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Use std::array for compile-time bound checking

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This commit is contained in:
Carles Fernandez 2019-06-28 12:26:09 +02:00
parent 04a62b813f
commit 1cd7ca301d
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GPG Key ID: 4C583C52B0C3877D
3 changed files with 12 additions and 15 deletions
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4
src/algorithms/PVT/libs/nmea_printer.cc
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@ -441,7 +441,7 @@ std::string Nmea_Printer::get_GPGSA()
// GSA-GNSS DOP and Active Satellites // GSA-GNSS DOP and Active Satellites
std::stringstream sentence_str; std::stringstream sentence_str;
unsigned char buff[1024] = {0}; unsigned char buff[1024] = {0};
outnmea_gsa(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat); outnmea_gsa(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat.data());
sentence_str << buff; sentence_str << buff;
return sentence_str.str(); return sentence_str.str();
} }
@ -454,7 +454,7 @@ std::string Nmea_Printer::get_GPGSV()
// Notice that NMEA 2.1 only supports 12 channels // Notice that NMEA 2.1 only supports 12 channels
std::stringstream sentence_str; std::stringstream sentence_str;
unsigned char buff[1024] = {0}; unsigned char buff[1024] = {0};
outnmea_gsv(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat); outnmea_gsv(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat.data());
sentence_str << buff; sentence_str << buff;
return sentence_str.str(); return sentence_str.str();
} }

19
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -507,9 +507,9 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
int valid_obs = 0; // valid observations counter int valid_obs = 0; // valid observations counter
int glo_valid_obs = 0; // GLONASS L1/L2 valid observations counter int glo_valid_obs = 0; // GLONASS L1/L2 valid observations counter
obsd_t obs_data[MAXOBS]; std::array<obsd_t, MAXOBS> obs_data;
eph_t eph_data[MAXOBS]; std::array<eph_t, MAXOBS> eph_data;
geph_t geph_data[MAXOBS]; std::array<geph_t, MAXOBS> geph_data;
// Workaround for NAV/CNAV clash problem // Workaround for NAV/CNAV clash problem
bool gps_dual_band = false; bool gps_dual_band = false;
@ -894,8 +894,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
int result = 0; int result = 0;
int sat = 0; int sat = 0;
nav_t nav_data; nav_t nav_data;
nav_data.eph = eph_data; nav_data.eph = eph_data.data();
nav_data.geph = geph_data; nav_data.geph = geph_data.data();
nav_data.n = valid_obs; nav_data.n = valid_obs;
nav_data.ng = glo_valid_obs; nav_data.ng = glo_valid_obs;
@ -915,7 +915,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
} }
} }
result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data); result = rtkpos(&rtk_, obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
if (result == 0) if (result == 0)
{ {
@ -976,7 +976,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
} }
this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration this->set_rx_pos(rx_position_and_time.rows(0, 2)); // save ECEF position for the next iteration
//compute Ground speed and COG // compute Ground speed and COG
double ground_speed_ms = 0.0; double ground_speed_ms = 0.0;
double pos[3]; double pos[3];
double enuv[3]; double enuv[3];
@ -1015,9 +1015,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
<< " [deg], Height= " << this->get_height() << " [m]" << " [deg], Height= " << this->get_height() << " [m]"
<< " RX time offset= " << this->get_time_offset_s() << " [s]"; << " RX time offset= " << this->get_time_offset_s() << " [s]";
// ######## PVT MONITOR #########
// PVT MONITOR
// TOW // TOW
monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms; monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.begin()->second.TOW_at_current_symbol_ms;
// WEEK // WEEK
@ -1067,7 +1065,6 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
monitor_pvt.hdop = dop_[2]; monitor_pvt.hdop = dop_[2];
monitor_pvt.vdop = dop_[3]; monitor_pvt.vdop = dop_[3];
// ######## LOG FILE ######### // ######## LOG FILE #########
if (d_flag_dump_enabled == true) if (d_flag_dump_enabled == true)
{ {

4
src/algorithms/PVT/libs/rtklib_solver.h
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@ -84,7 +84,7 @@
/*! /*!
* \brief This class implements a simple PVT Least Squares solution * \brief This class implements a PVT solution based on RTKLIB
*/ */
class Rtklib_Solver : public Pvt_Solution class Rtklib_Solver : public Pvt_Solution
{ {
@ -107,7 +107,7 @@ public:
bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging); bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
sol_t pvt_sol; sol_t pvt_sol;
ssat_t pvt_ssat[MAXSAT]; std::array<ssat_t, MAXSAT> pvt_ssat;
double get_hdop() const; double get_hdop() const;
double get_vdop() const; double get_vdop() const;
double get_pdop() const; double get_pdop() const;