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https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 04:00:34 +00:00
Use const iterators instead of iterators
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@ -179,12 +179,11 @@ int hybrid_observables_cc::general_work (int noutput_items __attribute__((unused
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{
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channel_history_ok = false;
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}
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}
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if (channel_history_ok == true)
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{
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std::map<int,Gnss_Synchro>::iterator gnss_synchro_map_iter;
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std::deque<Gnss_Synchro>::iterator gnss_synchro_deque_iter;
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std::map<int,Gnss_Synchro>::const_iterator gnss_synchro_map_iter;
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std::deque<Gnss_Synchro>::const_iterator gnss_synchro_deque_iter;
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// 1. If the RX time is not set, set the Rx time
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if (T_rx_s == 0)
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@ -196,8 +195,8 @@ int hybrid_observables_cc::general_work (int noutput_items __attribute__((unused
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gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(d_gnss_synchro_history_queue[i].front().Channel_ID,
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d_gnss_synchro_history_queue[i].front()));
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}
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gnss_synchro_map_iter = min_element(gnss_synchro_map.begin(),
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gnss_synchro_map.end(),
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gnss_synchro_map_iter = min_element(gnss_synchro_map.cbegin(),
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gnss_synchro_map.cend(),
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Hybrid_pairCompare_gnss_synchro_sample_counter);
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T_rx_s = static_cast<double>(gnss_synchro_map_iter->second.Tracking_sample_counter) / static_cast<double>(gnss_synchro_map_iter->second.fs);
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T_rx_s = floor(T_rx_s * 1000.0) / 1000.0; // truncate to ms
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@ -210,11 +209,11 @@ int hybrid_observables_cc::general_work (int noutput_items __attribute__((unused
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// shift channels history to match the reference TOW
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].begin(),
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d_gnss_synchro_history_queue[i].end(),
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gnss_synchro_deque_iter = std::lower_bound(d_gnss_synchro_history_queue[i].cbegin(),
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d_gnss_synchro_history_queue[i].cend(),
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T_rx_s,
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Hybrid_valueCompare_gnss_synchro_receiver_time);
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if (gnss_synchro_deque_iter != d_gnss_synchro_history_queue[i].end())
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if (gnss_synchro_deque_iter != d_gnss_synchro_history_queue[i].cend())
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{
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if (gnss_synchro_deque_iter->Flag_valid_word == true)
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{
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@ -226,10 +225,10 @@ int hybrid_observables_cc::general_work (int noutput_items __attribute__((unused
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{
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// record the word structure in a map for pseudorange computation
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// save the previous observable
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int distance = std::distance(d_gnss_synchro_history_queue[i].begin(), gnss_synchro_deque_iter);
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int distance = std::distance(d_gnss_synchro_history_queue[i].cbegin(), gnss_synchro_deque_iter);
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if (distance > 0)
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{
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if (d_gnss_synchro_history_queue[i].at(distance-1).Flag_valid_word)
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if (d_gnss_synchro_history_queue[i].at(distance - 1).Flag_valid_word)
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{
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double T_rx_channel_prev = static_cast<double>(d_gnss_synchro_history_queue[i].at(distance - 1).Tracking_sample_counter) / static_cast<double>(gnss_synchro_deque_iter->fs);
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double delta_T_rx_s_prev = T_rx_channel_prev - T_rx_s;
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@ -268,8 +267,8 @@ int hybrid_observables_cc::general_work (int noutput_items __attribute__((unused
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* common RX time algorithm
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*/
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// what is the most recent symbol TOW in the current set? -> this will be the reference symbol
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gnss_synchro_map_iter = max_element(realigned_gnss_synchro_map.begin(),
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realigned_gnss_synchro_map.end(),
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gnss_synchro_map_iter = max_element(realigned_gnss_synchro_map.cbegin(),
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realigned_gnss_synchro_map.cend(),
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Hybrid_pairCompare_gnss_synchro_d_TOW);
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double ref_fs_hz = static_cast<double>(gnss_synchro_map_iter->second.fs);
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@ -292,7 +291,7 @@ int hybrid_observables_cc::general_work (int noutput_items __attribute__((unused
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double channel_T_rx_s;
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double channel_fs_hz;
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double channel_TOW_s;
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for(gnss_synchro_map_iter = realigned_gnss_synchro_map.begin(); gnss_synchro_map_iter != realigned_gnss_synchro_map.end(); gnss_synchro_map_iter++)
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for(gnss_synchro_map_iter = realigned_gnss_synchro_map.cbegin(); gnss_synchro_map_iter != realigned_gnss_synchro_map.cend(); gnss_synchro_map_iter++)
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{
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channel_fs_hz = static_cast<double>(gnss_synchro_map_iter->second.fs);
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channel_TOW_s = gnss_synchro_map_iter->second.TOW_at_current_symbol_s;
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