Fix member initializations, potential data race conditions, and minor performance issues detected by Coverity Scan

Never throw from main

src/algorithms/PVT/libs/rinex_printer.cc

@@ -5651,7 +5651,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Gal
 
             std::string E1B_DVS = std::to_string(galileo_ephemeris_iter->second.E1B_DVS);
 
-            std::string SVhealth_str = std::move(E5B_HS) + std::to_string(galileo_ephemeris_iter->second.E5b_DVS) + "11" + "1" + std::string(E1B_DVS) + std::string(E1B_HS) + std::to_string(galileo_ephemeris_iter->second.E1B_DVS);
+            std::string SVhealth_str = std::move(E5B_HS) + std::to_string(galileo_ephemeris_iter->second.E5b_DVS) + "11" + "1" + std::move(E1B_DVS) + std::move(E1B_HS) + std::to_string(galileo_ephemeris_iter->second.E1B_DVS);
             int32_t SVhealth = Rinex_Printer::toInt(SVhealth_str, 9);
             line += Rinex_Printer::doub2for(static_cast<double>(SVhealth), 18, 2);
             line += std::string(1, ' ');

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h

@@ -33,6 +33,7 @@
 #include <cstdint>  // for uint32_t
 #include <memory>   // for shared_ptr
 #include <string>   // for string
+#include <utility>  // for move
 
 /** \addtogroup Acquisition
  * \{ */
@@ -118,7 +119,7 @@ public:
      */
     inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
     {
-        d_channel_fsm = channel_fsm;
+        d_channel_fsm = std::move(channel_fsm);
     }
 
     /*!

src/algorithms/acquisition/libs/acq_conf_fpga.cc

@@ -21,6 +21,7 @@
 #include <glog/logging.h>
 #include <cmath>
 #include <iostream>
+#include <utility>
 
 void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configuration,
     const std::string &role, uint32_t sel_queue_fpga, uint32_t blk_exp, uint32_t downsampling_factor_default, double chip_rate, double code_length_chips)
@@ -58,7 +59,7 @@ void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configura
             std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
             throw std::exception();
         }
-    device_name = device_io_name;
+    device_name = std::move(device_io_name);
 
     // exclusion limit
     excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / chip_rate) * static_cast<float>(fs_in)));

src/algorithms/signal_source/libs/ad9361_manager.cc

@@ -450,7 +450,7 @@ bool config_ad9361_rx_local(uint64_t bandwidth_,
                 {
                     return false;
                 }
-            if (setup_filter(filter_source_, bandwidth_, sample_rate_, freq1_, rf_port_select_, ad9361_phy_B, rx_chan1, chn, 0, filter_filename_, Fpass_, Fstop_) == -1)
+            if (setup_filter(filter_source_, bandwidth_, sample_rate_, freq1_, rf_port_select_, ad9361_phy_B, rx_chan1, chn, 0, std::move(filter_filename_), Fpass_, Fstop_) == -1)
                 {
                     return false;
                 }
@@ -472,7 +472,7 @@ bool config_ad9361_rx_local(uint64_t bandwidth_,
                     std::cout << rx_stream_dev_a << " channel 1 not found\n";
                     throw std::runtime_error(rx_stream_dev_a + "RX channel 1 not found");
                 }
-            if (setup_filter(filter_source_, bandwidth_, sample_rate_, freq0_, rf_port_select_, ad9361_phy, rx_chan1, chn, 1, filter_filename_, Fpass_, Fstop_) == -1)
+            if (setup_filter(filter_source_, bandwidth_, sample_rate_, freq0_, rf_port_select_, ad9361_phy, rx_chan1, chn, 1, std::move(filter_filename_), Fpass_, Fstop_) == -1)
                 {
                     return false;
                 }

src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.cc

@@ -29,6 +29,12 @@
 Fpga_dynamic_bit_selection::Fpga_dynamic_bit_selection(bool enable_rx1_band, bool enable_rx2_band)
     : d_enable_rx1_band(enable_rx1_band), d_enable_rx2_band(enable_rx2_band)
 {
+    d_map_base_freq_band_1 = nullptr;
+    d_map_base_freq_band_2 = nullptr;
+    d_dev_descr_freq_band_1 = 0;
+    d_dev_descr_freq_band_2 = 0;
+    d_shift_out_bits_freq_band_1 = 0;
+    d_shift_out_bits_freq_band_2 = 0;
     if (d_enable_rx1_band)
         {
             open_device(&d_map_base_freq_band_1, d_dev_descr_freq_band_1, 0);
@@ -41,7 +47,7 @@ Fpga_dynamic_bit_selection::Fpga_dynamic_bit_selection(bool enable_rx1_band, boo
         {
             open_device(&d_map_base_freq_band_2, d_dev_descr_freq_band_2, 1);
 
-            // init bit selection corresponding to frequency band 1
+            // init bit selection corresponding to frequency band 2
             d_shift_out_bits_freq_band_2 = shift_out_bits_default;
             d_map_base_freq_band_2[0] = d_shift_out_bits_freq_band_2;
         }

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc

@@ -446,7 +446,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                 {
                     std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
                     dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
-                    d_dump_filename = dump_filename_;
+                    d_dump_filename = std::move(dump_filename_);
                 }
             else
                 {
@@ -1383,6 +1383,7 @@ void dll_pll_veml_tracking_fpga::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
     d_acquisition_gnss_synchro = p_gnss_synchro;
     if (p_gnss_synchro->PRN > 0)
         {
+            gr::thread::scoped_lock lock(d_setlock);
             // A set_gnss_synchro command with a valid PRN is received when the system is going to run acquisition with that PRN.
             // We can use this command to pre-initialize tracking parameters and variables before the actual acquisition process takes place.
             // In this way we minimize the latency between acquisition and tracking once the acquisition has been made.
@@ -1527,8 +1528,8 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
                 {
                 case 1:  // Pull-in
                     {
-                        d_worker_is_done = false;
                         boost::mutex::scoped_lock lock(d_mutex);
+                        d_worker_is_done = false;
                         while (!d_worker_is_done)
                             {
                                 d_m_condition.wait(lock);

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_gaussian_tracking_cc.cc

@@ -308,10 +308,6 @@ void Gps_L1_Ca_Gaussian_Tracking_cc::start_tracking()
 
     sys = std::string(1, d_acquisition_gnss_synchro->System);
 
-    // DEBUG OUTPUT
-    std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << '\n';
-    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
-
     // enable tracking
     d_pull_in = true;
     d_enable_tracking = true;
@@ -319,6 +315,10 @@ void Gps_L1_Ca_Gaussian_Tracking_cc::start_tracking()
     LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
               << " Code Phase correction [samples]=" << delay_correction_samples
               << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+
+    gr::thread::scoped_lock l(d_setlock);
+    std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << '\n';
+    LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
 }
 
 
@@ -776,6 +776,7 @@ int Gps_L1_Ca_Gaussian_Tracking_cc::general_work(int noutput_items __attribute__
                         }
                     if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail)
                         {
+                            gr::thread::scoped_lock l(d_setlock);
                             std::cout << "Loss of lock in channel " << d_channel << "!\n";
                             LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
                             this->message_port_pub(pmt::mp("events"), pmt::from_long(3));  // 3 -> loss of lock

src/algorithms/tracking/libs/fpga_multicorrelator.cc

@@ -57,20 +57,26 @@ Fpga_Multicorrelator_8sc::Fpga_Multicorrelator_8sc(int32_t n_correlators,
       d_Prompt_Data(nullptr),
       d_shifts_chips(nullptr),
       d_prompt_data_shift(nullptr),
-      d_rem_code_phase_chips(0),
-      d_code_phase_step_chips(0),
-      d_rem_carrier_phase_in_rad(0),
-      d_phase_step_rad(0),
+      d_rem_code_phase_chips(0.0),
+      d_code_phase_step_chips(0.0),
+      d_code_phase_rate_step_chips(0.0),
+      d_rem_carrier_phase_in_rad(0.0),
+      d_phase_step_rad(0.0),
+      d_carrier_phase_rate_step_rad(0.0),
       d_code_length_samples(code_length_chips * code_samples_per_chip),
       d_n_correlators(n_correlators),
       d_device_descriptor(0),
       d_map_base(nullptr),
       d_correlator_length_samples(0),
       d_code_phase_step_chips_num(0),
+      d_code_phase_rate_step_chips_num(0),
       d_rem_carr_phase_rad_int(0),
       d_phase_step_rad_int(0),
+      d_carrier_phase_rate_step_rad_int(0),
       d_ca_codes(ca_codes),
       d_data_codes(data_codes),
+      d_secondary_code_0_length(0),
+      d_secondary_code_1_length(0),
       d_track_pilot(track_pilot),
       d_secondary_code_enabled(false)
 {

src/core/receiver/gnss_flowgraph.cc

@@ -2097,6 +2097,7 @@ void GNSSFlowgraph::set_configuration(const std::shared_ptr<ConfigurationInterfa
 #if ENABLE_FPGA
 void GNSSFlowgraph::start_acquisition_helper()
 {
+    std::lock_guard<std::mutex> lock(signal_list_mutex_);
     for (int i = 0; i < channels_count_; i++)
         {
             if (channels_state_[i] == 1)

src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test_fpga.cc

@@ -91,6 +91,7 @@ GalileoE1PcpsAmbiguousAcquisitionTestFpga::GalileoE1PcpsAmbiguousAcquisitionTest
 
     doppler_max = 5000;
     doppler_step = 100;
+    nsamples_to_transfer = 0;
 }
 
 
@@ -280,7 +281,7 @@ public:
     }
 
 private:
-    bool acquisition_successful;
+    bool acquisition_successful{};
 };
 
 
@@ -310,7 +311,7 @@ bool GalileoE1PcpsAmbiguousAcquisitionTestFpga::acquire_signal()
     args.scaling_factor = DMA_SIGNAL_SCALING_FACTOR;
 
     std::string file = "data/Galileo_E1_ID_1_Fs_4Msps_8ms.dat";
-    args.file = file;  // DMA file configuration
+    args.file = std::move(file);  // DMA file configuration
 
     // instantiate the FPGA switch and set the
     // switch position to DMA.
@@ -348,7 +349,7 @@ bool GalileoE1PcpsAmbiguousAcquisitionTestFpga::acquire_signal()
     args.nsamples_tx = nsamples_to_transfer;
 
     // run the acquisition. The acquisition must run in a separate thread because it is a blocking function
-    args_acq.acquisition = acquisition;
+    args_acq.acquisition = std::move(acquisition);
 
     if (pthread_create(&thread_acquisition, nullptr, handler_acquisition_galileo_e1_pcps_ambiguous_acq_test, reinterpret_cast<void*>(&args_acq)) < 0)
         {

src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc

@@ -279,7 +279,7 @@ public:
     }
 
 private:
-    bool acquisition_successful;
+    bool acquisition_successful{};
 };
 
 
@@ -309,7 +309,7 @@ bool GpsL1CaPcpsAcquisitionTestFpga::acquire_signal()
     args.scaling_factor = DMA_SIGNAL_SCALING_FACTOR;
 
     std::string file = "data/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat";
-    args.file = file;  // DMA file configuration
+    args.file = std::move(file);  // DMA file configuration
 
     // instantiate the FPGA switch and set the
     // switch position to DMA.
@@ -347,7 +347,7 @@ bool GpsL1CaPcpsAcquisitionTestFpga::acquire_signal()
     args.nsamples_tx = nsamples_to_transfer;
 
     // run the acquisition. The acquisition must run in a separate thread because it is a blocking function
-    args_acq.acquisition = acquisition;
+    args_acq.acquisition = std::move(acquisition);
 
     if (pthread_create(&thread_acquisition, nullptr, handler_acquisition_gps_l1_acq_test, reinterpret_cast<void*>(&args_acq)) < 0)
         {

src/tests/unit-tests/signal-processing-blocks/filter/fir_filter_test.cc

@@ -224,7 +224,7 @@ TEST_F(FirFilterTest, ConnectAndRunGrcomplex)
     config2->set_property("Test_Source.sampling_frequency", "4000000");
     std::string path = std::string(TEST_PATH);
     std::string filename = path + "signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat";
-    config2->set_property("Test_Source.filename", filename);
+    config2->set_property("Test_Source.filename", std::move(filename));
     config2->set_property("Test_Source.item_type", "gr_complex");
     config2->set_property("Test_Source.repeat", "true");
 

src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_test.cc

@@ -21,6 +21,7 @@
 #include <complex>
 #include <cstdint>
 #include <thread>
+#include <utility>
 #ifdef GR_GREATER_38
 #include <gnuradio/analog/sig_source.h>
 #else
@@ -177,7 +178,7 @@ TEST_F(NotchFilterTest, ConnectAndRunGrcomplex)
     config2->set_property("Test_Source.sampling_frequency", "4000000");
     std::string path = std::string(TEST_PATH);
     std::string filename = path + "signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat";
-    config2->set_property("Test_Source.filename", filename);
+    config2->set_property("Test_Source.filename", std::move(filename));
     config2->set_property("Test_Source.item_type", "gr_complex");
     config2->set_property("Test_Source.repeat", "true");
 

src/tests/unit-tests/signal-processing-blocks/filter/pulse_blanking_filter_test.cc

@@ -21,6 +21,7 @@
 #include <complex>
 #include <cstdint>
 #include <thread>
+#include <utility>
 #ifdef GR_GREATER_38
 #include <gnuradio/analog/sig_source.h>
 #else
@@ -176,7 +177,7 @@ TEST_F(PulseBlankingFilterTest, ConnectAndRunGrcomplex)
     config2->set_property("Test_Source.sampling_frequency", "4000000");
     std::string path = std::string(TEST_PATH);
     std::string filename = path + "signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat";
-    config2->set_property("Test_Source.filename", filename);
+    config2->set_property("Test_Source.filename", std::move(filename));
     config2->set_property("Test_Source.item_type", "gr_complex");
     config2->set_property("Test_Source.repeat", "true");
 

src/utils/front-end-cal/main.cc

@@ -269,6 +269,8 @@ static time_t utc_time(int week, int64_t tow)
 
 int main(int argc, char** argv)
 {
+    try
+        {
             const std::string intro_help(
                 std::string("\n RTL-SDR E4000 RF front-end center frequency and sampling rate calibration tool that uses GPS signals\n") +
                 "Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)\n" +
@@ -280,7 +282,13 @@ int main(int argc, char** argv)
             gflags::ParseCommandLineFlags(&argc, &argv, true);
 
             std::cout << "Initializing... Please wait.\n";
-
+        }
+    catch (const std::exception& e)
+        {
+            std::cerr << e.what() << '\n';
+            std::cout << "front-end-cal program ended.\n";
+            return 1;
+        }
     google::InitGoogleLogging(argv[0]);
     if (FLAGS_log_dir.empty())
         {
@@ -291,6 +299,8 @@ int main(int argc, char** argv)
                       << '\n';
         }
     else
+        {
+            try
                 {
                     const fs::path p(FLAGS_log_dir);
                     if (!fs::exists(p))
@@ -299,13 +309,29 @@ int main(int argc, char** argv)
                                       << FLAGS_log_dir
                                       << " does not exist, attempting to create it"
                                       << '\n';
-                    fs::create_directory(p);
+                            errorlib::error_code ec;
+                            if (!fs::create_directory(p, ec))
+                                {
+                                    std::cerr << "Could not create the " << FLAGS_log_dir << " folder. Front-end-cal program ended.\n";
+                                    gflags::ShutDownCommandLineFlags();
+                                    return 1;
+                                }
                         }
                     std::cout << "Logging with be done at "
                               << FLAGS_log_dir << '\n';
                 }
+            catch (const std::exception& e)
+                {
+                    std::cerr << e.what() << '\n';
+                    std::cerr << "Could not create the " << FLAGS_log_dir << " folder. Front-end-cal program ended.\n";
+                    gflags::ShutDownCommandLineFlags();
+                    return 1;
+                }
+        }
 
     // 0. Instantiate the FrontEnd Calibration class
+    try
+        {
             FrontEndCal front_end_cal;
 
             // 1. Load configuration parameters from config file
@@ -643,7 +669,21 @@ int main(int argc, char** argv)
                             std::cout << "  " << it.first << "   " << it.second - mean_f_if_Hz << "  (Eph not found)\n";
                         }
                 }
+        }
+    catch (const std::exception& e)
+        {
+            std::cerr << "Exception: " << e.what();
+            gflags::ShutDownCommandLineFlags();
+            return 1;
+        }
+    catch (...)
+        {
+            std::cerr << "Unknown error\n";
+            gflags::ShutDownCommandLineFlags();
+            return 1;
+        }
 
     gflags::ShutDownCommandLineFlags();
     std::cout << "GNSS-SDR Front-end calibration program ended.\n";
+    return 0;
 }

src/utils/rinex-tools/obsdiff.cc

@@ -30,6 +30,7 @@
 #include <set>
 #include <stdexcept>
 #include <string>
+#include <utility>
 #include <vector>
 
 #if GNSSTK_USES_GPSTK_NAMESPACE
@@ -673,7 +674,7 @@ void carrier_doppler_single_diff(
         {
             // 2. RMSE
             arma::vec err;
-            err = delta_measured_carrier_doppler_cycles;
+            err = std::move(delta_measured_carrier_doppler_cycles);
             arma::vec err2 = arma::square(err);
             double rmse = sqrt(arma::mean(err2));
 
@@ -865,7 +866,7 @@ void code_pseudorange_single_diff(
             // 2. RMSE
             arma::vec err;
 
-            err = delta_measured_obs;
+            err = std::move(delta_measured_obs);
 
             arma::vec err2 = arma::square(err);
             double rmse = sqrt(arma::mean(err2));
@@ -1014,7 +1015,7 @@ void coderate_phaserate_consistence(
 
     // 2. RMSE
     arma::vec err;
-    err = ratediff;
+    err = std::move(ratediff);
 
     arma::vec err2 = arma::square(err);
     double rmse = sqrt(arma::mean(err2));
@@ -1098,7 +1099,7 @@ void code_phase_diff(
         {
             // 2. RMSE
             arma::vec err;
-            err = code_minus_phase;
+            err = std::move(code_minus_phase);
 
             arma::vec err2 = arma::square(err);
             double rmse = sqrt(arma::mean(err2));
@@ -1727,6 +1728,8 @@ int main(int argc, char** argv)
 {
     std::cout << "Running RINEX observables difference tool...\n";
     gflags::ParseCommandLineFlags(&argc, &argv, true);
+    try
+        {
             if (FLAGS_single_diff)
                 {
                     if (FLAGS_dupli_sat)
@@ -1742,7 +1745,25 @@ int main(int argc, char** argv)
                 {
                     RINEX_doublediff(FLAGS_remove_rx_clock_error);
                 }
-
+        }
+    catch (const gnsstk::Exception& e)
+        {
+            std::cerr << e;
+            gflags::ShutDownCommandLineFlags();
+            return 1;
+        }
+    catch (const std::exception& e)
+        {
+            std::cerr << "Exception: " << e.what();
+            gflags::ShutDownCommandLineFlags();
+            return 1;
+        }
+    catch (...)
+        {
+            std::cerr << "Unknown error\n";
+            gflags::ShutDownCommandLineFlags();
+            return 1;
+        }
     gflags::ShutDownCommandLineFlags();
     return 0;
 }