Add more control when accessing Pvt_Solution members

src/algorithms/PVT/libs/pvt_solution.cc

@@ -652,64 +652,173 @@ void Pvt_Solution::set_num_valid_observations(int num)
 }
 
 
-void Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
+bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
+{
+    if(index >= PVT_MAX_CHANNELS)
+        {
+            LOG(WARNING) << "Setting sat ID to channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
+            return false;
+        }
+    else
+        {
+            if(prn >= PVT_MAX_PRN)
+                {
+                    LOG(WARNING) << "Setting to channel " << index << " a PRN of " << prn << " (the maximum is " << PVT_MAX_PRN << ")";
+                    return false;
+                }
+            else
                 {
                     d_visible_satellites_IDs[index] = prn;
+                    return true;
+                }
+        }
 }
 
 
 unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const
+{
+    if(index >= PVT_MAX_CHANNELS)
+        {
+            LOG(WARNING) << "Getting sat ID for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
+            return 0;
+        }
+    else
         {
             return d_visible_satellites_IDs[index];
         }
+}
 
 
-void Pvt_Solution::set_visible_satellites_El(size_t index, double el)
+bool Pvt_Solution::set_visible_satellites_El(size_t index, double el)
+{
+    if(index >= PVT_MAX_CHANNELS)
+        {
+            LOG(WARNING) << "Setting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
+            return false;
+        }
+    else
+        {
+            if(el > 90.0)
+                {
+                    LOG(WARNING) << "Setting a sat elevation > 90 [degrees]. Saturating to 90";
+                    d_visible_satellites_El[index] = 90.0;
+                }
+            else
+                {
+                    if(el < -90.0)
+                        {
+                            LOG(WARNING) << "Setting a sat elevation < -90 [degrees]. Saturating to -90";
+                            d_visible_satellites_El[index] = -90.0;
+                        }
+                    else
                         {
                             d_visible_satellites_El[index] = el;
                         }
+                }
+            return true;
+        }
+}
 
 
 double Pvt_Solution::get_visible_satellites_El(size_t index) const
+{
+    if(index >= PVT_MAX_CHANNELS)
+        {
+            LOG(WARNING) << "Getting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
+            return 0.0;
+        }
+    else
         {
             return d_visible_satellites_El[index];
         }
+}
 
 
-void Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
+bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
+{
+    if(index >= PVT_MAX_CHANNELS)
+        {
+            LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
+            return false;
+        }
+    else
         {
             d_visible_satellites_Az[index] = az;
+            return true;
+        }
 }
 
 
 double Pvt_Solution::get_visible_satellites_Az(size_t index) const
+{
+    if(index >= PVT_MAX_CHANNELS)
+        {
+            LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
+            return 0.0;
+        }
+    else
         {
             return d_visible_satellites_Az[index];
         }
+}
 
 
-void Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
+bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
+{
+    if(index >= PVT_MAX_CHANNELS)
+        {
+            LOG(WARNING) << "Setting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
+            return false;
+        }
+    else
         {
             d_visible_satellites_Distance[index] = dist;
+            return true;
+        }
 }
 
 
 double Pvt_Solution::get_visible_satellites_Distance(size_t index) const
+{
+    if(index >= PVT_MAX_CHANNELS)
+        {
+            LOG(WARNING) << "Getting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
+            return 0.0;
+        }
+    else
         {
             return d_visible_satellites_Distance[index];
         }
+}
 
 
-void Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
+bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
+{
+    if(index >= PVT_MAX_CHANNELS)
+        {
+            LOG(WARNING) << "Setting sat Cn0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
+            return false;
+        }
+    else
         {
             d_visible_satellites_CN0_dB[index] = cn0;
+            return true;
+        }
 }
 
 
 double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const
+{
+    if(index >= PVT_MAX_CHANNELS)
+        {
+            LOG(WARNING) << "Getting received CN0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
+            return 0.0;
+        }
+    else
         {
             return d_visible_satellites_CN0_dB[index];
         }
+}
 
 
 void Pvt_Solution::set_Q(arma::mat Q)

src/algorithms/PVT/libs/pvt_solution.h

@@ -37,7 +37,8 @@
 #include <armadillo>
 #include <boost/date_time/posix_time/posix_time.hpp>
 
-#define PVT_MAX_CHANNELS 24
+const unsigned int PVT_MAX_CHANNELS = 24;
+const unsigned int PVT_MAX_PRN = 127;  // 126 is SBAS
 
 /*!
  * \brief Base class for a PVT solution
@@ -69,8 +70,6 @@ private:
     boost::posix_time::ptime d_position_UTC_time;
     int d_valid_observations;
 
-    int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {};        // Array with the IDs of the valid satellites
-
     arma::mat d_Q;
     double d_GDOP;
     double d_PDOP;
@@ -78,6 +77,7 @@ private:
     double d_VDOP;
     double d_TDOP;
 
+    int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {};        // Array with the IDs of the valid satellites
     double d_visible_satellites_El[PVT_MAX_CHANNELS] = {};       // Array with the LOS Elevation of the valid satellites
     double d_visible_satellites_Az[PVT_MAX_CHANNELS] = {};       // Array with the LOS Azimuth of the valid satellites
     double d_visible_satellites_Distance[PVT_MAX_CHANNELS] = {}; // Array with the LOS Distance of the valid satellites
@@ -109,19 +109,19 @@ public:
     int get_num_valid_observations() const;    //!< Get the number of valid pseudorange observations (valid satellites)
     void set_num_valid_observations(int num);  //!< Set the number of valid pseudorange observations (valid satellites)
 
-    void set_visible_satellites_ID(size_t index, unsigned int prn);  //!< Set the ID of the visible satellite index channel
+    bool set_visible_satellites_ID(size_t index, unsigned int prn);  //!< Set the ID of the visible satellite index channel
     unsigned int get_visible_satellites_ID(size_t index) const;      //!< Get the ID of the visible satellite index channel
 
-    void set_visible_satellites_El(size_t index, double el);         //!< Set the LOS Elevation of the visible satellite index channel
+    bool set_visible_satellites_El(size_t index, double el);         //!< Set the LOS Elevation, in degrees, of the visible satellite index channel
-    double get_visible_satellites_El(size_t index) const;            //!< Get the LOS Elevation of the visible satellite index channel
+    double get_visible_satellites_El(size_t index) const;            //!< Get the LOS Elevation, in degrees, of the visible satellite index channel
 
-    void set_visible_satellites_Az(size_t index, double az);         //!< Set the LOS Azimuth of the visible satellite index channel
+    bool set_visible_satellites_Az(size_t index, double az);         //!< Set the LOS Azimuth, in degrees, of the visible satellite index channel
-    double get_visible_satellites_Az(size_t index) const;            //!< Get the LOS Azimuth of the visible satellite index channel
+    double get_visible_satellites_Az(size_t index) const;            //!< Get the LOS Azimuth, in degrees, of the visible satellite index channel
 
-    void set_visible_satellites_Distance(size_t index, double dist); //!< Set the LOS Distance of the visible satellite index channel
+    bool set_visible_satellites_Distance(size_t index, double dist); //!< Set the LOS Distance of the visible satellite index channel
     double get_visible_satellites_Distance(size_t index) const;      //!< Get the LOS Distance of the visible satellite index channel
 
-    void set_visible_satellites_CN0_dB(size_t index, double cn0);    //!< Set the CN0 in dB of the visible satellite index channel
+    bool set_visible_satellites_CN0_dB(size_t index, double cn0);    //!< Set the CN0 in dB of the visible satellite index channel
     double get_visible_satellites_CN0_dB(size_t index) const;        //!< Get the CN0 in dB of the visible satellite index channel
 
     //averaging