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RTKLIB: Switch to STL containers

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...to prevent thread stack abuse.
And free up some stack space in Rtklib_Solver::get_PVT.

Signed-off-by: Vladisslav P <vladisslav2011@gmail.com>
This commit is contained in:
Vladisslav P
2022-07-14 05:44:08 +03:00
committed by Vlad P
parent 1153544fca
commit 59c9c6f8ab
10 changed files with 134 additions and 117 deletions
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124
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -463,7 +463,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
std::map<int, Beidou_Dnav_Ephemeris>::const_iterator beidou_ephemeris_iter;
const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model;
const Glonass_Gnav_Utc_Model &gnav_utc = this->glonass_gnav_utc_model;
this->set_averaging_flag(flag_averaging);
@@ -900,89 +900,89 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
if ((valid_obs + glo_valid_obs) > 3)
{
int result = 0;
nav_t nav_data{};
nav_data.eph = eph_data.data();
nav_data.geph = geph_data.data();
nav_data.n = valid_obs;
nav_data.ng = glo_valid_obs;
d_nav_data = {};
d_nav_data.eph = eph_data.data();
d_nav_data.geph = geph_data.data();
d_nav_data.n = valid_obs;
d_nav_data.ng = glo_valid_obs;
if (gps_iono.valid)
{
nav_data.ion_gps[0] = gps_iono.alpha0;
nav_data.ion_gps[1] = gps_iono.alpha1;
nav_data.ion_gps[2] = gps_iono.alpha2;
nav_data.ion_gps[3] = gps_iono.alpha3;
nav_data.ion_gps[4] = gps_iono.beta0;
nav_data.ion_gps[5] = gps_iono.beta1;
nav_data.ion_gps[6] = gps_iono.beta2;
nav_data.ion_gps[7] = gps_iono.beta3;
d_nav_data.ion_gps[0] = gps_iono.alpha0;
d_nav_data.ion_gps[1] = gps_iono.alpha1;
d_nav_data.ion_gps[2] = gps_iono.alpha2;
d_nav_data.ion_gps[3] = gps_iono.alpha3;
d_nav_data.ion_gps[4] = gps_iono.beta0;
d_nav_data.ion_gps[5] = gps_iono.beta1;
d_nav_data.ion_gps[6] = gps_iono.beta2;
d_nav_data.ion_gps[7] = gps_iono.beta3;
}
if (!(gps_iono.valid) and gps_cnav_iono.valid)
{
nav_data.ion_gps[0] = gps_cnav_iono.alpha0;
nav_data.ion_gps[1] = gps_cnav_iono.alpha1;
nav_data.ion_gps[2] = gps_cnav_iono.alpha2;
nav_data.ion_gps[3] = gps_cnav_iono.alpha3;
nav_data.ion_gps[4] = gps_cnav_iono.beta0;
nav_data.ion_gps[5] = gps_cnav_iono.beta1;
nav_data.ion_gps[6] = gps_cnav_iono.beta2;
nav_data.ion_gps[7] = gps_cnav_iono.beta3;
d_nav_data.ion_gps[0] = gps_cnav_iono.alpha0;
d_nav_data.ion_gps[1] = gps_cnav_iono.alpha1;
d_nav_data.ion_gps[2] = gps_cnav_iono.alpha2;
d_nav_data.ion_gps[3] = gps_cnav_iono.alpha3;
d_nav_data.ion_gps[4] = gps_cnav_iono.beta0;
d_nav_data.ion_gps[5] = gps_cnav_iono.beta1;
d_nav_data.ion_gps[6] = gps_cnav_iono.beta2;
d_nav_data.ion_gps[7] = gps_cnav_iono.beta3;
}
if (galileo_iono.ai0 != 0.0)
{
nav_data.ion_gal[0] = galileo_iono.ai0;
nav_data.ion_gal[1] = galileo_iono.ai1;
nav_data.ion_gal[2] = galileo_iono.ai2;
nav_data.ion_gal[3] = 0.0;
d_nav_data.ion_gal[0] = galileo_iono.ai0;
d_nav_data.ion_gal[1] = galileo_iono.ai1;
d_nav_data.ion_gal[2] = galileo_iono.ai2;
d_nav_data.ion_gal[3] = 0.0;
}
if (beidou_dnav_iono.valid)
{
nav_data.ion_cmp[0] = beidou_dnav_iono.alpha0;
nav_data.ion_cmp[1] = beidou_dnav_iono.alpha1;
nav_data.ion_cmp[2] = beidou_dnav_iono.alpha2;
nav_data.ion_cmp[3] = beidou_dnav_iono.alpha3;
nav_data.ion_cmp[4] = beidou_dnav_iono.beta0;
nav_data.ion_cmp[5] = beidou_dnav_iono.beta0;
nav_data.ion_cmp[6] = beidou_dnav_iono.beta0;
nav_data.ion_cmp[7] = beidou_dnav_iono.beta3;
d_nav_data.ion_cmp[0] = beidou_dnav_iono.alpha0;
d_nav_data.ion_cmp[1] = beidou_dnav_iono.alpha1;
d_nav_data.ion_cmp[2] = beidou_dnav_iono.alpha2;
d_nav_data.ion_cmp[3] = beidou_dnav_iono.alpha3;
d_nav_data.ion_cmp[4] = beidou_dnav_iono.beta0;
d_nav_data.ion_cmp[5] = beidou_dnav_iono.beta0;
d_nav_data.ion_cmp[6] = beidou_dnav_iono.beta0;
d_nav_data.ion_cmp[7] = beidou_dnav_iono.beta3;
}
if (gps_utc_model.valid)
{
nav_data.utc_gps[0] = gps_utc_model.A0;
nav_data.utc_gps[1] = gps_utc_model.A1;
nav_data.utc_gps[2] = gps_utc_model.tot;
nav_data.utc_gps[3] = gps_utc_model.WN_T;
nav_data.leaps = gps_utc_model.DeltaT_LS;
d_nav_data.utc_gps[0] = gps_utc_model.A0;
d_nav_data.utc_gps[1] = gps_utc_model.A1;
d_nav_data.utc_gps[2] = gps_utc_model.tot;
d_nav_data.utc_gps[3] = gps_utc_model.WN_T;
d_nav_data.leaps = gps_utc_model.DeltaT_LS;
}
if (!(gps_utc_model.valid) and gps_cnav_utc_model.valid)
{
nav_data.utc_gps[0] = gps_cnav_utc_model.A0;
nav_data.utc_gps[1] = gps_cnav_utc_model.A1;
nav_data.utc_gps[2] = gps_cnav_utc_model.tot;
nav_data.utc_gps[3] = gps_cnav_utc_model.WN_T;
nav_data.leaps = gps_cnav_utc_model.DeltaT_LS;
d_nav_data.utc_gps[0] = gps_cnav_utc_model.A0;
d_nav_data.utc_gps[1] = gps_cnav_utc_model.A1;
d_nav_data.utc_gps[2] = gps_cnav_utc_model.tot;
d_nav_data.utc_gps[3] = gps_cnav_utc_model.WN_T;
d_nav_data.leaps = gps_cnav_utc_model.DeltaT_LS;
}
if (glonass_gnav_utc_model.valid)
{
nav_data.utc_glo[0] = glonass_gnav_utc_model.d_tau_c; // ??
nav_data.utc_glo[1] = 0.0; // ??
nav_data.utc_glo[2] = 0.0; // ??
nav_data.utc_glo[3] = 0.0; // ??
d_nav_data.utc_glo[0] = glonass_gnav_utc_model.d_tau_c; // ??
d_nav_data.utc_glo[1] = 0.0; // ??
d_nav_data.utc_glo[2] = 0.0; // ??
d_nav_data.utc_glo[3] = 0.0; // ??
}
if (galileo_utc_model.A0 != 0.0)
{
nav_data.utc_gal[0] = galileo_utc_model.A0;
nav_data.utc_gal[1] = galileo_utc_model.A1;
nav_data.utc_gal[2] = galileo_utc_model.tot;
nav_data.utc_gal[3] = galileo_utc_model.WNot;
nav_data.leaps = galileo_utc_model.Delta_tLS;
d_nav_data.utc_gal[0] = galileo_utc_model.A0;
d_nav_data.utc_gal[1] = galileo_utc_model.A1;
d_nav_data.utc_gal[2] = galileo_utc_model.tot;
d_nav_data.utc_gal[3] = galileo_utc_model.WNot;
d_nav_data.leaps = galileo_utc_model.Delta_tLS;
}
if (beidou_dnav_utc_model.valid)
{
nav_data.utc_cmp[0] = beidou_dnav_utc_model.A0_UTC;
nav_data.utc_cmp[1] = beidou_dnav_utc_model.A1_UTC;
nav_data.utc_cmp[2] = 0.0; // ??
nav_data.utc_cmp[3] = 0.0; // ??
nav_data.leaps = beidou_dnav_utc_model.DeltaT_LS;
d_nav_data.utc_cmp[0] = beidou_dnav_utc_model.A0_UTC;
d_nav_data.utc_cmp[1] = beidou_dnav_utc_model.A1_UTC;
d_nav_data.utc_cmp[2] = 0.0; // ??
d_nav_data.utc_cmp[3] = 0.0; // ??
d_nav_data.leaps = beidou_dnav_utc_model.DeltaT_LS;
}
/* update carrier wave length using native function call in RTKlib */
@@ -990,11 +990,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
for (int j = 0; j < NFREQ; j++)
{
nav_data.lam[i][j] = satwavelen(i + 1, d_rtklib_freq_index[j], &nav_data);
d_nav_data.lam[i][j] = satwavelen(i + 1, d_rtklib_freq_index[j], &d_nav_data);
}
}
result = rtkpos(&d_rtk, d_obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
result = rtkpos(&d_rtk, d_obs_data.data(), valid_obs + glo_valid_obs, &d_nav_data);
if (result == 0)
{
@@ -1095,7 +1095,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// TOW
d_monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms;
// WEEK
d_monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
d_monitor_pvt.week = adjgpsweek(d_nav_data.eph[0].week, this->is_pre_2009());
// PVT GPS time
d_monitor_pvt.RX_time = gnss_observables_map.cbegin()->second.RX_time;
// User clock offset [s]
@@ -1161,7 +1161,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
tmp_uint32 = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms;
d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
// WEEK
tmp_uint32 = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
tmp_uint32 = adjgpsweek(d_nav_data.eph[0].week, this->is_pre_2009());
d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
// PVT GPS time
tmp_double = gnss_observables_map.cbegin()->second.RX_time;