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Make the code more portable

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Avoid arrays with variable length, replace them by std::vector
This commit is contained in:
Carles Fernandez 2021-09-17 13:55:09 +02:00
parent 61d5485e29
commit 531ca63398
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GPG Key ID: 4C583C52B0C3877D
3 changed files with 83 additions and 73 deletions
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124
src/core/libs/galileo_e6_has_msg_receiver.cc
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@ -335,6 +335,7 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
// read mask // read mask
d_HAS_data.Nsys = read_has_message_body_uint8(message.substr(0, HAS_MSG_NSYS_LENGTH)); d_HAS_data.Nsys = read_has_message_body_uint8(message.substr(0, HAS_MSG_NSYS_LENGTH));
DLOG(INFO) << "Nsys " << static_cast<float>(d_HAS_data.Nsys); DLOG(INFO) << "Nsys " << static_cast<float>(d_HAS_data.Nsys);
d_nsys_in_mask[d_HAS_data.header.mask_id] = d_HAS_data.Nsys;
if (d_HAS_data.Nsys != 0) if (d_HAS_data.Nsys != 0)
{ {
message = std::string(message.begin() + HAS_MSG_NSYS_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_NSYS_LENGTH, message.end());
@ -349,6 +350,7 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
{ {
d_HAS_data.gnss_id_mask[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_ID_MASK_LENGTH)); d_HAS_data.gnss_id_mask[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_ID_MASK_LENGTH));
DLOG(INFO) << "GNSS ID" << static_cast<float>(i) << ": " << static_cast<float>(d_HAS_data.gnss_id_mask[i]); DLOG(INFO) << "GNSS ID" << static_cast<float>(i) << ": " << static_cast<float>(d_HAS_data.gnss_id_mask[i]);
d_gnss_id_in_mask[d_HAS_data.header.mask_id][i] = d_HAS_data.gnss_id_mask[i];
message = std::string(message.begin() + HAS_MSG_ID_MASK_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_ID_MASK_LENGTH, message.end());
std::string msg = message.substr(0, HAS_MSG_SATELLITE_MASK_LENGTH); std::string msg = message.substr(0, HAS_MSG_SATELLITE_MASK_LENGTH);
@ -387,66 +389,74 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
d_HAS_data.nav_message[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_NAV_MESSAGE_LENGTH)); d_HAS_data.nav_message[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_NAV_MESSAGE_LENGTH));
message = std::string(message.begin() + HAS_MSG_NAV_MESSAGE_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_NAV_MESSAGE_LENGTH, message.end());
} }
d_nsat_in_mask_id[d_HAS_data.header.mask_id] = Nsat;
}
}
else
{
// Take data from a previously received mask with the same mask_id
Nsat = d_nsat_in_mask_id[d_HAS_data.header.mask_id];
d_HAS_data.gnss_id_mask = d_gnss_id_in_mask[d_HAS_data.header.mask_id];
d_HAS_data.Nsys = d_nsys_in_mask[d_HAS_data.header.mask_id];
}
if (d_HAS_data.header.orbit_correction_flag && (Nsat != 0) && std::count(d_HAS_data.gnss_id_mask.begin(), d_HAS_data.gnss_id_mask.end(), 1) != 0)
{
// read orbit corrections
d_HAS_data.validity_interval_index_orbit_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
d_HAS_data.gnss_iod.reserve(Nsat);
d_HAS_data.delta_radial.reserve(Nsat);
d_HAS_data.delta_along_track.reserve(Nsat);
d_HAS_data.delta_cross_track.reserve(Nsat);
for (int i = 0; i < Nsat; i++)
{
if (d_HAS_data.gnss_id_mask[i] == HAS_MSG_GPS_SYSTEM)
{
d_HAS_data.gnss_iod[i] = read_has_message_body_uint16(message.substr(0, HAS_MSG_IOD_GPS_LENGTH));
message = std::string(message.begin() + HAS_MSG_IOD_GPS_LENGTH, message.end());
}
if (d_HAS_data.gnss_id_mask[i] == HAS_MSG_GALILEO_SYSTEM)
{
d_HAS_data.gnss_iod[i] = read_has_message_body_uint16(message.substr(0, HAS_MSG_IOD_GAL_LENGTH));
message = std::string(message.begin() + HAS_MSG_IOD_GAL_LENGTH, message.end());
}
d_HAS_data.delta_radial[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_RADIAL_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_RADIAL_LENGTH, message.end());
d_HAS_data.delta_along_track[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_ALONG_TRACK_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_ALONG_TRACK_LENGTH, message.end());
d_HAS_data.delta_cross_track[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CROSS_TRACK_LENGTH));
message = std::string(message.begin() + HAS_MSG_DELTA_CROSS_TRACK_LENGTH, message.end());
} }
} }
// if (d_HAS_data.header.orbit_correction_flag && (Nsat != 0)) if (d_HAS_data.header.clock_fullset_flag && (Nsat != 0) && d_HAS_data.Nsys != 0 && std::count(d_HAS_data.gnss_id_mask.begin(), d_HAS_data.gnss_id_mask.end(), 1) != 0)
// { {
// // read orbit corrections // read clock full-set corrections
// d_HAS_data.validity_interval_index_orbit_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH)); d_HAS_data.validity_interval_index_clock_fullset_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
// message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
// d_HAS_data.gnss_iod.reserve(Nsat);
// d_HAS_data.delta_radial.reserve(Nsat); d_HAS_data.delta_clock_c0_multiplier.reserve(d_HAS_data.Nsys);
// d_HAS_data.delta_along_track.reserve(Nsat); for (uint8_t i = 0; i < d_HAS_data.Nsys; i++)
// d_HAS_data.delta_cross_track.reserve(Nsat); {
// for (int i = 0; i < Nsat; i++) if (d_HAS_data.gnss_id_mask[i] != HAS_MSG_GALILEO_SYSTEM)
// { {
// if (d_HAS_data.gnss_id_mask[i] == HAS_MSG_GPS_SYSTEM) d_HAS_data.delta_clock_c0_multiplier[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH));
// { message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH, message.end());
// d_HAS_data.gnss_iod[i] = read_has_message_body_uint16(message.substr(0, HAS_MSG_IOD_GPS_LENGTH)); }
// message = std::string(message.begin() + HAS_MSG_IOD_GPS_LENGTH, message.end()); }
// } d_HAS_data.iod_change_flag.reserve(Nsat);
// if (d_HAS_data.gnss_id_mask[i] == HAS_MSG_GALILEO_SYSTEM) d_HAS_data.delta_clock_c0.reserve(Nsat);
// { for (int i = 0; i < Nsat; i++)
// d_HAS_data.gnss_iod[i] = read_has_message_body_uint16(message.substr(0, HAS_MSG_IOD_GAL_LENGTH)); {
// message = std::string(message.begin() + HAS_MSG_IOD_GAL_LENGTH, message.end()); d_HAS_data.iod_change_flag[i] = (message[0] == '1' ? true : false);
// } message = std::string(message.begin() + 1, message.end());
// d_HAS_data.delta_radial[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_RADIAL_LENGTH)); d_HAS_data.delta_clock_c0[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_LENGTH));
// message = std::string(message.begin() + HAS_MSG_DELTA_RADIAL_LENGTH, message.end()); message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_LENGTH, message.end());
// }
// d_HAS_data.delta_along_track[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_ALONG_TRACK_LENGTH)); }
// message = std::string(message.begin() + HAS_MSG_DELTA_ALONG_TRACK_LENGTH, message.end());
//
// d_HAS_data.delta_cross_track[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CROSS_TRACK_LENGTH));
// message = std::string(message.begin() + HAS_MSG_DELTA_CROSS_TRACK_LENGTH, message.end());
// }
// }
//
// if (d_HAS_data.header.clock_fullset_flag)
// {
// // read clock full-set corrections
// d_HAS_data.validity_interval_index_clock_fullset_corrections = read_has_message_body_uint8(message.substr(0, HAS_MSG_VALIDITY_INDEX_LENGTH));
// message = std::string(message.begin() + HAS_MSG_VALIDITY_INDEX_LENGTH, message.end());
//
// d_HAS_data.delta_clock_c0_multiplier.reserve(d_HAS_data.Nsys);
// for (uint8_t i = 0; i < d_HAS_data.Nsys; i++)
// {
// if (d_HAS_data.gnss_id_mask[i] != HAS_MSG_GALILEO_SYSTEM)
// {
// d_HAS_data.delta_clock_c0_multiplier[i] = read_has_message_body_uint8(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH));
// message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_MULTIPLIER_LENGTH, message.end());
// }
// }
// d_HAS_data.iod_change_flag.reserve(Nsat);
// d_HAS_data.delta_clock_c0.reserve(Nsat);
// for (int i = 0; i < Nsat; i++)
// {
// d_HAS_data.iod_change_flag[i] = (message[0] == '1' ? true : false);
// message = std::string(message.begin() + 1, message.end());
// d_HAS_data.delta_clock_c0[i] = read_has_message_body_int16(message.substr(0, HAS_MSG_DELTA_CLOCK_C0_LENGTH));
// message = std::string(message.begin() + HAS_MSG_DELTA_CLOCK_C0_LENGTH, message.end());
// }
// }
// //
// if (d_HAS_data.header.clock_subset_flag) // if (d_HAS_data.header.clock_subset_flag)
// { // {

3
src/core/libs/galileo_e6_has_msg_receiver.h
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@ -87,6 +87,9 @@ private:
std::vector<std::vector<std::vector<uint8_t>>> d_C_matrix{32, std::vector<std::vector<uint8_t>>(GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE, 0))}; // 32 x 255 x 53 std::vector<std::vector<std::vector<uint8_t>>> d_C_matrix{32, std::vector<std::vector<uint8_t>>(GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE, 0))}; // 32 x 255 x 53
std::vector<std::vector<uint8_t>> d_M_matrix{GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE, 0)}; // HAS message matrix 32 x 53 std::vector<std::vector<uint8_t>> d_M_matrix{GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE, 0)}; // HAS message matrix 32 x 53
std::vector<std::vector<uint8_t>> d_received_pids{32, std::vector<uint8_t>()}; std::vector<std::vector<uint8_t>> d_received_pids{32, std::vector<uint8_t>()};
std::vector<int> d_nsat_in_mask_id{32, 0};
std::vector<std::vector<uint8_t>> d_gnss_id_in_mask{32, std::vector<uint8_t>(16)};
std::vector<uint8_t> d_nsys_in_mask{32};
bool d_new_message{}; bool d_new_message{};
bool d_enable_navdata_monitor{}; bool d_enable_navdata_monitor{};
}; };

29
src/core/system_parameters/reed_solomon.cc
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@ -794,14 +794,14 @@ int ReedSolomon::decode_rs_8(uint8_t* data, const int* eras_pos, int no_eras) co
uint8_t den; uint8_t den;
uint8_t discr_r; uint8_t discr_r;
uint8_t lambda[d_nroots + 1]; // Err+Eras Locator poly std::vector<uint8_t> lambda(d_nroots + 1); // Err+Eras Locator poly
uint8_t s[d_nroots]; // syndrome poly std::vector<uint8_t> s(d_nroots); // syndrome poly
uint8_t b[d_nroots + 1]; std::vector<uint8_t> b(d_nroots + 1);
uint8_t t[d_nroots + 1]; std::vector<uint8_t> t(d_nroots + 1);
uint8_t omega[d_nroots + 1]; std::vector<uint8_t> omega(d_nroots + 1);
uint8_t root[d_nroots]; std::vector<uint8_t> root(d_nroots);
uint8_t reg[d_nroots + 1]; std::vector<uint8_t> reg(d_nroots + 1);
uint8_t loc[d_nroots]; std::vector<uint8_t> loc(d_nroots);
// Syndrome computation // Syndrome computation
// form the syndromes; i.e., evaluate data(x) at roots of g(x) // form the syndromes; i.e., evaluate data(x) at roots of g(x)
@ -840,7 +840,6 @@ int ReedSolomon::decode_rs_8(uint8_t* data, const int* eras_pos, int no_eras) co
return 0; return 0;
} }
memset(&lambda[1], 0, d_nroots * sizeof(lambda[0]));
lambda[0] = 1; lambda[0] = 1;
if (no_eras > 0) if (no_eras > 0)
@ -884,9 +883,8 @@ int ReedSolomon::decode_rs_8(uint8_t* data, const int* eras_pos, int no_eras) co
discr_r = d_index_of[discr_r]; // Index form discr_r = d_index_of[discr_r]; // Index form
if (discr_r == d_a0) if (discr_r == d_a0)
{ {
// 2 lines below: B(x) <-- x*B(x) // line below: B(x) <-- x*B(x)
memmove(&b[1], b, d_nroots * sizeof(b[0])); b.insert(b.begin(), d_a0);
b[0] = d_a0;
} }
else else
{ {
@ -914,11 +912,10 @@ int ReedSolomon::decode_rs_8(uint8_t* data, const int* eras_pos, int no_eras) co
} }
else else
{ {
// 2 lines below: B(x) <-- x*B(x) // line below: B(x) <-- x*B(x)
memmove(&b[1], b, d_nroots * sizeof(b[0])); b.insert(b.begin(), d_a0);
b[0] = d_a0;
} }
memcpy(lambda, t, (d_nroots + 1) * sizeof(t[0])); memcpy(&lambda[0], t.data(), (d_nroots + 1) * sizeof(t[0]));
} }
} }