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Merge branch 'next' of https://github.com/carlesfernandez/gnss-sdr into next

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Carles Fernandez 2018-12-11 14:03:55 +01:00
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37 changed files with 119 additions and 68 deletions
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2
.clang-tidy
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@ -1,3 +1,3 @@
---
Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-move-const-arg,performance-type-promotion-in-math-fn,performance-unnecessary-copy-initialization,performance-unnecessary-value-param,readability-named-parameter,readability-string-compare'
Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-bool-literals,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-inefficient-algorithm,performance-move-const-arg,performance-type-promotion-in-math-fn,performance-unnecessary-copy-initialization,performance-unnecessary-value-param,readability-container-size-empty,readability-named-parameter,readability-non-const-parameter,readability-string-compare'
HeaderFilterRegex: '.*'

4
docs/xml-schemas/gal_almanac_map.xsd
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@ -12,10 +12,10 @@
<xs:sequence>
<xs:element type="xs:byte" name="first"/>
<xs:element name="second">
<xs:complexType mixed="true">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="i_satellite_PRN"/>
<xs:element type="xs:byte" name="i_Toa"/>
<xs:element type="xs:int" name="i_Toa"/>
<xs:element type="xs:byte" name="i_WNa"/>
<xs:element type="xs:byte" name="i_IODa"/>
<xs:element type="xs:float" name="d_Delta_i"/>

2
docs/xml-schemas/gal_ephemeris_map.xsd
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@ -1,4 +1,4 @@
<<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:element name="boost_serialization">
<xs:complexType>
<xs:sequence>

4
docs/xml-schemas/gal_utc_model.xsd
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@ -10,8 +10,8 @@
<xs:element type="xs:float" name="Delta_tLS_6"/>
<xs:element type="xs:float" name="t0t_6"/>
<xs:element type="xs:float" name="WNot_6"/>
<xs:element type="xs:float" name="WN_LSF_6"/>
<xs:element type="xs:float" name="DN_6"/>
<xs:element type="xs:short" name="WN_LSF_6"/>
<xs:element type="xs:byte" name="DN_6"/>
<xs:element type="xs:float" name="Delta_tLSF_6"/>
<xs:element type="xs:byte" name="flag_utc_model"/>
</xs:sequence>

1
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -214,6 +214,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) pvt_output_parameters.type_of_receiver = 31;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 32; // L1+E1+L5+E5a
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 33; // L1+E1+E5a
// RTKLIB PVT solver options
// Settings 1

45
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -1410,6 +1410,16 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
b_rinex_header_written = true; // do not write header anymore
}
break;
case 33: // L1+E1+E5a
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and
(galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string gal_signal("1B 5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
default:
break;
}
@ -1490,6 +1500,9 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 32: // L1+E1+L5+E5a
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
case 33: // L1+E1+E5a
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
default:
break;
}
@ -1784,6 +1797,20 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
b_rinex_header_updated = true; // do not write header anymore
}
break;
case 33: // L1+E1+E5a
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true; // do not write header anymore
}
break;
default:
break;
}
}
}
@ -2441,7 +2468,25 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
int gal_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if (gal_channel == 0)
{
if (system == "E")
{
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
}
}
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);

2
src/algorithms/PVT/libs/rinex_printer.cc
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@ -7057,7 +7057,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
double int_sec = 0;
// Avoid compiler warning
if (glonass_band.size())
if (!glonass_band.empty())
{
}

2
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -820,7 +820,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
}
if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_);
if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_.data());
this->set_valid_position(true);
arma::vec rx_position_and_time(4);
rx_position_and_time(0) = pvt_sol.rr[0]; // [m]

5
src/algorithms/PVT/libs/rtklib_solver.h
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@ -63,6 +63,7 @@
#include "gps_navigation_message.h"
#include "pvt_solution.h"
#include "rtklib_rtkpos.h"
#include <array>
#include <fstream>
#include <map>
#include <string>
@ -82,7 +83,7 @@ private:
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
int d_nchannels; // Number of available channels for positioning
double dop_[4];
std::array<double, 4> dop_;
public:
sol_t pvt_sol;
@ -99,7 +100,7 @@ public:
std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephemeris
Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono;

2
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
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@ -247,7 +247,7 @@ void pcps_quicksync_acquisition_cc::set_state(int32_t state)
d_mag = 0.0;
d_input_power = 0.0;
d_test_statistics = 0.0;
d_active = 1;
d_active = true;
}
else if (d_state == 0)
{

4
src/algorithms/libs/galileo_e1_signal_processing.cc
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@ -68,7 +68,7 @@ void galileo_e1_code_gen_int(int* _dest, char _Signal[3], int32_t _prn)
}
void galileo_e1_sinboc_11_gen_int(int* _dest, int* _prn, uint32_t _length_out)
void galileo_e1_sinboc_11_gen_int(int* _dest, const int* _prn, uint32_t _length_out)
{
const uint32_t _length_in = Galileo_E1_B_CODE_LENGTH_CHIPS;
auto _period = static_cast<uint32_t>(_length_out / _length_in);
@ -86,7 +86,7 @@ void galileo_e1_sinboc_11_gen_int(int* _dest, int* _prn, uint32_t _length_out)
}
void galileo_e1_sinboc_61_gen_int(int* _dest, int* _prn, uint32_t _length_out)
void galileo_e1_sinboc_61_gen_int(int* _dest, const int* _prn, uint32_t _length_out)
{
const uint32_t _length_in = Galileo_E1_B_CODE_LENGTH_CHIPS;
auto _period = static_cast<uint32_t>(_length_out / _length_in);

2
src/algorithms/libs/galileo_e5_signal_processing.cc
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@ -37,7 +37,7 @@
#include <gnuradio/gr_complex.h>
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, char _Signal[3])
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, const char _Signal[3])
{
uint32_t prn = _prn - 1;
uint32_t index = 0;

2
src/algorithms/libs/galileo_e5_signal_processing.h
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@ -42,7 +42,7 @@
* \brief Generates Galileo E5a code at 1 sample/chip
* bool _pilot generates E5aQ code if true and E5aI (data signal) if false.
*/
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, char _Signal[3]);
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, const char _Signal[3]);
void galileo_e5_a_code_gen_tiered(std::complex<float>* _dest, std::complex<float>* _primary, uint32_t _prn, char _Signal[3]);

2
src/algorithms/libs/glonass_l1_signal_processing.cc
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@ -46,7 +46,7 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /* int32_t _prn
for (lcv = 0; lcv < 9; lcv++)
{
G1_register[lcv] = 1;
G1_register[lcv] = true;
}
/* Generate G1 Register */

2
src/algorithms/libs/glonass_l2_signal_processing.cc
View File

@ -46,7 +46,7 @@ void glonass_l2_ca_code_gen_complex(std::complex<float>* _dest, /* int32_t _prn,
for (lcv = 0; lcv < 9; lcv++)
{
G1_register[lcv] = 1;
G1_register[lcv] = true;
}
/* Generate G1 Register */

32
src/algorithms/libs/gps_l5_signal.cc
View File

@ -40,9 +40,9 @@
std::deque<bool> l5i_xa_shift(std::deque<bool> xa)
{
if (xa == std::deque<bool>{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1})
if (xa == std::deque<bool>{true, true, true, true, true, true, true, true, true, true, true, false, true})
{
return std::deque<bool>{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
return std::deque<bool>{true, true, true, true, true, true, true, true, true, true, true, true, true};
}
std::deque<bool> out(xa.begin(), xa.end() - 1);
out.push_front(xa[12] xor xa[11] xor xa[9] xor xa[8]);
@ -52,9 +52,9 @@ std::deque<bool> l5i_xa_shift(std::deque<bool> xa)
std::deque<bool> l5q_xa_shift(std::deque<bool> xa)
{
if (xa == std::deque<bool>{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1})
if (xa == std::deque<bool>{true, true, true, true, true, true, true, true, true, true, true, false, true})
{
return std::deque<bool>{1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
return std::deque<bool>{true, true, true, true, true, true, true, true, true, true, true, true, true};
}
std::deque<bool> out(xa.begin(), xa.end() - 1);
out.push_front(xa[12] xor xa[11] xor xa[9] xor xa[8]);
@ -80,8 +80,8 @@ std::deque<bool> l5q_xb_shift(std::deque<bool> xb)
std::deque<bool> make_l5i_xa()
{
std::deque<bool> xa = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
std::deque<bool> y(GPS_L5i_CODE_LENGTH_CHIPS, 0);
std::deque<bool> xa = {true, true, true, true, true, true, true, true, true, true, true, true, true};
std::deque<bool> y(GPS_L5i_CODE_LENGTH_CHIPS, false);
for (int32_t i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
{
@ -94,8 +94,8 @@ std::deque<bool> make_l5i_xa()
std::deque<bool> make_l5i_xb()
{
std::deque<bool> xb = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
std::deque<bool> y(GPS_L5i_CODE_LENGTH_CHIPS, 0);
std::deque<bool> xb = {true, true, true, true, true, true, true, true, true, true, true, true, true};
std::deque<bool> y(GPS_L5i_CODE_LENGTH_CHIPS, false);
for (int32_t i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
{
@ -108,8 +108,8 @@ std::deque<bool> make_l5i_xb()
std::deque<bool> make_l5q_xa()
{
std::deque<bool> xa = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
std::deque<bool> y(GPS_L5q_CODE_LENGTH_CHIPS, 0);
std::deque<bool> xa = {true, true, true, true, true, true, true, true, true, true, true, true, true};
std::deque<bool> y(GPS_L5q_CODE_LENGTH_CHIPS, false);
for (int32_t i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
{
@ -122,8 +122,8 @@ std::deque<bool> make_l5q_xa()
std::deque<bool> make_l5q_xb()
{
std::deque<bool> xb = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
std::deque<bool> y(GPS_L5q_CODE_LENGTH_CHIPS, 0);
std::deque<bool> xb = {true, true, true, true, true, true, true, true, true, true, true, true, true};
std::deque<bool> y(GPS_L5q_CODE_LENGTH_CHIPS, false);
for (int32_t i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
{
@ -140,13 +140,13 @@ void make_l5i(int32_t* _dest, int32_t prn)
std::deque<bool> xb = make_l5i_xb();
std::deque<bool> xa = make_l5i_xa();
std::deque<bool> xb_shift(GPS_L5i_CODE_LENGTH_CHIPS, 0);
std::deque<bool> xb_shift(GPS_L5i_CODE_LENGTH_CHIPS, false);
for (int32_t n = 0; n < GPS_L5i_CODE_LENGTH_CHIPS; n++)
{
xb_shift[n] = xb[(xb_offset + n) % GPS_L5i_CODE_LENGTH_CHIPS];
}
std::deque<bool> out_code(GPS_L5i_CODE_LENGTH_CHIPS, 0);
std::deque<bool> out_code(GPS_L5i_CODE_LENGTH_CHIPS, false);
for (int32_t n = 0; n < GPS_L5i_CODE_LENGTH_CHIPS; n++)
{
_dest[n] = xa[n] xor xb_shift[n];
@ -160,13 +160,13 @@ void make_l5q(int32_t* _dest, int32_t prn)
std::deque<bool> xb = make_l5q_xb();
std::deque<bool> xa = make_l5q_xa();
std::deque<bool> xb_shift(GPS_L5q_CODE_LENGTH_CHIPS, 0);
std::deque<bool> xb_shift(GPS_L5q_CODE_LENGTH_CHIPS, false);
for (int32_t n = 0; n < GPS_L5q_CODE_LENGTH_CHIPS; n++)
{
xb_shift[n] = xb[(xb_offset + n) % GPS_L5q_CODE_LENGTH_CHIPS];
}
std::deque<bool> out_code(GPS_L5q_CODE_LENGTH_CHIPS, 0);
std::deque<bool> out_code(GPS_L5q_CODE_LENGTH_CHIPS, false);
for (int32_t n = 0; n < GPS_L5q_CODE_LENGTH_CHIPS; n++)
{
_dest[n] = xa[n] xor xb_shift[n];

4
src/algorithms/libs/gps_sdr_signal_processing.cc
View File

@ -68,8 +68,8 @@ void gps_l1_ca_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift)
for (lcv = 0; lcv < 10; lcv++)
{
G1_register[lcv] = 1;
G2_register[lcv] = 1;
G1_register[lcv] = true;
G2_register[lcv] = true;
}
/* Generate G1 & G2 Register */

2
src/algorithms/libs/rtklib/rtklib_preceph.cc
View File

@ -146,7 +146,7 @@ int addpeph(nav_t *nav, peph_t *peph)
/* read sp3 body -------------------------------------------------------------*/
void readsp3b(FILE *fp, char type, int *sats __attribute__((unused)), int ns, double *bfact,
void readsp3b(FILE *fp, char type, int *sats __attribute__((unused)), int ns, const double *bfact,
char *tsys, int index, int opt, nav_t *nav)
{
peph_t peph;

2
src/algorithms/libs/rtklib/rtklib_preceph.h
View File

@ -75,7 +75,7 @@ int code2sys(char code);
int readsp3h(FILE *fp, gtime_t *time, char *type, int *sats,
double *bfact, char *tsys);
int addpeph(nav_t *nav, peph_t *peph);
void readsp3b(FILE *fp, char type, int *sats, int ns, double *bfact,
void readsp3b(FILE *fp, char type, int *sats, int ns, const double *bfact,
char *tsys, int index, int opt, nav_t *nav);
int cmppeph(const void *p1, const void *p2);
void combpeph(nav_t *nav, int opt);

6
src/algorithms/libs/rtklib/rtklib_rtkpos.cc
View File

@ -541,7 +541,7 @@ void initx_rtk(rtk_t *rtk, double xi, double var, int i)
/* select common satellites between rover and reference station --------------*/
int selsat(const obsd_t *obs, double *azel, int nu, int nr,
int selsat(const obsd_t *obs, const double *azel, int nu, int nr,
const prcopt_t *opt, int *sat, int *iu, int *ir)
{
int i, j, k = 0;
@ -1155,7 +1155,7 @@ int zdres(int base, const obsd_t *obs, int n, const double *rs,
/* test valid observation data -----------------------------------------------*/
int validobs(int i, int j, int f, int nf, double *y)
int validobs(int i, int j, int f, int nf, const double *y)
{
/* if no phase observable, psudorange is also unusable */
return y[f + i * nf * 2] != 0.0 && y[f + j * nf * 2] != 0.0 &&
@ -1302,7 +1302,7 @@ int test_sys(int sys, int m)
/* double-differenced phase/code residuals -----------------------------------*/
int ddres(rtk_t *rtk, const nav_t *nav, double dt, const double *x,
const double *P, const int *sat, double *y, double *e,
const double *P, const int *sat, double *y, const double *e,
double *azel, const int *iu, const int *ir, int ns, double *v,
double *H, double *R, int *vflg)
{

6
src/algorithms/libs/rtklib/rtklib_rtkpos.h
View File

@ -108,7 +108,7 @@ double baseline(const double *ru, const double *rb, double *dr);
void initx_rtk(rtk_t *rtk, double xi, double var, int i);
int selsat(const obsd_t *obs, double *azel, int nu, int nr,
int selsat(const obsd_t *obs, const double *azel, int nu, int nr,
const prcopt_t *opt, int *sat, int *iu, int *ir);
void udpos(rtk_t *rtk, double tt);
@ -144,7 +144,7 @@ int zdres(int base, const obsd_t *obs, int n, const double *rs,
const double *rr, const prcopt_t *opt, int index, double *y,
double *e, double *azel);
int validobs(int i, int j, int f, int nf, double *y);
int validobs(int i, int j, int f, int nf, const double *y);
void ddcov(const int *nb, int n, const double *Ri, const double *Rj,
int nv, double *R);
@ -162,7 +162,7 @@ double gloicbcorr(int sat1, int sat2, const prcopt_t *opt, double lam1,
int test_sys(int sys, int m);
int ddres(rtk_t *rtk, const nav_t *nav, double dt, const double *x,
const double *P, const int *sat, double *y, double *e,
const double *P, const int *sat, double *y, const double *e,
double *azel, const int *iu, const int *ir, int ns, double *v,
double *H, double *R, int *vflg);

4
src/algorithms/libs/rtklib/rtklib_rtksvr.cc
View File

@ -424,7 +424,7 @@ void decodefile(rtksvr_t *svr, int index)
{ /* precise clock */
/* read rinex clock */ // Disabled!!
if (1 /*readrnxc(file, &nav)<=0 */)
if (true /*readrnxc(file, &nav)<=0 */)
{
tracet(1, "rinex clock file read error: %s\n", file);
return;
@ -730,7 +730,7 @@ void rtksvrunlock(rtksvr_t *svr) { rtk_unlock(&svr->lock); }
* return : status (1:ok 0:error)
*-----------------------------------------------------------------------------*/
int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
char **paths, int *formats, int navsel, char **cmds,
char **paths, const int *formats, int navsel, char **cmds,
char **rcvopts, int nmeacycle, int nmeareq,
const double *nmeapos, prcopt_t *prcopt,
solopt_t *solopt, stream_t *moni)

2
src/algorithms/libs/rtklib/rtklib_rtksvr.h
View File

@ -116,7 +116,7 @@ void rtksvrlock(rtksvr_t *svr);
void rtksvrunlock(rtksvr_t *svr);
int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
char **paths, int *formats, int navsel, char **cmds,
char **paths, const int *formats, int navsel, char **cmds,
char **rcvopts, int nmeacycle, int nmeareq,
const double *nmeapos, prcopt_t *prcopt,
solopt_t *solopt, stream_t *moni);

2
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc
View File

@ -60,7 +60,7 @@ void galileo_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, in
}
void galileo_telemetry_decoder_cc::deinterleaver(int32_t rows, int32_t cols, double *in, double *out)
void galileo_telemetry_decoder_cc::deinterleaver(int32_t rows, int32_t cols, const double *in, double *out)
{
for (int32_t r = 0; r < rows; r++)
{

2
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
View File

@ -78,7 +78,7 @@ private:
void viterbi_decoder(double *page_part_symbols, int32_t *page_part_bits);
void deinterleaver(int32_t rows, int32_t cols, double *in, double *out);
void deinterleaver(int32_t rows, int32_t cols, const double *in, double *out);
void decode_INAV_word(double *symbols, int32_t frame_length);
void decode_FNAV_word(double *page_symbols, int32_t frame_length);

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc
View File

@ -124,7 +124,7 @@ glonass_l1_ca_telemetry_decoder_cc::~glonass_l1_ca_telemetry_decoder_cc()
}
void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, int32_t frame_length)
void glonass_l1_ca_telemetry_decoder_cc::decode_string(const double *frame_symbols, int32_t frame_length)
{
double chip_acc = 0.0;
int32_t chip_acc_counter = 0;

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h
View File

@ -76,7 +76,7 @@ private:
glonass_l1_ca_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
glonass_l1_ca_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
void decode_string(double *symbols, int32_t frame_length);
void decode_string(const double *symbols, int32_t frame_length);
//!< Help with coherent tracking
double d_preamble_time_samples;

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc
View File

@ -124,7 +124,7 @@ glonass_l2_ca_telemetry_decoder_cc::~glonass_l2_ca_telemetry_decoder_cc()
}
void glonass_l2_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, int32_t frame_length)
void glonass_l2_ca_telemetry_decoder_cc::decode_string(const double *frame_symbols, int32_t frame_length)
{
double chip_acc = 0.0;
int32_t chip_acc_counter = 0;

2
src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.h
View File

@ -74,7 +74,7 @@ private:
glonass_l2_ca_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
glonass_l2_ca_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
void decode_string(double *symbols, int32_t frame_length);
void decode_string(const double *symbols, int32_t frame_length);
//!< Help with coherent tracking
double d_preamble_time_samples;

2
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
View File

@ -321,7 +321,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
current_symbol = in[0][0];
// record the oldest subframe symbol before inserting a new symbol into the circular buffer
if (d_current_subframe_symbol < GPS_SUBFRAME_MS and d_symbol_history.size() > 0)
if (d_current_subframe_symbol < GPS_SUBFRAME_MS and !d_symbol_history.empty())
{
d_subframe_symbols[d_current_subframe_symbol] = d_symbol_history[0].Prompt_I;
d_current_subframe_symbol++;

2
src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc
View File

@ -354,7 +354,7 @@ int Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decodi
nn The length of the received vector
This function is used by siso() */
float Viterbi_Decoder::gamma(float rec_array[], int symbol, int nn)
float Viterbi_Decoder::gamma(const float rec_array[], int symbol, int nn)
{
float rm = 0;
int i;

2
src/algorithms/telemetry_decoder/libs/viterbi_decoder.h
View File

@ -116,7 +116,7 @@ private:
int do_tb_and_decode(int traceback_length, int requested_decoding_length, int state, int bits[], float& indicator_metric);
// branch metric function
float gamma(float rec_array[], int symbol, int nn);
float gamma(const float rec_array[], int symbol, int nn);
// trellis generation
void nsc_transit(int output_p[], int trans_p[], int input, const int g[], int KK, int nn);

10
src/core/receiver/control_thread.cc
View File

@ -197,8 +197,12 @@ ControlThread::~ControlThread()
void ControlThread::telecommand_listener()
{
int tcp_cmd_port = configuration_->property("GNSS-SDR.telecontrol_tcp_port", 3333);
cmd_interface_.run_cmd_server(tcp_cmd_port);
bool telecommand_enabled = configuration_->property("GNSS-SDR.telecommand_enabled", false);
if (telecommand_enabled)
{
int tcp_cmd_port = configuration_->property("GNSS-SDR.telecommand_tcp_port", 3333);
cmd_interface_.run_cmd_server(tcp_cmd_port);
}
}
@ -295,7 +299,7 @@ int ControlThread::run()
}
void ControlThread::set_control_queue(const gr::msg_queue::sptr& control_queue)
void ControlThread::set_control_queue(const gr::msg_queue::sptr &control_queue)
{
if (flowgraph_->running())
{

2
src/core/receiver/tcp_cmd_interface.cc
View File

@ -1,7 +1,7 @@
/*!
* \file tcp_cmd_interface.cc
*
* \brief Class that implements a TCP telecontrol command line interface
* \brief Class that implements a TCP/IP telecommand command line interface
* for GNSS-SDR
* \author Javier Arribas jarribas (at) cttc.es
* -------------------------------------------------------------------------

2
src/core/receiver/tcp_cmd_interface.h
View File

@ -1,7 +1,7 @@
/*!
* \file tcp_cmd_interface.h
*
* \brief Class that implements a TCP telecontrol command line interface
* \brief Class that implements a TCP/IP telecommand command line interface
* for GNSS-SDR
* \author Javier Arribas jarribas (at) cttc.es
* -------------------------------------------------------------------------

8
src/utils/front-end-cal/main.cc
View File

@ -191,7 +191,7 @@ bool front_end_capture(const std::shared_ptr<ConfigurationInterface>& configurat
catch (const boost::exception_ptr& e)
{
std::cout << "Exception caught in creating source " << e << std::endl;
return 0;
return false;
}
std::shared_ptr<GNSSBlockInterface> conditioner;
@ -202,7 +202,7 @@ bool front_end_capture(const std::shared_ptr<ConfigurationInterface>& configurat
catch (const boost::exception_ptr& e)
{
std::cout << "Exception caught in creating signal conditioner " << e << std::endl;
return 0;
return false;
}
gr::block_sptr sink;
sink = gr::blocks::file_sink::make(sizeof(gr_complex), "tmp_capture.dat");
@ -430,7 +430,7 @@ int main(int argc, char** argv)
std::cout << "[";
start_msg = false;
}
if (gnss_sync_vector.size() > 0)
if (!gnss_sync_vector.empty())
{
std::cout << " " << PRN << " ";
double doppler_measurement_hz = 0;
@ -523,7 +523,7 @@ int main(int argc, char** argv)
std::cout << "Longitude=" << lon_deg << " [º]" << std::endl;
std::cout << "Altitude=" << altitude_m << " [m]" << std::endl;
if (doppler_measurements_map.size() == 0)
if (doppler_measurements_map.empty())
{
std::cout << "Sorry, no GPS satellites detected in the front-end capture, please check the antenna setup..." << std::endl;
delete acquisition;

8
src/utils/rinex2assist/main.cc
View File

@ -260,15 +260,15 @@ int main(int argc, char** argv)
eph.d_TGD = rne.Tgd;
eph.d_IODC = rne.IODC;
eph.i_AODO = 0; //
eph.b_fit_interval_flag = (rne.fitint > 4) ? 1 : 0;
eph.b_fit_interval_flag = (rne.fitint > 4) ? true : false;
eph.d_spare1 = 0.0;
eph.d_spare2 = 0.0;
eph.d_A_f0 = rne.af0;
eph.d_A_f1 = rne.af1;
eph.d_A_f2 = rne.af2;
eph.b_integrity_status_flag = 0; //
eph.b_alert_flag = 0; //
eph.b_antispoofing_flag = 0; //
eph.b_integrity_status_flag = false; //
eph.b_alert_flag = false; //
eph.b_antispoofing_flag = false; //
eph_map[i] = eph;
i++;
}