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Code Issues Releases Wiki Activity

Code cleaning

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This commit is contained in:
Carles Fernandez
2026-05-19 23:45:56 +02:00
parent ca276f2ae3
commit 046859ba89
2 changed files with 38 additions and 52 deletions
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src/algorithms/PVT/libs/rtcm.cc
+37 -52
View File
@@ -316,24 +316,6 @@ uint32_t get_MSM_signal_data_bits(uint32_t msm_type)
}
bool is_gps_l5_signal(const std::string& signal)
{
return signal == "L5";
}
bool is_glonass_l1_ca_signal(const std::string& signal)
{
return signal == "1G";
}
bool is_glonass_l2_ca_signal(const std::string& signal)
{
return signal == "2G";
}
const MsmSignalSpec* get_msm_signal_spec(const Gnss_Synchro& gnss_synchro)
{
const std::string signal_(gnss_synchro.Signal);
@@ -543,21 +525,6 @@ uint32_t get_msm_message_number_from_inputs(uint32_t msm_type,
}
uint32_t clamp_rounded_uint(double value, uint32_t max_value)
{
if (!std::isfinite(value) || (value <= 0.0))
{
return 0;
}
const double rounded_value = std::round(value);
if (rounded_value >= static_cast<double>(max_value))
{
return max_value;
}
return static_cast<uint32_t>(rounded_value);
}
} // namespace
@@ -856,6 +823,24 @@ int32_t Rtcm::bin_to_sint(const std::string& s) const
return sign * reading;
}
uint32_t Rtcm::clamp_rounded_uint(double value, uint32_t max_value)
{
if (!std::isfinite(value) || (value <= 0.0))
{
return 0;
}
const double rounded_value = std::round(value);
if (rounded_value >= static_cast<double>(max_value))
{
return max_value;
}
return static_cast<uint32_t>(rounded_value);
}
// Find the sign for glonass data fields (neg = 1, pos = 0)
static inline uint64_t glo_sgn(double val)
{
@@ -1708,7 +1693,7 @@ std::string Rtcm::print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, d
const std::string system_(&observables_iter->second.System, 1);
const std::string sig_(observables_iter->second.Signal);
const std::string sig = sig_.substr(0, 2);
if ((system_ == "R") && is_glonass_l1_ca_signal(sig))
if ((system_ == "R") && (sig == "1G"))
{
observablesL1.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
}
@@ -1758,7 +1743,7 @@ std::string Rtcm::print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, d
const std::string system_(&observables_iter->second.System, 1);
const std::string sig_(observables_iter->second.Signal);
const std::string sig = sig_.substr(0, 2);
if ((system_ == "R") && is_glonass_l1_ca_signal(sig))
if ((system_ == "R") && (sig == "1G"))
{
observablesL1.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
}
@@ -1836,11 +1821,11 @@ std::string Rtcm::print_MT1011(const Glonass_Gnav_Ephemeris& ephL1, const Glonas
const std::string system_(&observables_iter->second.System, 1);
const std::string sig_(observables_iter->second.Signal);
const std::string sig = sig_.substr(0, 2);
if ((system_ == "R") && is_glonass_l1_ca_signal(sig))
if ((system_ == "R") && (sig == "1G"))
{
observablesL1.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
}
if ((system_ == "R") && is_glonass_l2_ca_signal(sig))
if ((system_ == "R") && (sig == "2G"))
{
observablesL2.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
}
@@ -1948,11 +1933,11 @@ std::string Rtcm::print_MT1012(const Glonass_Gnav_Ephemeris& ephL1, const Glonas
const std::string system_(&observables_iter->second.System, 1);
const std::string sig_(observables_iter->second.Signal);
const std::string sig = sig_.substr(0, 2);
if ((system_ == "R") && is_glonass_l1_ca_signal(sig))
if ((system_ == "R") && (sig == "1G"))
{
observablesL1.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
}
if ((system_ == "R") && is_glonass_l2_ca_signal(sig))
if ((system_ == "R") && (sig == "2G"))
{
observablesL2.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
}
@@ -4423,33 +4408,33 @@ uint32_t Rtcm::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, con
boost::posix_time::ptime last_lock_time;
const std::string sig_(gnss_synchro.Signal);
const std::string sig = sig_.substr(0, 2);
if (is_glonass_l1_ca_signal(sig))
if (sig == "1G")
{
last_lock_time = Rtcm::glo_L1_last_lock_time[65 - gnss_synchro.PRN];
}
if (is_glonass_l2_ca_signal(sig))
if (sig == "2G")
{
last_lock_time = Rtcm::glo_L2_last_lock_time[65 - gnss_synchro.PRN];
}
if (last_lock_time.is_not_a_date_time()) // || CHECK LLI!!......)
{
if (is_glonass_l1_ca_signal(sig))
if (sig == "1G")
{
Rtcm::glo_L1_last_lock_time[65 - gnss_synchro.PRN] = current_time;
}
if (is_glonass_l2_ca_signal(sig))
if (sig == "2G")
{
Rtcm::glo_L2_last_lock_time[65 - gnss_synchro.PRN] = current_time;
}
}
boost::posix_time::time_duration lock_duration = current_time - current_time;
if (is_glonass_l1_ca_signal(sig))
if (sig == "1G")
{
lock_duration = current_time - Rtcm::glo_L1_last_lock_time[65 - gnss_synchro.PRN];
}
if (is_glonass_l2_ca_signal(sig))
if (sig == "2G")
{
lock_duration = current_time - Rtcm::glo_L2_last_lock_time[65 - gnss_synchro.PRN];
}
@@ -6224,7 +6209,7 @@ int32_t Rtcm::set_DF402(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& e
lock_time_period_s = Rtcm::lock_time(ephNAV, obs_time, gnss_synchro);
}
const std::string sig = sig_.substr(0, 2);
if (((sig == "2S") || is_gps_l5_signal(sig)) && (sys == "G"))
if (((sig == "2S") || (sig == "L5")) && (sys == "G"))
{
lock_time_period_s = Rtcm::lock_time(ephCNAV, obs_time, gnss_synchro);
}
@@ -6232,7 +6217,7 @@ int32_t Rtcm::set_DF402(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& e
{
lock_time_period_s = Rtcm::lock_time(ephFNAV, obs_time, gnss_synchro);
}
if ((is_glonass_l1_ca_signal(sig) || is_glonass_l2_ca_signal(sig)) && (sys == "R"))
if (((sig == "1G") || (sig == "2G")) && (sys == "R"))
{
lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
}
@@ -6244,7 +6229,7 @@ int32_t Rtcm::set_DF402(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& e
int32_t Rtcm::set_DF403(const Gnss_Synchro& gnss_synchro)
{
const auto cnr_dB_Hz = clamp_rounded_uint(gnss_synchro.CN0_dB_hz, 63U);
const auto cnr_dB_Hz = Rtcm::clamp_rounded_uint(gnss_synchro.CN0_dB_hz, 63U);
DF403 = std::bitset<6>(cnr_dB_Hz);
return 0;
}
@@ -6340,7 +6325,7 @@ int32_t Rtcm::set_DF407(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& e
lock_time_period_s = Rtcm::lock_time(ephNAV, obs_time, gnss_synchro);
}
const std::string sig = sig_.substr(0, 2);
if (((sig == "2S") || is_gps_l5_signal(sig)) && (sys_ == "G"))
if (((sig == "2S") || (sig == "L5")) && (sys_ == "G"))
{
lock_time_period_s = Rtcm::lock_time(ephCNAV, obs_time, gnss_synchro);
}
@@ -6348,11 +6333,11 @@ int32_t Rtcm::set_DF407(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& e
{
lock_time_period_s = Rtcm::lock_time(ephFNAV, obs_time, gnss_synchro);
}
if (is_glonass_l1_ca_signal(sig) && (sys_ == "R"))
if ((sig == "1G") && (sys_ == "R"))
{
lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
}
if (is_glonass_l2_ca_signal(sig) && (sys_ == "R"))
if ((sig == "2G") && (sys_ == "R"))
{
lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
}
@@ -6364,7 +6349,7 @@ int32_t Rtcm::set_DF407(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& e
int32_t Rtcm::set_DF408(const Gnss_Synchro& gnss_synchro)
{
const auto cnr_dB_Hz = clamp_rounded_uint(gnss_synchro.CN0_dB_hz / 0.0625, 1023U);
const auto cnr_dB_Hz = Rtcm::clamp_rounded_uint(gnss_synchro.CN0_dB_hz / 0.0625, 1023U);
DF408 = std::bitset<10>(cnr_dB_Hz);
return 0;
}
src/algorithms/PVT/libs/rtcm.h
+1
View File
@@ -533,6 +533,7 @@ private:
uint32_t lock_time_indicator(uint32_t lock_time_period_s);
uint32_t msm_lock_time_indicator(uint32_t lock_time_period_s);
uint32_t msm_extended_lock_time_indicator(uint32_t lock_time_period_s);
static uint32_t clamp_rounded_uint(double value, uint32_t max_value);
// SSR utilities
uint8_t ssr_update_interval(uint16_t validity_seconds) const;