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

.clang-tidy

@@ -8,10 +8,14 @@ Checks: '-*,
         cert-err60-cpp,
         cert-flp30-c,
         clang-analyzer-cplusplus*,
+        cppcoreguidelines-pro-type-cstyle-cast,
         cppcoreguidelines-pro-type-static-cast-downcast,
         cppcoreguidelines-slicing,
+        cppcoreguidelines-special-member-functions,
         google-build-namespaces,
         google-runtime-int,
+        hicpp-exception-baseclass,
+        hicpp-explicit-conversions,
         misc-misplaced-const,
         misc-new-delete-overloads,
         misc-non-copyable-objects,
@@ -24,14 +28,22 @@ Checks: '-*,
         modernize-raw-string-literal,
         modernize-use-auto,
         modernize-use-bool-literals,
+        modernize-use-emplace,
         modernize-use-equals-default,
         modernize-use-equals-delete,
         modernize-use-noexcept,
         modernize-use-nullptr,
         performance-faster-string-find,
+        performance-for-range-copy,
+        performance-implicit-conversion-in-loop,
         performance-inefficient-algorithm,
+        performance-inefficient-string-concatenation,
+        performance-inefficient-vector-operation,
         performance-move-const-arg,
+        performance-move-constructor-init,
+        performance-noexcept-move-constructor,
         performance-type-promotion-in-math-fn,
+        performance-unnecessary-copy-initialization,
         performance-unnecessary-value-param,
         readability-container-size-empty,
         readability-identifier-naming,

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -94,7 +94,6 @@ Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag
     d_dump_filename = std::move(dump_filename);
     d_flag_dump_enabled = flag_dump_to_file;
     d_flag_dump_mat_enabled = flag_dump_to_mat;
-    count_valid_position = 0;
     this->set_averaging_flag(false);
     rtk_ = rtk;
 

src/algorithms/PVT/libs/rtklib_solver.h

@@ -126,8 +126,6 @@ public:
     Beidou_Dnav_Iono beidou_dnav_iono;
     std::map<int, Beidou_Dnav_Almanac> beidou_dnav_almanac_map;
 
-    int count_valid_position;
-
 private:
     rtk_t rtk_{};
     std::string d_dump_filename;

src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_gs.cc

@@ -193,7 +193,7 @@ sbas_l1_telemetry_decoder_gs::Symbol_Aligner_And_Decoder::Symbol_Aligner_And_Dec
     std::array<int32_t, nn> g_encoder{121, 91};
 
     d_vd1 = std::make_shared<Viterbi_Decoder>(g_encoder.data(), d_KK, nn);
-    d_vd1 = std::make_shared<Viterbi_Decoder>(g_encoder.data(), d_KK, nn);
+    d_vd2 = std::make_shared<Viterbi_Decoder>(g_encoder.data(), d_KK, nn);
     d_past_symbol = 0;
 }
 

src/algorithms/tracking/libs/tcp_communication.cc

@@ -32,6 +32,7 @@
 #include "tcp_communication.h"
 #include "tcp_packet_data.h"
 #include <iostream>
+#include <stdexcept>
 #include <string>
 
 
@@ -87,7 +88,7 @@ void Tcp_Communication::send_receive_tcp_packet_galileo_e1(boost::array<float, N
             //! Control. The GNSS-SDR program ends if an error in a TCP packet is detected.
             if (d_control_id_ != readbuf.data()[0])
                 {
-                    throw "Packet error!";
+                    throw std::runtime_error("Packet error!");
                 }
 
             // Recover the variables received
@@ -122,7 +123,7 @@ void Tcp_Communication::send_receive_tcp_packet_gps_l1_ca(boost::array<float, NU
             //! Control. The GNSS-SDR program ends if an error in a TCP packet is detected.
             if (d_control_id_ != readbuf.data()[0])
                 {
-                    throw "Packet error!";
+                    throw std::runtime_error("Packet error!");
                 }
 
             // Recover the variables received

src/core/receiver/gnss_flowgraph.cc

@@ -1470,6 +1470,15 @@ void GNSSFlowgraph::perform_hw_reset()
 {
     // a stop acquisition command causes the SW to reset the HW
     std::shared_ptr<Channel> channel_ptr;
+
+    for (uint32_t i = 0; i < channels_count_; i++)
+        {
+            channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(i));
+            channel_ptr->tracking()->stop_tracking();
+        }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+
     channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(0));
     channel_ptr->acquisition()->stop_acquisition();
 }

src/core/system_parameters/GPS_L1_CA.h

@@ -71,9 +71,7 @@ const uint32_t GPS_L1_CA_OPT_ACQ_FS_HZ = 2000000;  //!< Sampling frequency that
  */
 const double MAX_TOA_DELAY_MS = 20;
 
-//#define NAVIGATION_SOLUTION_RATE_MS 1000 // this cannot go here
-//const double GPS_STARTOFFSET_ms = 68.802;  //[ms] Initial sign. travel time (this cannot go here)
-const double GPS_STARTOFFSET_MS = 60.0;
+const double GPS_STARTOFFSET_MS = 68.802;  // [ms] Initial signal travel time (only for old ls_pvt implementation)
 
 // OBSERVABLE HISTORY DEEP FOR INTERPOLATION
 const int32_t GPS_L1_CA_HISTORY_DEEP = 100;

src/tests/unit-tests/signal-processing-blocks/tracking/cpu_multicorrelator_real_codes_test.cc

@@ -139,7 +139,7 @@ TEST(CpuMulticorrelatorRealCodesTest, MeasureExecutionTime)
                     //create the concurrent correlator threads
                     for (int current_thread = 0; current_thread < current_max_threads; current_thread++)
                         {
-                            thread_pool.push_back(std::thread(run_correlator_cpu_real_codes,
+                            thread_pool.emplace_back(std::thread(run_correlator_cpu_real_codes,
                                 correlator_pool[current_thread],
                                 d_rem_carrier_phase_rad,
                                 d_carrier_phase_step_rad,

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

@@ -45,6 +45,7 @@
 #include <cmath>
 #include <iostream>  // for operator<<
 #include <map>
+#include <stdexcept>
 #include <utility>
 
 extern Concurrent_Map<Gps_Ephemeris> global_gps_ephemeris_map;
@@ -303,7 +304,7 @@ arma::vec FrontEndCal::geodetic2ecef(double phi, double lambda, double h, const
 }
 
 
-double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height)
+double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height) noexcept(false)
 {
     int num_secs = 10;
     double step_secs = 0.5;
@@ -359,7 +360,7 @@ double FrontEndCal::estimate_doppler_from_eph(unsigned int PRN, double TOW, doub
             mean_Doppler_Hz = arma::mean(Doppler_Hz);
             return mean_Doppler_Hz;
         }
-    throw(1);
+    throw std::runtime_error("1");
 }
 
 

src/utils/front-end-cal/front_end_cal.h

@@ -65,7 +65,7 @@ public:
      * 3- Approximate receiver Latitude and Longitude (WGS-84)
      *
      */
-    double estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height);
+    double estimate_doppler_from_eph(unsigned int PRN, double TOW, double lat, double lon, double height) noexcept(false);
 
     /*!
      * \brief This function models the Elonics E4000 + RTL2832 front-end

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

@@ -121,7 +121,6 @@ private:
 
 public:
     int rx_message;
-    ~FrontEndCal_msg_rx() override;  //!< Default destructor
 };
 
 
@@ -155,9 +154,6 @@ FrontEndCal_msg_rx::FrontEndCal_msg_rx() : gr::block("FrontEndCal_msg_rx", gr::i
 }
 
 
-FrontEndCal_msg_rx::~FrontEndCal_msg_rx() = default;
-
-
 void wait_message()
 {
     while (!stop)
@@ -574,7 +570,7 @@ int main(int argc, char** argv)
                 {
                     std::cout << "Exception caught while reading ephemeris" << std::endl;
                 }
-            catch (int ex)
+            catch (const std::exception& ex)
                 {
                     std::cout << "  " << it.first << "   " << it.second << "  (Eph not found)" << std::endl;
                 }