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Fix more warnings in gcc

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This commit is contained in:
Carles Fernandez 2017-05-13 13:13:11 +02:00
parent 30e634d408
commit 2d273ba131
1 changed files with 73 additions and 73 deletions
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146
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
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@ -40,7 +40,7 @@ void writesol(rtksvr_t *svr, int index)
tracet(4, "writesol: index=%d\n", index);
for (i = 0;i<2;i++)
for (i = 0; i<2; i++)
{
/* output solution */
n = outsols(buff, &svr->rtk.sol, svr->rtk.rb, svr->solopt+i);
@ -76,7 +76,7 @@ void writesol(rtksvr_t *svr, int index)
void updatenav(nav_t *nav)
{
int i, j;
for (i = 0;i<MAXSAT;i++) for (j = 0;j<NFREQ;j++)
for (i = 0; i<MAXSAT; i++) for (j = 0; j<NFREQ; j++)
{
nav->lam[i][j] = satwavelen(i+1, j, nav);
}
@ -88,18 +88,18 @@ void updatefcn(rtksvr_t *svr)
{
int i, j, sat, frq;
for (i = 0;i<MAXPRNGLO;i++)
for (i = 0; i<MAXPRNGLO; i++)
{
sat = satno(SYS_GLO, i+1);
for (j = 0, frq = -999;j<3;j++)
for (j = 0, frq = -999; j<3; j++)
{
if (svr->raw[j].nav.geph[i].sat != sat) continue;
frq = svr->raw[j].nav.geph[i].frq;
}
if (frq<-7 || frq>6) continue;
for (j = 0;j<3;j++)
for (j = 0; j<3; j++)
{
if (svr->raw[j].nav.geph[i].sat == sat) continue;
svr->raw[j].nav.geph[i].sat = sat;
@ -115,7 +115,7 @@ void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
{
eph_t *eph1, *eph2, *eph3;
geph_t *geph1, *geph2, *geph3;
gtime_t tof;
// gtime_t tof;
double pos[3], del[3] = {0}, dr[3];
int i, n = 0, prn, sbssat = svr->rtk.opt.sbassatsel, sys, iode;
@ -125,7 +125,7 @@ void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
{ /* observation data */
if (iobs<MAXOBSBUF)
{
for (i = 0;i<obs->n;i++)
for (i = 0; i<obs->n; i++)
{
if (svr->rtk.opt.exsats[obs->data[i].sat-1] == 1 ||
!(satsys(obs->data[i].sat, NULL)&svr->rtk.opt.navsys)) continue;
@ -187,7 +187,7 @@ void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
}
else
{
for (i = 0;i<MAXSBSMSG-1;i++) svr->sbsmsg[i] = svr->sbsmsg[i+1];
for (i = 0; i<MAXSBSMSG-1; i++) svr->sbsmsg[i] = svr->sbsmsg[i+1];
svr->sbsmsg[i] = *sbsmsg;
}
sbsupdatecorr(sbsmsg, &svr->nav);
@ -198,12 +198,12 @@ void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
{ /* ion/utc parameters */
if (svr->navsel == index || svr->navsel >= 3)
{
for (i = 0;i<8;i++) svr->nav.ion_gps[i] = nav->ion_gps[i];
for (i = 0;i<4;i++) svr->nav.utc_gps[i] = nav->utc_gps[i];
for (i = 0;i<4;i++) svr->nav.ion_gal[i] = nav->ion_gal[i];
for (i = 0;i<4;i++) svr->nav.utc_gal[i] = nav->utc_gal[i];
for (i = 0;i<8;i++) svr->nav.ion_qzs[i] = nav->ion_qzs[i];
for (i = 0;i<4;i++) svr->nav.utc_qzs[i] = nav->utc_qzs[i];
for (i = 0; i<8; i++) svr->nav.ion_gps[i] = nav->ion_gps[i];
for (i = 0; i<4; i++) svr->nav.utc_gps[i] = nav->utc_gps[i];
for (i = 0; i<4; i++) svr->nav.ion_gal[i] = nav->ion_gal[i];
for (i = 0; i<4; i++) svr->nav.utc_gal[i] = nav->utc_gal[i];
for (i = 0; i<8; i++) svr->nav.ion_qzs[i] = nav->ion_qzs[i];
for (i = 0; i<4; i++) svr->nav.utc_qzs[i] = nav->utc_qzs[i];
svr->nav.leaps = nav->leaps;
}
svr->nmsg[index][2]++;
@ -212,7 +212,7 @@ void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
{ /* antenna postion parameters */
if (svr->rtk.opt.refpos == 4 && index == 1)
{
for (i = 0;i<3;i++)
for (i = 0; i<3; i++)
{
svr->rtk.rb[i] = svr->rtcm[1].sta.pos[i];
}
@ -222,7 +222,7 @@ void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
{ /* xyz */
del[2] = svr->rtcm[1].sta.hgt;
enu2ecef(pos, del, dr);
for (i = 0;i<3;i++)
for (i = 0; i<3; i++)
{
svr->rtk.rb[i] += svr->rtcm[1].sta.del[i]+dr[i];
}
@ -230,7 +230,7 @@ void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
else
{ /* enu */
enu2ecef(pos, svr->rtcm[1].sta.del, dr);
for (i = 0;i<3;i++)
for (i = 0; i<3; i++)
{
svr->rtk.rb[i] += dr[i];
}
@ -244,7 +244,7 @@ void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
}
else if (ret == 10)
{ /* ssr message */
for (i = 0;i<MAXSAT;i++)
for (i = 0; i<MAXSAT; i++)
{
if (!svr->rtcm[index].ssr[i].update) continue;
svr->rtcm[index].ssr[i].update = 0;
@ -297,7 +297,7 @@ int decoderaw(rtksvr_t *svr, int index)
rtksvrlock(svr);
for (i = 0;i<svr->nb[index];i++)
for (i = 0; i<svr->nb[index]; i++)
{
/* input rtcm/receiver raw data from stream */
if (svr->format[index] == STRFMT_RTCM2)
@ -430,7 +430,7 @@ void *rtksvrthread(void *arg)
{
tick = tickget();
for (i = 0;i<3;i++)
for (i = 0; i<3; i++)
{
p = svr->buff[i]+svr->nb[i]; q = svr->buff[i]+svr->buffsize;
@ -450,7 +450,7 @@ void *rtksvrthread(void *arg)
svr->npb[i] += n;
rtksvrunlock(svr);
}
for (i = 0;i<3;i++)
for (i = 0; i<3; i++)
{
if (svr->format[i] == STRFMT_SP3 || svr->format[i] == STRFMT_RNXCLK)
{
@ -463,14 +463,14 @@ void *rtksvrthread(void *arg)
fobs[i] = decoderaw(svr, i);
}
}
for (i = 0;i<fobs[0];i++)
for (i = 0; i<fobs[0]; i++)
{ /* for each rover observation data */
obs.n = 0;
for (j = 0;j<svr->obs[0][i].n && obs.n<MAXOBS*2;j++)
for (j = 0; j<svr->obs[0][i].n && obs.n<MAXOBS*2; j++)
{
obs.data[obs.n++] = svr->obs[0][i].data[j];
}
for (j = 0;j<svr->obs[1][0].n && obs.n<MAXOBS*2;j++)
for (j = 0; j<svr->obs[1][0].n && obs.n<MAXOBS*2; j++)
{
obs.data[obs.n++] = svr->obs[1][0].data[j];
}
@ -523,8 +523,8 @@ void *rtksvrthread(void *arg)
/* sleep until next cycle */
sleepms(svr->cycle-cputime);
}
for (i = 0;i<MAXSTRRTK;i++) strclose(svr->stream+i);
for (i = 0;i<3;i++)
for (i = 0; i<MAXSTRRTK; i++) strclose(svr->stream+i);
for (i = 0; i<3; i++)
{
svr->nb[i] = svr->npb[i] = 0;
free(svr->buff[i]); svr->buff[i] = NULL;
@ -532,7 +532,7 @@ void *rtksvrthread(void *arg)
//free_raw (svr->raw +i);
free_rtcm(svr->rtcm+i);
}
for (i = 0;i<2;i++)
for (i = 0; i<2; i++)
{
svr->nsb[i] = 0;
free(svr->sbuf[i]); svr->sbuf[i] = NULL;
@ -548,32 +548,32 @@ void *rtksvrthread(void *arg)
*-----------------------------------------------------------------------------*/
int rtksvrinit(rtksvr_t *svr)
{
gtime_t time0 = {0};
sol_t sol0 = {{0}};
eph_t eph0 = {0, -1, -1};
geph_t geph0 = {0, -1};
seph_t seph0 = {0};
gtime_t time0 = {0, 0.0};
sol_t sol0 = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 };
eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0}, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
geph_t geph0 = {0, -1, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0.0}, {0.0}, {0.0}, 0.0, 0.0, 0.0};
seph_t seph0 = {0, {0,0.0}, {0,0.0}, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, 0.0};
int i, j;
tracet(3, "rtksvrinit:\n");
svr->state = svr->cycle = svr->nmeacycle = svr->nmeareq = 0;
for (i = 0;i<3;i++) svr->nmeapos[i] = 0.0;
for (i = 0; i<3; i++) svr->nmeapos[i] = 0.0;
svr->buffsize = 0;
for (i = 0;i<3;i++) svr->format[i] = 0;
for (i = 0;i<2;i++) svr->solopt[i] = solopt_default;
for (i = 0; i<3; i++) svr->format[i] = 0;
for (i = 0; i<2; i++) svr->solopt[i] = solopt_default;
svr->navsel = svr->nsbs = svr->nsol = 0;
rtkinit(&svr->rtk, &prcopt_default);
for (i = 0;i<3;i++) svr->nb[i] = 0;
for (i = 0;i<2;i++) svr->nsb[i] = 0;
for (i = 0;i<3;i++) svr->npb[i] = 0;
for (i = 0;i<3;i++) svr->buff[i] = NULL;
for (i = 0;i<2;i++) svr->sbuf[i] = NULL;
for (i = 0;i<3;i++) svr->pbuf[i] = NULL;
for (i = 0;i<MAXSOLBUF;i++) svr->solbuf[i] = sol0;
for (i = 0;i<3;i++) for (j = 0;j<10;j++) svr->nmsg[i][j] = 0;
for (i = 0;i<3;i++) svr->ftime[i] = time0;
for (i = 0;i<3;i++) svr->files[i][0] = '\0';
for (i = 0; i<3; i++) svr->nb[i] = 0;
for (i = 0; i<2; i++) svr->nsb[i] = 0;
for (i = 0; i<3; i++) svr->npb[i] = 0;
for (i = 0; i<3; i++) svr->buff[i] = NULL;
for (i = 0; i<2; i++) svr->sbuf[i] = NULL;
for (i = 0; i<3; i++) svr->pbuf[i] = NULL;
for (i = 0; i<MAXSOLBUF; i++) svr->solbuf[i] = sol0;
for (i = 0; i<3; i++) for (j = 0; j<10; j++) svr->nmsg[i][j] = 0;
for (i = 0; i<3; i++) svr->ftime[i] = time0;
for (i = 0; i<3; i++) svr->files[i][0] = '\0';
svr->moni = NULL;
svr->tick = 0;
svr->thread = 0;
@ -586,14 +586,14 @@ int rtksvrinit(rtksvr_t *svr)
tracet(1, "rtksvrinit: malloc error\n");
return 0;
}
for (i = 0;i<MAXSAT *2;i++) svr->nav.eph [i] = eph0;
for (i = 0;i<NSATGLO*2;i++) svr->nav.geph[i] = geph0;
for (i = 0;i<NSATSBS*2;i++) svr->nav.seph[i] = seph0;
for (i = 0; i<MAXSAT *2; i++) svr->nav.eph [i] = eph0;
for (i = 0; i<NSATGLO*2; i++) svr->nav.geph[i] = geph0;
for (i = 0; i<NSATSBS*2; i++) svr->nav.seph[i] = seph0;
svr->nav.n = MAXSAT *2;
svr->nav.ng = NSATGLO*2;
svr->nav.ns = NSATSBS*2;
for (i = 0;i<3;i++) for (j = 0;j<MAXOBSBUF;j++)
for (i = 0; i<3; i++) for (j = 0; j<MAXOBSBUF; j++)
{
if (!(svr->obs[i][j].data = (obsd_t *)malloc(sizeof(obsd_t)*MAXOBS)))
{
@ -601,12 +601,12 @@ int rtksvrinit(rtksvr_t *svr)
return 0;
}
}
for (i = 0;i<3;i++)
for (i = 0; i<3; i++)
{
memset(svr->raw +i, 0, sizeof(raw_t ));
memset(svr->rtcm+i, 0, sizeof(rtcm_t));
}
for (i = 0;i<MAXSTRRTK;i++) strinit(svr->stream+i);
for (i = 0; i<MAXSTRRTK; i++) strinit(svr->stream+i);
initlock(&svr->lock);
@ -626,7 +626,7 @@ void rtksvrfree(rtksvr_t *svr)
free(svr->nav.eph );
free(svr->nav.geph);
free(svr->nav.seph);
for (i = 0;i<3;i++) for (j = 0;j<MAXOBSBUF;j++)
for (i = 0; i<3; i++) for (j = 0; j<MAXOBSBUF; j++)
{
free(svr->obs[i][j].data);
}
@ -689,7 +689,7 @@ int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
const double *nmeapos, prcopt_t *prcopt,
solopt_t *solopt, stream_t *moni)
{
gtime_t time, time0 = {0};
gtime_t time, time0 = {0, 0.0};
int i, j, rw;
tracet(3, "rtksvrstart: cycle=%d buffsize=%d navsel=%d nmeacycle=%d nmeareq=%d\n",
@ -701,9 +701,9 @@ int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
svr->cycle = cycle>1?cycle:1;
svr->nmeacycle = nmeacycle>1000?nmeacycle:1000;
svr->nmeareq = nmeareq;
for (i = 0;i<3;i++) svr->nmeapos[i] = nmeapos[i];
for (i = 0; i<3; i++) svr->nmeapos[i] = nmeapos[i];
svr->buffsize = buffsize>4096?buffsize:4096;
for (i = 0;i<3;i++) svr->format[i] = formats[i];
for (i = 0; i<3; i++) svr->format[i] = formats[i];
svr->navsel = navsel;
svr->nsbs = 0;
svr->nsol = 0;
@ -711,7 +711,7 @@ int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
rtkfree(&svr->rtk);
rtkinit(&svr->rtk, prcopt);
for (i = 0;i<3;i++)
for (i = 0; i<3; i++)
{ /* input/log streams */
svr->nb[i] = svr->npb[i] = 0;
if (!(svr->buff[i] = (unsigned char *)malloc(buffsize)) ||
@ -720,8 +720,8 @@ int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
tracet(1, "rtksvrstart: malloc error\n");
return 0;
}
for (j = 0;j<10;j++) svr->nmsg[i][j] = 0;
for (j = 0;j<MAXOBSBUF;j++) svr->obs[i][j].n = 0;
for (j = 0; j<10; j++) svr->nmsg[i][j] = 0;
for (j = 0; j<MAXOBSBUF; j++) svr->obs[i][j].n = 0;
/* initialize receiver raw and rtcm control */
//init_raw (svr->raw +i);
@ -734,7 +734,7 @@ int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
/* connect dgps corrections */
svr->rtcm[i].dgps = svr->nav.dgps;
}
for (i = 0;i<2;i++)
for (i = 0; i<2; i++)
{ /* output peek buffer */
if (!(svr->sbuf[i] = (unsigned char *)malloc(buffsize)))
{
@ -743,32 +743,32 @@ int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
}
}
/* set solution options */
for (i = 0;i<2;i++)
for (i = 0; i<2; i++)
{
svr->solopt[i] = solopt[i];
}
/* set base station position */
for (i = 0;i<6;i++)
for (i = 0; i<6; i++)
{
svr->rtk.rb[i] = i<3?prcopt->rb[i]:0.0;
}
/* update navigation data */
for (i = 0;i<MAXSAT *2;i++) svr->nav.eph [i].ttr = time0;
for (i = 0;i<NSATGLO*2;i++) svr->nav.geph[i].tof = time0;
for (i = 0;i<NSATSBS*2;i++) svr->nav.seph[i].tof = time0;
for (i = 0; i<MAXSAT *2; i++) svr->nav.eph [i].ttr = time0;
for (i = 0; i<NSATGLO*2; i++) svr->nav.geph[i].tof = time0;
for (i = 0; i<NSATSBS*2; i++) svr->nav.seph[i].tof = time0;
updatenav(&svr->nav);
/* set monitor stream */
svr->moni = moni;
/* open input streams */
for (i = 0;i<8;i++)
for (i = 0; i<8; i++)
{
rw = i<3?STR_MODE_R:STR_MODE_W;
if (strs[i] != STR_FILE) rw |= STR_MODE_W;
if (!stropen(svr->stream+i, strs[i], rw, paths[i]))
{
for (i--;i >= 0;i--) strclose(svr->stream+i);
for (i--; i >= 0; i--) strclose(svr->stream+i);
return 0;
}
/* set initial time for rtcm and raw */
@ -784,19 +784,19 @@ int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
strsync(svr->stream, svr->stream+2);
/* write start commands to input streams */
for (i = 0;i<3;i++)
for (i = 0; i<3; i++)
{
if (cmds[i]) strsendcmd(svr->stream+i, cmds[i]);
}
/* write solution header to solution streams */
for (i = 3;i<5;i++)
for (i = 3; i<5; i++)
{
writesolhead(svr->stream+i, svr->solopt+i-3);
}
/* create rtk server thread */
if (pthread_create(&svr->thread, NULL, rtksvrthread, svr))
{
for (i = 0;i<MAXSTRRTK;i++) strclose(svr->stream+i);
for (i = 0; i<MAXSTRRTK; i++) strclose(svr->stream+i);
return 0;
}
return 1;
@ -820,7 +820,7 @@ void rtksvrstop(rtksvr_t *svr, char **cmds)
/* write stop commands to input streams */
rtksvrlock(svr);
for (i = 0;i<3;i++)
for (i = 0; i<3; i++)
{
if (cmds[i]) strsendcmd(svr->stream+i, cmds[i]);
}
@ -926,12 +926,12 @@ int rtksvrostat(rtksvr_t *svr, int rcv, gtime_t *time, int *sat,
{
*time = svr->obs[rcv][0].data[0].time;
}
for (i = 0;i<ns;i++)
for (i = 0; i<ns; i++)
{
sat [i] = svr->obs[rcv][0].data[i].sat;
az [i] = svr->rtk.ssat[sat[i]-1].azel[0];
el [i] = svr->rtk.ssat[sat[i]-1].azel[1];
for (j = 0;j<NFREQ;j++)
for (j = 0; j<NFREQ; j++)
{
snr[i][j] = (int)(svr->obs[rcv][0].data[i].SNR[j]*0.25);
}
@ -964,7 +964,7 @@ void rtksvrsstat(rtksvr_t *svr, int *sstat, char *msg)
tracet(4, "rtksvrsstat:\n");
rtksvrlock(svr);
for (i = 0;i<MAXSTRRTK;i++)
for (i = 0; i<MAXSTRRTK; i++)
{
sstat[i] = strstat(svr->stream+i, s);
if (*s) p += sprintf(p, "(%d) %s ", i+1, s);