10 @@ using google::LogMessage;
 GalileoE1Pvt::GalileoE1Pvt(ConfigurationInterface* configuration,
         std::string role,
         unsigned int in_streams,
-        unsigned int out_streams,
-        boost::shared_ptr<gr::msg_queue> queue) :
+        unsigned int out_streams) :
                 role_(role),
                 in_streams_(in_streams),
-                out_streams_(out_streams),
-                queue_(queue)
+                out_streams_(out_streams)
 {
     // dump parameters
     std::string default_dump_filename = "./pvt.dat";
@@ -82,7 +80,7 @@ GalileoE1Pvt::GalileoE1Pvt(ConfigurationInterface* configuration,
     bool flag_rtcm_server;
     flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
     // make PVT object
-    pvt_ = galileo_e1_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
+    pvt_ = galileo_e1_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
     DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
 }
 
@@ -93,16 +91,16 @@ GalileoE1Pvt::~GalileoE1Pvt()
 
 void GalileoE1Pvt::connect(gr::top_block_sptr top_block)
 {
-	if(top_block) { /* top_block is not null */};
-	// Nothing to connect internally
+    if(top_block) { /* top_block is not null */};
+    // Nothing to connect internally
     DLOG(INFO) << "nothing to connect internally";
 }
 
 
 void GalileoE1Pvt::disconnect(gr::top_block_sptr top_block)
 {
-	if(top_block) { /* top_block is not null */};
-	// Nothing to disconnect
+    if(top_block) { /* top_block is not null */};
+    // Nothing to disconnect
 }
 
 gr::basic_block_sptr GalileoE1Pvt::get_left_block()

src/algorithms/PVT/adapters/galileo_e1_pvt.h

@@ -35,7 +35,6 @@
 #define GNSS_SDR_GALILEO_E1_PVT_H_
 
 #include <string>
-#include <gnuradio/msg_queue.h>
 #include "pvt_interface.h"
 #include "galileo_e1_pvt_cc.h"
 
@@ -51,8 +50,7 @@ class GalileoE1Pvt : public PvtInterface
     GalileoE1Pvt(ConfigurationInterface* configuration,
             std::string role,
             unsigned int in_streams,
-            unsigned int out_streams,
-            boost::shared_ptr<gr::msg_queue> queue);
+            unsigned int out_streams);
 
     virtual ~GalileoE1Pvt();
 
@@ -91,7 +89,6 @@ class GalileoE1Pvt : public PvtInterface
     std::string role_;
     unsigned int in_streams_;
     unsigned int out_streams_;
-    boost::shared_ptr<gr::msg_queue> queue_;
 };
 
 #endif

src/algorithms/PVT/adapters/gps_l1_ca_pvt.cc

@@ -40,12 +40,10 @@ using google::LogMessage;
 GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
         std::string role,
         unsigned int in_streams,
-        unsigned int out_streams,
-        boost::shared_ptr<gr::msg_queue> queue) :
+        unsigned int out_streams) :
                 role_(role),
                 in_streams_(in_streams),
-                out_streams_(out_streams),
-                queue_(queue)
+                out_streams_(out_streams)
 {
     // dump parameters
     std::string default_dump_filename = "./pvt.dat";
@@ -82,7 +80,7 @@ GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
     flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
 
     // make PVT object
-    pvt_ = gps_l1_ca_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname );
+    pvt_ = gps_l1_ca_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname );
     DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
 }
 
@@ -93,18 +91,19 @@ GpsL1CaPvt::~GpsL1CaPvt()
 
 void GpsL1CaPvt::connect(gr::top_block_sptr top_block)
 {
-	if(top_block) { /* top_block is not null */};
-	// Nothing to connect internally
+    if(top_block) { /* top_block is not null */};
+    // Nothing to connect internally
     DLOG(INFO) << "nothing to connect internally";
 }
 
 
 void GpsL1CaPvt::disconnect(gr::top_block_sptr top_block)
 {
-	if(top_block) { /* top_block is not null */};
-	// Nothing to disconnect
+    if(top_block) { /* top_block is not null */};
+    // Nothing to disconnect
 }
 
+
 gr::basic_block_sptr GpsL1CaPvt::get_left_block()
 {
     return pvt_;

src/algorithms/PVT/adapters/gps_l1_ca_pvt.h

@@ -37,7 +37,6 @@
 #define GNSS_SDR_GPS_L1_CA_PVT_H_
 
 #include <string>
-#include <gnuradio/msg_queue.h>
 #include "pvt_interface.h"
 #include "gps_l1_ca_pvt_cc.h"
 
@@ -53,8 +52,7 @@ class GpsL1CaPvt : public PvtInterface
     GpsL1CaPvt(ConfigurationInterface* configuration,
             std::string role,
             unsigned int in_streams,
-            unsigned int out_streams,
-            boost::shared_ptr<gr::msg_queue> queue);
+            unsigned int out_streams);
 
     virtual ~GpsL1CaPvt();
 
@@ -92,7 +90,6 @@ class GpsL1CaPvt : public PvtInterface
     std::string role_;
     unsigned int in_streams_;
     unsigned int out_streams_;
-    boost::shared_ptr<gr::msg_queue> queue_;
 };
 
 #endif

src/algorithms/PVT/adapters/hybrid_pvt.cc

@@ -41,12 +41,10 @@ using google::LogMessage;
 HybridPvt::HybridPvt(ConfigurationInterface* configuration,
         std::string role,
         unsigned int in_streams,
-        unsigned int out_streams,
-        boost::shared_ptr<gr::msg_queue> queue) :
+        unsigned int out_streams) :
                 role_(role),
                 in_streams_(in_streams),
-                out_streams_(out_streams),
-                queue_(queue)
+                out_streams_(out_streams)
 {
     // dump parameters
     std::string default_dump_filename = "./pvt.dat";
@@ -82,7 +80,7 @@ HybridPvt::HybridPvt(ConfigurationInterface* configuration,
     bool flag_rtcm_server;
     flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
     // make PVT object
-    pvt_ = hybrid_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
+    pvt_ = hybrid_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
     DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
 }
 
@@ -93,18 +91,19 @@ HybridPvt::~HybridPvt()
 
 void HybridPvt::connect(gr::top_block_sptr top_block)
 {
-	if(top_block) { /* top_block is not null */};
-	// Nothing to connect internally
+    if(top_block) { /* top_block is not null */};
+    // Nothing to connect internally
     DLOG(INFO) << "nothing to connect internally";
 }
 
 
 void HybridPvt::disconnect(gr::top_block_sptr top_block)
 {
-	if(top_block) { /* top_block is not null */};
-	// Nothing to disconnect
+    if(top_block) { /* top_block is not null */};
+    // Nothing to disconnect
 }
 
+
 gr::basic_block_sptr HybridPvt::get_left_block()
 {
     return pvt_;

src/algorithms/PVT/adapters/hybrid_pvt.h

@@ -35,7 +35,6 @@
 #define GNSS_SDR_HYBRID_PVT_H_
 
 #include <string>
-#include <gnuradio/msg_queue.h>
 #include "pvt_interface.h"
 #include "hybrid_pvt_cc.h"
 
@@ -51,8 +50,7 @@ class HybridPvt : public PvtInterface
     HybridPvt(ConfigurationInterface* configuration,
             std::string role,
             unsigned int in_streams,
-            unsigned int out_streams,
-            boost::shared_ptr<gr::msg_queue> queue);
+            unsigned int out_streams);
 
     virtual ~HybridPvt();
 
@@ -90,7 +88,6 @@ class HybridPvt : public PvtInterface
     std::string role_;
     unsigned int in_streams_;
     unsigned int out_streams_;
-    boost::shared_ptr<gr::msg_queue> queue_;
 };
 
 #endif

src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc

@@ -40,11 +40,12 @@
 
 using google::LogMessage;
 
-galileo_e1_pvt_cc_sptr galileo_e1_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename,
-        int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename,
+
+galileo_e1_pvt_cc_sptr galileo_e1_make_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, int averaging_depth,
+        bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename,
         std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
 {
-    return galileo_e1_pvt_cc_sptr(new galileo_e1_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth,
+    return galileo_e1_pvt_cc_sptr(new galileo_e1_pvt_cc(nchannels, dump, dump_filename, averaging_depth,
             flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname,
             flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
 }
@@ -90,33 +91,35 @@ void galileo_e1_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
                     d_ls_pvt->galileo_almanac = *galileo_almanac;
                     DLOG(INFO) << "New Galileo Almanac has arrived ";
                 }
+            else
+                {
+                    LOG(WARNING) << "msg_handler_telemetry unknown object type!";
+                }
 
     }
     catch(boost::bad_any_cast& e)
     {
-            DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
+            LOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
     }
 }
 
 
-galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth,
+galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, int averaging_depth,
         bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname,
         bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
     gr::block("galileo_e1_pvt_cc", gr::io_signature::make(nchannels, nchannels,  sizeof(Gnss_Synchro)), gr::io_signature::make(0, 0, sizeof(gr_complex)))
 {
 
     d_output_rate_ms = output_rate_ms;
     d_display_rate_ms = display_rate_ms;
-    d_queue = queue;
     d_dump = dump;
     d_nchannels = nchannels;
     d_dump_filename = dump_filename;
     std::string dump_ls_pvt_filename = dump_filename;
 
     // GPS Ephemeris data message port in
     this->message_port_register_in(pmt::mp("telemetry"));
-    this->set_msg_handler(pmt::mp("telemetry"),
-            boost::bind(&galileo_e1_pvt_cc::msg_handler_telemetry, this, _1));
+    this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&galileo_e1_pvt_cc::msg_handler_telemetry, this, _1));
 
     //initialize kml_printer
     std::string kml_dump_filename;
@@ -192,16 +195,17 @@ bool galileo_e1_pvt_cc::pseudoranges_pairCompare_min(const std::pair<int,Gnss_Sy
 void galileo_e1_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data)
 {
     // Print the current receiver status using std::cout every second
-	int current_rx_seg=floor(channels_synchronization_data[0][0].Tracking_timestamp_secs);
-    if ( current_rx_seg!= d_last_status_print_seg)
-		{
-			d_last_status_print_seg = current_rx_seg;
-			std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl<< std::flush;
-			//DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
-			//          << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
-		}
+    int current_rx_seg = floor(channels_synchronization_data[0][0].Tracking_timestamp_secs);
+    if ( current_rx_seg != d_last_status_print_seg)
+        {
+            d_last_status_print_seg = current_rx_seg;
+            std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl << std::flush;
+            //DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel <<  ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+            //          << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
+        }
 }
 
+
 int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
         gr_vector_const_void_star &input_items,	gr_vector_void_star &output_items  __attribute__((unused)))
 {