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Fixing compilation warnings

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This commit is contained in:
Damian Miralles
2017-07-12 07:35:57 -07:00
committed by Damian Miralles
parent b34a82a949
commit 50f133e960
3 changed files with 47 additions and 50 deletions
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3
src/core/system_parameters/GLONASS_L1_CA.h
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@@ -104,10 +104,11 @@ const int GLONASS_GNAV_FRAME_BITS = 1725; //!< Number of chips per frame i
const int GLONASS_GNAV_FRAME_SECONDS = 30; //!< Subframe duration [seconds]
const int GLONASS_GNAV_FRAME_MS = 30000; //!< Subframe duration [seconds]
const int GLONASS_GNAV_STRING_BITS = 115; //!< Number of bits per string in the GNAV message (85 data bits + 30 time mark bits) [bits]
const int GLONASS_GNAV_HAMMING_CODE_BITS = 115; //!< Number of bits in hamming code sequence of GNAV message
const std::vector<int> GLONASS_GNAV_CRC_I_INDEX {9, 10, 12, 13, 15, 17, 19, 20, 22, 24, 26, 28, 30, 32, 34, 35, 37, 39, 41, 43, 45, 47, 49, 51, 53, 55, 57, 59, 61, 63, 65, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84};
const std::vector<int> GLONASS_GNAV_CRC_J_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
const std::vector<int> GLONASS_GNAV_CRC_K_INDEX {10, 11, 12, 16, 17, 18, 19, 23, 24, 25, 26, 31, 32, 33, 34 38, 39, 40, 41, 46, 47, 48, 49, 54, 55, 56, 57, 62, 63, 64, 65, 69, 70, 71, 72, 77, 78, 79, 80, 85};
const std::vector<int> GLONASS_GNAV_CRC_K_INDEX {10, 11, 12, 16, 17, 18, 19, 23, 24, 25, 26, 31, 32, 33, 34, 38, 39, 40, 41, 46, 47, 48, 49, 54, 55, 56, 57, 62, 63, 64, 65, 69, 70, 71, 72, 77, 78, 79, 80, 85};
const std::vector<int> GLONASS_GNAV_CRC_L_INDEX {9, 11, 12, 14, 15, 18, 19, 21, 22, 25, 26, 29, 30, 33, 34, 36, 37, 40, 41, 44, 45, 48, 49, 52, 53, 56, 57, 60, 61, 64, 65, 67, 68, 71, 72, 75, 76, 79, 80, 83, 84};
const std::vector<int> GLONASS_GNAV_CRC_M_INDEX {20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 81, 82, 83, 84, 85};
const std::vector<int> GLONASS_GNAV_CRC_N_INDEX {35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85};

75
src/core/system_parameters/glonass_gnav_navigation_message.cc
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@@ -63,21 +63,21 @@ void Glonass_Gnav_Navigation_Message::reset()
flag_almanac_str_15 = false;
//!< UTC and System Clocks Flags
flag_utc_model_valid; //!< If set, it indicates that the UTC model parameters are filled
flag_utc_model_str_5; //!< Clock info send in string 5 of navigation data
flag_utc_model_str_15; //!< Clock info send in string 15 of frame 5 of navigation data
flag_TOW_5;
flag_TOW_6;
flag_TOW_set; //!< it is true when page 5 or page 6 arrives
flag_utc_model_valid = false; //!< If set, it indicates that the UTC model parameters are filled
flag_utc_model_str_5 = false; //!< Clock info send in string 5 of navigation data
flag_utc_model_str_15 = false; //!< Clock info send in string 15 of frame 5 of navigation data
flag_TOW_5 = false;
flag_TOW_6 = false;
flag_TOW_set = false; //!< it is true when page 5 or page 6 arrives
//broadcast orbit 1
//TODO Need to send the information regarding the frame number
double d_TOW; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
double d_TOW_F1; //!< Time of GPS Week from HOW word of Subframe 1 [s]
double d_TOW_F2; //!< Time of GPS Week from HOW word of Subframe 2 [s]
double d_TOW_F3; //!< Time of GPS Week from HOW word of Subframe 3 [s]
double d_TOW_F4; //!< Time of GPS Week from HOW word of Subframe 4 [s]
double d_TOW_F5; //!< Time of GPS Week from HOW word of Subframe 5 [s]
d_TOW = false; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
d_TOW_F1 = false; //!< Time of GPS Week from HOW word of Subframe 1 [s]
d_TOW_F2 = false; //!< Time of GPS Week from HOW word of Subframe 2 [s]
d_TOW_F3 = false; //!< Time of GPS Week from HOW word of Subframe 3 [s]
d_TOW_F4 = false; //!< Time of GPS Week from HOW word of Subframe 4 [s]
d_TOW_F5 = false; //!< Time of GPS Week from HOW word of Subframe 5 [s]
// Clock terms
d_satClkCorr = 0.0;
@@ -103,30 +103,37 @@ Glonass_Gnav_Navigation_Message::Glonass_Gnav_Navigation_Message()
}
bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> data_bits, std::bitset<GLONASS_GNAV_STRING_BITS> hamming_code_bits )
bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> data_bits, std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code_bits )
{
int sum_bits;
int sum_hamming;
int C1 = 0;
int C2 = 0;
int C3 = 0;
int C4 = 0;
int C5 = 0;
int C6 = 0;
int C7 = 0;
int C_Sigma = 0;
//!< Compute C1 term
sum_bits = 0;
for(int i = 0; i < GLONASS_GNAV_CRC_I_INDEX.size; i++)
for(int i = 0; i < GLONASS_GNAV_CRC_I_INDEX.size(); i++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_I_INDEX[i]];
sum_bits += static_cast<int>(data_bits[GLONASS_GNAV_CRC_I_INDEX[i]]);
}
C1 = hamming_code_bits[0]^fmod(sum_bits,2);
C1 = static_cast<int>(hamming_code_bits[0])^static_cast<int>(fmod(sum_bits,2));
//!< Compute C2 term
sum_bits = 0;
for(int j = 0; j < GLONASS_GNAV_CRC_J_INDEX.size; j++)
for(int j = 0; j < GLONASS_GNAV_CRC_J_INDEX.size(); j++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
sum_bits += static_cast<int>data_bits[GLONASS_GNAV_CRC_J_INDEX[j]];
}
C2 = hamming_code_bits[1]^fmod(sum_bits,2);
C2 = static_cast<int>(hamming_code_bits[1])^static_cast<int>(fmod(sum_bits,2));
//!< Compute C3 term
sum_bits = 0;
for(int k = 0; k < GLONASS_GNAV_CRC_K_INDEX.size; k++)
for(int k = 0; k < GLONASS_GNAV_CRC_K_INDEX.size(); k++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_K_INDEX[k]];
}
@@ -134,7 +141,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
//!< Compute C4 term
sum_bits = 0;
for(int l = 0; l < GLONASS_GNAV_CRC_L_INDEX.size; l++)
for(int l = 0; l < GLONASS_GNAV_CRC_L_INDEX.size(); l++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_L_INDEX[l]];
}
@@ -142,7 +149,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
//!< Compute C5 term
sum_bits = 0;
for(int m = 0; m < GLONASS_GNAV_CRC_M_INDEX.size; m++)
for(int m = 0; m < GLONASS_GNAV_CRC_M_INDEX.size(); m++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_M_INDEX[m]];
}
@@ -150,7 +157,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
//!< Compute C6 term
sum_bits = 0;
for(int n = 0; n < GLONASS_GNAV_CRC_N_INDEX.size; n++)
for(int n = 0; n < GLONASS_GNAV_CRC_N_INDEX.size(); n++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_N_INDEX[n]];
}
@@ -158,7 +165,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
//!< Compute C7 term
sum_bits = 0;
for(int p = 0; p < GLONASS_GNAV_CRC_P_INDEX.size; p++)
for(int p = 0; p < GLONASS_GNAV_CRC_P_INDEX.size(); p++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_P_INDEX[p]];
}
@@ -167,7 +174,7 @@ bool Glonass_Gnav_Navigation_Message::_CRC_test(std::bitset<GLONASS_GNAV_STRING_
//!< Compute C_Sigma term
sum_bits = 0;
sum_hamming = 0;
for(int q = 0; q < GLONASS_GNAV_CRC_Q_INDEX.size; q++)
for(int q = 0; q < GLONASS_GNAV_CRC_Q_INDEX.size(); q++)
{
sum_bits += data_bits[GLONASS_GNAV_CRC_Q_INDEX[q]];
}
@@ -280,7 +287,7 @@ signed long int Glonass_Gnav_Navigation_Message::read_navigation_signed(std::bit
{
value <<= 1; //shift left
value &= 0xFFFFFFFE; //reset the corresponding bit
if (bits[GPS_SUBFRAME_BITS - parameter[i].first - j] == 1)
if (bits[GLONASS_GNAV_STRING_BITS - parameter[i].first - j] == 1)
{
value += 1; // insert the bit
}
@@ -320,6 +327,8 @@ unsigned int Glonass_Gnav_Navigation_Message::get_frame_number(unsigned int sate
//TODO Find print statement and make it an error
frame_ID = 0;
}
return frame_ID;
}
@@ -548,7 +557,7 @@ int Glonass_Gnav_Navigation_Message::string_decoder(char * frame_string)
case 15:
// --- It is string 9 ----------------------------------------------
if (frame_number != 5 and flag_almanac_str_14 = true )
if (frame_number != 5 and flag_almanac_str_14 == true )
{
// TODO signed vs unsigned reading from datasheet
gnav_almanac[i_satellite_slot_number - 1].d_omega_n_A = static_cast<double>(read_navigation_unsigned(string_bits, OMEGA_N_A));
@@ -613,16 +622,16 @@ bool Glonass_Gnav_Navigation_Message::have_new_ephemeris() //Check if we have a
}
if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true) and (flag_iono_and_GST == true))
if ((flag_ephemeris_str_1 == true) and (flag_ephemeris_str_2 == true) and (flag_ephemeris_str_3 == true) and (flag_ephemeris_str_4 == true))
{
//if all ephemeris pages have the same IOD, then they belong to the same block
if ((gnav_ephemeris.d_t_b == IOD_nav_2) and (IOD_nav_3 == IOD_nav_4) and (IOD_nav_1 == IOD_nav_3))
{
std::cout << "Ephemeris (1, 2, 3, 4) have been received and belong to the same batch" << std::endl;
flag_ephemeris_1 = false;// clear the flag
flag_ephemeris_2 = false;// clear the flag
flag_ephemeris_3 = false;// clear the flag
flag_ephemeris_4 = false;// clear the flag
flag_ephemeris_str_1 = false;// clear the flag
flag_ephemeris_str_2 = false;// clear the flag
flag_ephemeris_str_3 = false;// clear the flag
flag_ephemeris_str_4 = false;// clear the flag
flag_all_ephemeris = true;
IOD_ephemeris = IOD_nav_1;
std::cout << "Batch number: "<< IOD_ephemeris << std::endl;

17
src/core/system_parameters/glonass_gnav_navigation_message.h
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@@ -41,7 +41,6 @@
#include <vector>
#include "GLONASS_L1_CA.h"
#include "glonass_gnav_ephemeris.h"
//#include "gps_iono.h"
#include "glonass_gnav_almanac.h"
#include "glonass_gnav_utc_model.h"
@@ -59,16 +58,15 @@ private:
unsigned long int read_navigation_unsigned(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
signed long int read_navigation_signed(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
bool read_navigation_bool(std::bitset<GLONASS_GNAV_STRING_BITS> bits, const std::vector<std::pair<int,int>> parameter);
bool _CRC_test(std::bitset<GALILEO_FNAV_DATA_FRAME_BITS> bits,boost::uint32_t checksum);
bool _CRC_test(std::bitset<GLONASS_GNAV_STRING_BITS> bits, std::bitset<GLONASS_GNAV_HAMMING_CODE_BITS> hamming_code);
unsigned int get_frame_number(unsigned int satellite_slot_number);
public:
bool flag_CRC_test;
unsigned int u_frame_number;
unsigned int frame_number;
Glonass_Gnav_Ephemeris gnav_ephemeris; //!< Ephemeris information decoded
//Glonass_Gnav_Iono gnav_iono; //!< Iono corrections information
Glonass_Gnav_Utc_Model gnav_utc_model; //!< UTC model information
Glonass_Gnav_Almanac gnav_almanac[24]; //!< Almanac information for all 24 satellites
@@ -129,12 +127,6 @@ public:
*/
Glonass_Gnav_Ephemeris get_ephemeris();
/*!
// TODO Should I keep this function ?
* \brief Obtain a GPS ionospheric correction parameters class filled with current SV data
*/
Glonass_Gnav_Iono get_iono();
/*!
* \brief Obtain a GLONASS GNAV UTC model parameters class filled with current SV data
*/
@@ -150,11 +142,6 @@ public:
*/
bool have_new_ephemeris();
/*
* \brief Returns true if new Iono model has arrived. The flag is set to false when the function is executed
*/
bool have_new_iono();
/*
* \brief Returns true if new UTC model has arrived. The flag is set to false when the function is executed
*/