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Code Issues Releases Wiki Activity

Fix some defects detected by Coverity Scan

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This commit is contained in:
Carles Fernandez
2025-08-12 12:12:41 +02:00
parent 4bd3f09409
commit 28239e49e5
4 changed files with 169 additions and 94 deletions
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49
src/algorithms/libs/rtklib/rtklib_preceph.cc
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@@ -494,62 +494,83 @@ int readdcbf(const char *file, nav_t *nav, const sta_t *sta)
double cbias; double cbias;
char buff[256]; char buff[256];
char str1[32]; char str1[32];
char str2[32] = ""; char str2[32];
int i; int i;
int j; int j;
int sat; int sat;
int type = 0; int type = 0; /* 0 = none, 1=P1-P2, 2=P1-C1, 3=P2-C2 */
trace(3, "readdcbf: file=%s\n", file); trace(3, "readdcbf: file=%s\n", file);
if (!(fp = fopen(file, "re"))) if (!(fp = fopen(file, "r")))
{ {
trace(2, "dcb parameters file open error: %s\n", file); trace(2, "dcb parameters file open error: %s\n", file);
return 0; return 0;
} }
while (fgets(buff, sizeof(buff), fp)) while (fgets(buff, sizeof(buff), fp))
{ {
/* Detect section headers */
if (strstr(buff, "DIFFERENTIAL (P1-P2) CODE BIASES")) if (strstr(buff, "DIFFERENTIAL (P1-P2) CODE BIASES"))
{ {
type = 1; type = 1;
continue;
} }
else if (strstr(buff, "DIFFERENTIAL (P1-C1) CODE BIASES")) else if (strstr(buff, "DIFFERENTIAL (P1-C1) CODE BIASES"))
{ {
type = 2; type = 2;
continue;
} }
else if (strstr(buff, "DIFFERENTIAL (P2-C2) CODE BIASES")) else if (strstr(buff, "DIFFERENTIAL (P2-C2) CODE BIASES"))
{ {
type = 3; type = 3;
continue;
} }
if (!type || sscanf(buff, "%s %s", str1, str2) < 1) /* Skip lines until we are in a known section */
if (!type)
{ {
continue; continue;
} }
if ((cbias = str2num(buff, 26, 9)) == 0.0) /* Parse tokens */
str1[0] = '\0';
str2[0] = '\0';
if (sscanf(buff, "%31s %31s", str1, str2) < 1)
{ {
continue; continue;
} }
/* Parse bias value */
cbias = str2num(buff, 26, 9);
if (fabs(cbias) < 1e-12)
{
continue; /* skip zero/near-zero biases */
}
if (sta && (!strcmp(str1, "G") || !strcmp(str1, "R"))) if (sta && (!strcmp(str1, "G") || !strcmp(str1, "R")))
{ /* receiver dcb */ {
/* Receiver DCB */
for (i = 0; i < MAXRCV; i++) for (i = 0; i < MAXRCV; i++)
{ {
if (!strcmp(sta[i].name, str2)) if (!strcmp(sta[i].name, str2))
{ {
j = !strcmp(str1, "G") ? 0 : 1;
nav->rbias[i][j][type - 1] = cbias * 1e-9 * SPEED_OF_LIGHT_M_S; // ns -> m
break; break;
} }
} }
if (i < MAXRCV)
{
j = !strcmp(str1, "G") ? 0 : 1;
nav->rbias[i][j][type - 1] = cbias * 1e-9 * SPEED_OF_LIGHT_M_S; /* ns -> m */
}
} }
else if ((sat = satid2no(str1))) else if ((sat = satid2no(str1)) > 0)
{ /* satellite dcb */ {
nav->cbias[sat - 1][type - 1] = cbias * 1e-9 * SPEED_OF_LIGHT_M_S; /* ns -> m */ /* Satellite DCB */
nav->cbias[sat - 1][type - 1] = cbias * 1e-9 * SPEED_OF_LIGHT_M_S; // ns -> m
}
/* reset type when a blank line is found (end of section) */
if (buff[0] == '\n' || buff[0] == '\r')
{
type = 0;
} }
} }
fclose(fp); fclose(fp);

23
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
View File

@@ -1570,15 +1570,12 @@ void time2epoch(gtime_t t, double *ep)
const int mday[] = {/* # of days in a month */ const int mday[] = {/* # of days in a month */
31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31,
31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31}; 31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31, 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
int days; const auto days = static_cast<int>(t.time / 86400); /* leap year if year%4==0 in 1901-2099 */
int sec; const auto sec = static_cast<int>(t.time - static_cast<time_t>(days) * 86400);
int mon; int day = days % 1461; /* Days in current 4-year cycle */
int day; int mon = 0;
/* leap year if year%4==0 in 1901-2099 */ for (; mon < 48; mon++)
days = static_cast<int>(t.time / 86400);
sec = static_cast<int>(t.time - static_cast<time_t>(days) * 86400);
for (day = days % 1461, mon = 0; mon < 48; mon++)
{ {
if (day >= mday[mon]) if (day >= mday[mon])
{ {
@@ -1589,11 +1586,15 @@ void time2epoch(gtime_t t, double *ep)
break; break;
} }
} }
ep[0] = 1970 + days / 1461 * 4 + mon / 12; const int years_4cycle = days / 1461; /* Full 4-year cycles since 1970 */
const int years_in_cycle = mon / 12; /* Full years in current cycle */
const int hour = sec / 3600;
const int minutes = sec % 3600 / 60;
ep[0] = 1970 + years_4cycle * 4 + years_in_cycle;
ep[1] = mon % 12 + 1; ep[1] = mon % 12 + 1;
ep[2] = day + 1; ep[2] = day + 1;
ep[3] = sec / 3600; ep[3] = static_cast<double>(hour);
ep[4] = sec % 3600 / 60; ep[4] = static_cast<double>(minutes);
ep[5] = sec % 60 + t.sec; ep[5] = sec % 60 + t.sec;
} }

85
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
View File

@@ -67,40 +67,47 @@ void writesol(rtksvr_t *svr, int index)
{ {
solopt_t solopt = SOLOPT_DEFAULT; solopt_t solopt = SOLOPT_DEFAULT;
unsigned char buff[MAXSOLMSG]; unsigned char buff[MAXSOLMSG];
int i;
int n; int n;
tracet(4, "writesol: index=%d\n", index); tracet(4, "writesol: index=%d\n", index);
for (i = 0; i < 2; i++) /* Helper lambda to output & save a solution buffer safely */
auto output_and_save = [&](unsigned char *buf, int len, int stream_id, int sol_index) {
if (len > 0 && len <= MAXSOLMSG)
{
strwrite(svr->stream + stream_id, buf, len);
saveoutbuf(svr, buf, len, sol_index);
}
};
for (int i = 0; i < 2; i++)
{ {
/* output solution */ /* Normal solution */
n = outsols(buff, &svr->rtk.sol, svr->rtk.rb, svr->solopt + i); n = outsols(buff, &svr->rtk.sol, svr->rtk.rb, svr->solopt + i);
strwrite(svr->stream + i + 3, buff, n); output_and_save(buff, n, i + 3, i);
/* save output buffer */ /* Extended solution */
saveoutbuf(svr, buff, n, i);
/* output extended solution */
n = outsolexs(buff, &svr->rtk.sol, svr->rtk.ssat, svr->solopt + i); n = outsolexs(buff, &svr->rtk.sol, svr->rtk.ssat, svr->solopt + i);
strwrite(svr->stream + i + 3, buff, n); output_and_save(buff, n, i + 3, i);
/* save output buffer */
saveoutbuf(svr, buff, n, i);
} }
/* output solution to monitor port */
/* Output solution to monitor port */
if (svr->moni) if (svr->moni)
{ {
n = outsols(buff, &svr->rtk.sol, svr->rtk.rb, &solopt); n = outsols(buff, &svr->rtk.sol, svr->rtk.rb, &solopt);
strwrite(svr->moni, buff, n); if (n > 0 && n <= MAXSOLMSG)
{
strwrite(svr->moni, buff, n);
}
} }
/* save solution buffer */
/* Save solution buffer */
rtksvrlock(svr);
if (svr->nsol < MAXSOLBUF) if (svr->nsol < MAXSOLBUF)
{ {
rtksvrlock(svr);
svr->solbuf[svr->nsol++] = svr->rtk.sol; svr->solbuf[svr->nsol++] = svr->rtk.sol;
rtksvrunlock(svr);
} }
rtksvrunlock(svr);
} }
@@ -1055,26 +1062,48 @@ int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
*-----------------------------------------------------------------------------*/ *-----------------------------------------------------------------------------*/
void rtksvrstop(rtksvr_t *svr, char **cmds) void rtksvrstop(rtksvr_t *svr, char **cmds)
{ {
int i; if (!svr || !cmds)
{
tracet(1, "rtksvrstop: Invalid arguments\n");
return;
}
tracet(3, "rtksvrstop:\n"); tracet(3, "rtksvrstop:\n");
/* write stop commands to input streams */ /* copy stop commands to input streams */
char *local_cmds[3] = {nullptr, nullptr, nullptr};
rtksvrlock(svr); rtksvrlock(svr);
for (i = 0; i < 3; i++) for (int i = 0; i < 3; i++)
{ {
if (cmds[i]) local_cmds[i] = cmds[i];
{
strsendcmd(svr->stream + i, cmds[i]);
}
} }
rtksvrunlock(svr); rtksvrunlock(svr);
/* stop rtk server */ /* write stop commands to input streams */
svr->state = 0; for (int i = 0; i < 3; i++)
{
if (local_cmds[i])
{
strsendcmd(svr->stream + i, local_cmds[i]);
}
}
/* free rtk server thread */ rtksvrlock(svr);
pthread_join(svr->thread, nullptr); svr->state = 0;
rtksvrunlock(svr);
if (svr->thread)
{
int ret = pthread_join(svr->thread, nullptr);
if (ret != 0)
{
tracet(1, "rtksvrstop: pthread_join failed with code %d\n", ret);
}
else
{
svr->thread = nullptr;
}
}
} }

106
src/algorithms/libs/rtklib/rtklib_stream.cc
View File

@@ -380,7 +380,7 @@ file_t *openfile(std::string const &path, int mode, char *msg)
/* file options */ /* file options */
while (not tokens.empty()) while (!tokens.empty())
{ {
auto tag = tokens.front(); auto tag = tokens.front();
tokens.pop_front(); tokens.pop_front();
@@ -512,82 +512,101 @@ int readfile(file_t *file, unsigned char *buff, int nmax, char *msg)
{ {
struct timeval tv = {0, 0}; struct timeval tv = {0, 0};
fd_set rs; fd_set rs;
unsigned int t;
unsigned int tick;
int nr = 0; int nr = 0;
size_t fpos;
if (!file) if (!file)
{ {
return 0; return 0;
} }
tracet(4, "readfile: fp=%p nmax=%d\n", file->fp, nmax); tracet(4, "readfile: fp=%p nmax=%d\n", file->fp, nmax);
/* Input from stdin */
if (file->fp == stdin) if (file->fp == stdin)
{ {
/* input from stdin */ FD_ZERO(&rs);
std::memset(&rs, 0, sizeof(fd_set));
FD_SET(0, &rs); FD_SET(0, &rs);
if (!select(1, &rs, nullptr, nullptr, &tv)) if (select(1, &rs, nullptr, nullptr, &tv) <= 0)
{ {
return 0; return 0;
} }
if ((nr = read(0, buff, nmax)) < 0) nr = read(0, buff, nmax);
{ return (nr > 0) ? nr : 0;
return 0;
}
return nr;
} }
/* If there is a .tag file for replay */
if (file->fp_tag) if (file->fp_tag)
{ {
unsigned int t;
if (file->repmode) if (file->repmode)
{ /* slave */ {
t = (tick_master + file->offset); /* slave mode */
t = tick_master + file->offset;
} }
else else
{ /* master */ {
/* master mode */
t = static_cast<unsigned int>((tickget() - file->tick) * file->speed + file->start * 1000.0); t = static_cast<unsigned int>((tickget() - file->tick) * file->speed + file->start * 1000.0);
} }
for (;;) for (;;)
{ /* seek file position */ {
if (fread(&tick, sizeof(tick), 1, file->fp_tag) < 1 || struct
fread(&fpos, sizeof(fpos), 1, file->fp_tag) < 1) {
unsigned int tick;
size_t fpos;
} record;
if (fread(&record, sizeof(record), 1, file->fp_tag) < 1)
{ {
if (fseek(file->fp, 0, SEEK_END) != 0) if (fseeko(file->fp, 0, SEEK_END) != 0)
{ {
trace(1, "fseek error"); trace(1, "fseek error");
} }
std::snprintf(msg, MAXSTRPATH, "end"); if (msg)
{
std::snprintf(msg, MAXSTRPATH, "end");
}
break; break;
} }
/* Time control */
if (file->repmode || file->speed > 0.0) if (file->repmode || file->speed > 0.0)
{ {
if (static_cast<int>(tick - t) < 1) int64_t diff = static_cast<int64_t>(record.tick) - static_cast<int64_t>(t);
if (diff < 1)
{ {
continue; continue; // wait until tick is reached
} }
} }
if (!file->repmode) if (!file->repmode)
{ {
tick_master = tick; tick_master = record.tick;
} }
std::snprintf(msg, MAXSTRPATH, "T%+.1fs", static_cast<int>(tick) < 0 ? 0.0 : static_cast<int>(tick) / 1000.0); if (msg)
if (static_cast<int>(fpos - file->fpos) >= nmax)
{ {
if (fseek(file->fp, fpos, SEEK_SET) != 0) double seconds = record.tick > 0 ? record.tick / 1000.0 : 0.0;
std::snprintf(msg, MAXSTRPATH, "T%+.1fs", seconds);
}
/* If jump in file position */
if (static_cast<int64_t>(record.fpos) - static_cast<int64_t>(file->fpos) >= nmax)
{
if (fseeko(file->fp, static_cast<off_t>(record.fpos), SEEK_SET) != 0)
{ {
trace(1, "Error fseek"); trace(1, "Error fseek");
} }
file->fpos = fpos; file->fpos = record.fpos;
return 0; return 0;
} }
nmax = static_cast<int>(fpos - file->fpos);
nmax = static_cast<int>(record.fpos - file->fpos);
if (file->repmode || file->speed > 0.0) if (file->repmode || file->speed > 0.0)
{ {
if (fseek(file->fp_tag, -static_cast<int64_t>(sizeof(tick) + sizeof(fpos)), SEEK_CUR) != 0) if (fseeko(file->fp_tag, -static_cast<off_t>(sizeof(record)), SEEK_CUR) != 0)
{ {
trace(1, "Error fseek"); trace(1, "Error fseek");
} }
@@ -595,16 +614,19 @@ int readfile(file_t *file, unsigned char *buff, int nmax, char *msg)
break; break;
} }
} }
/* Read data from main file */
if (nmax > 0) if (nmax > 0)
{ {
nr = fread(buff, 1, nmax, file->fp); nr = static_cast<int>(fread(buff, 1, nmax, file->fp));
file->fpos += nr; file->fpos += nr;
if (nr <= 0) if (nr <= 0 && msg)
{ {
std::snprintf(msg, MAXSTRPATH, "end"); std::snprintf(msg, MAXSTRPATH, "end");
} }
} }
tracet(5, "readfile: fp=%p \n nr=%d fpos=%u\n", file->fp, nr, file->fpos);
tracet(5, "readfile: fp=%p nr=%d fpos=%zu\n", file->fp, nr, file->fpos);
return nr; return nr;
} }
@@ -2245,14 +2267,15 @@ void strinit(stream_t *stream)
int stropen(stream_t *stream, int type, int mode, const char *path) int stropen(stream_t *stream, int type, int mode, const char *path)
{ {
tracet(3, "stropen: type=%d mode=%d path=%s\n", type, mode, path); tracet(3, "stropen: type=%d mode=%d path=%s\n", type, mode, path);
if (!stream || !path)
{
return 0; /* invalid arguments */
}
strlock(stream);
stream->type = type; stream->type = type;
stream->mode = mode; stream->mode = mode;
if (strlen(path) < MAXSTRPATH) std::strncpy(stream->path, path, MAXSTRPATH - 1);
{ stream->path[MAXSTRPATH - 1] = '\0';
std::strncpy(stream->path, path, MAXSTRPATH - 1);
stream->path[MAXSTRPATH - 1] = '\0';
}
stream->inb = stream->inr = stream->outb = stream->outr = 0; stream->inb = stream->inr = stream->outb = stream->outr = 0;
stream->tick = tickget(); stream->tick = tickget();
stream->inbt = stream->outbt = 0; stream->inbt = stream->outbt = 0;
@@ -2288,8 +2311,9 @@ int stropen(stream_t *stream, int type, int mode, const char *path)
stream->state = 0; stream->state = 0;
return 1; return 1;
} }
stream->state = !stream->port ? -1 : 1; stream->state = (stream->port != nullptr) ? 1 : -1;
return stream->port != nullptr; strunlock(stream);
return (stream->port != nullptr) ? 1 : 0;
} }