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Move constructor to the header file to make portability easier

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Avoid magic numbers
Fix clang-tidy warning. Was: performance-inefficient-string-concatenation
This commit is contained in:
Carles Fernandez 2021-09-24 17:25:59 +02:00
parent a7210933b4
commit 64b0fbe70d
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
3 changed files with 92 additions and 93 deletions
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10
src/core/libs/CMakeLists.txt
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@ -85,18 +85,18 @@ target_link_libraries(core_libs
Gnuradio::runtime Gnuradio::runtime
Gnuradio::pmt Gnuradio::pmt
protobuf::libprotobuf protobuf::libprotobuf
algorithms_libs
core_libs_supl core_libs_supl
core_system_parameters core_system_parameters
pvt_libs pvt_libs
PRIVATE PRIVATE
algorithms_libs
Boost::serialization Boost::serialization
Gflags::gflags Gflags::gflags
Glog::glog Glog::glog
Pugixml::pugixml Pugixml::pugixml
) )
if(USE_GENERIC_LAMBDAS AND NOT GNURADIO_USES_STD_POINTERS) if(NOT USE_GENERIC_LAMBDAS)
target_link_libraries(core_libs PUBLIC Boost::headers) target_link_libraries(core_libs PUBLIC Boost::headers)
else() else()
target_link_libraries(core_libs PRIVATE Boost::headers) target_link_libraries(core_libs PRIVATE Boost::headers)
@ -117,20 +117,20 @@ if(USE_GENERIC_LAMBDAS)
set(has_generic_lambdas HAS_GENERIC_LAMBDA=1) set(has_generic_lambdas HAS_GENERIC_LAMBDA=1)
set(no_has_generic_lambdas HAS_GENERIC_LAMBDA=0) set(no_has_generic_lambdas HAS_GENERIC_LAMBDA=0)
target_compile_definitions(core_libs target_compile_definitions(core_libs
PRIVATE PUBLIC
"$<$<COMPILE_FEATURES:cxx_generic_lambdas>:${has_generic_lambdas}>" "$<$<COMPILE_FEATURES:cxx_generic_lambdas>:${has_generic_lambdas}>"
"$<$<NOT:$<COMPILE_FEATURES:cxx_generic_lambdas>>:${no_has_generic_lambdas}>" "$<$<NOT:$<COMPILE_FEATURES:cxx_generic_lambdas>>:${no_has_generic_lambdas}>"
) )
else() else()
target_compile_definitions(core_libs target_compile_definitions(core_libs
PRIVATE PUBLIC
-DHAS_GENERIC_LAMBDA=0 -DHAS_GENERIC_LAMBDA=0
) )
endif() endif()
if(USE_BOOST_BIND_PLACEHOLDERS) if(USE_BOOST_BIND_PLACEHOLDERS)
target_compile_definitions(core_libs target_compile_definitions(core_libs
PRIVATE PUBLIC
-DUSE_BOOST_BIND_PLACEHOLDERS=1 -DUSE_BOOST_BIND_PLACEHOLDERS=1
) )
endif() endif()

91
src/core/libs/galileo_e6_has_msg_receiver.cc
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@ -19,24 +19,15 @@
#include "galileo_e6_has_msg_receiver.h" #include "galileo_e6_has_msg_receiver.h"
#include "display.h" // for colors in terminal #include "display.h" // for colors in terminal
#include "galileo_has_page.h" // for Galileo_HAS_page #include <boost/any.hpp> // for boost::any_cast
#include "gnss_sdr_make_unique.h" // for std::make_unique in C++11 #include <glog/logging.h> // for DLOG
#include "reed_solomon.h" // for ReedSolomon #include <algorithm> // for std::find, std::count
#include <boost/any.hpp> #include <cstddef> // for size_t
#include <glog/logging.h> #include <iterator> // for std::back_inserter
#include <gnuradio/io_signature.h> #include <sstream> // for std::stringstream
#include <algorithm> // for std::find, std::count #include <stdexcept> // for std::out_of_range
#include <cstddef> // for size_t #include <typeinfo> // for typeid
#include <iterator> // for std::back_inserter
#include <sstream> // for std::stringstream
#include <stdexcept> // for std::out_of_range
#include <typeinfo> // for typeid
#if HAS_GENERIC_LAMBDA
#else
#include <boost/bind/bind.hpp>
#endif
galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make() galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make()
@ -45,52 +36,6 @@ galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make()
} }
galileo_e6_has_msg_receiver::galileo_e6_has_msg_receiver() : gr::block("galileo_e6_has_msg_receiver", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
// register Gal E6 HAS input message port from telemetry blocks
this->message_port_register_in(pmt::mp("E6_HAS_from_TLM"));
// register nav message monitor out
this->message_port_register_out(pmt::mp("Nav_msg_from_TLM"));
this->set_msg_handler(pmt::mp("E6_HAS_from_TLM"),
#if HAS_GENERIC_LAMBDA
[this](auto&& PH1) { msg_handler_galileo_e6_has(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has, this, boost::placeholders::_1));
#else
boost::bind(&galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has, this, _1));
#endif
#endif
// register Gal E6 processed HAS async output message port towards PVT
this->message_port_register_out(pmt::mp("E6_HAS_to_PVT"));
// initialize Reed-Solomon decoder
d_rs = std::make_unique<ReedSolomon>();
// Reserve memory for decoding matrices and received PIDs
d_C_matrix = std::vector<std::vector<std::vector<uint8_t>>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<std::vector<uint8_t>>(GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE))); // 32 x 255 x 53
d_M_matrix = std::vector<std::vector<uint8_t>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE)); // HAS message matrix 32 x 53
d_received_pids = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MESSAGE_IDS, std::vector<uint8_t>());
// Reserve memory to store masks
d_nsat_in_mask_id = std::vector<int>(HAS_MSG_NUMBER_MASK_IDS);
d_gnss_id_in_mask = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint8_t>(HAS_MSG_NUMBER_GNSS_IDS));
d_satellite_mask = std::vector<std::vector<uint64_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint64_t>(HAS_MSG_NUMBER_GNSS_IDS));
d_signal_mask = std::vector<std::vector<uint16_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint16_t>(HAS_MSG_NUMBER_GNSS_IDS));
d_cell_mask_availability_flag = std::vector<std::vector<bool>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<bool>(HAS_MSG_NUMBER_GNSS_IDS));
d_cell_mask = std::vector<std::vector<std::vector<std::vector<bool>>>>(HAS_MSG_NUMBER_MASK_IDS, {HAS_MSG_NUMBER_GNSS_IDS, {HAS_MSG_NUMBER_SATELLITE_IDS, std::vector<bool>(HAS_MSG_NUMBER_SIGNAL_MASKS)}});
d_nsys_in_mask = std::vector<uint8_t>(HAS_MSG_NUMBER_MASK_IDS);
d_nav_message_mask = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint8_t>(HAS_MSG_NUMBER_GNSS_IDS));
// Initialize values for d_nav_msg_packet
d_nav_msg_packet.system = std::string("E");
d_nav_msg_packet.signal = std::string("E6");
d_nav_msg_packet.prn = 0;
d_nav_msg_packet.tow_at_current_symbol_ms = 0;
}
void galileo_e6_has_msg_receiver::set_enable_navdata_monitor(bool enable) void galileo_e6_has_msg_receiver::set_enable_navdata_monitor(bool enable)
{ {
d_enable_navdata_monitor = enable; d_enable_navdata_monitor = enable;
@ -149,7 +94,7 @@ void galileo_e6_has_msg_receiver::process_HAS_page(const Galileo_HAS_page& has_p
{ {
if (has_page.message_type == 1) // contains satellite corrections if (has_page.message_type == 1) // contains satellite corrections
{ {
if (has_page.message_id < 32) // MID range is from 0 to 31 if (has_page.message_id < HAS_MSG_NUMBER_MESSAGE_IDS) // MID range is from 0 to 31
{ {
if (std::find(d_received_pids[has_page.message_id].begin(), d_received_pids[has_page.message_id].end(), has_page.message_page_id) == d_received_pids[has_page.message_id].end()) if (std::find(d_received_pids[has_page.message_id].begin(), d_received_pids[has_page.message_id].end(), has_page.message_page_id) == d_received_pids[has_page.message_id].end())
{ {
@ -157,8 +102,9 @@ void galileo_e6_has_msg_receiver::process_HAS_page(const Galileo_HAS_page& has_p
d_received_pids[has_page.message_id].push_back(has_page.message_page_id); d_received_pids[has_page.message_id].push_back(has_page.message_page_id);
for (int k = 0; k < GALILEO_CNAV_OCTETS_IN_SUBPAGE; k++) for (int k = 0; k < GALILEO_CNAV_OCTETS_IN_SUBPAGE; k++)
{ {
std::string bits8 = page_string.substr(k * 8, 8); constexpr int bits_in_octet = 8;
std::bitset<8> bs(bits8); std::string bits8 = page_string.substr(k * bits_in_octet, bits_in_octet);
std::bitset<bits_in_octet> bs(bits8);
d_C_matrix[has_page.message_id][has_page.message_page_id - 1][k] = static_cast<uint8_t>(bs.to_ulong()); d_C_matrix[has_page.message_id][has_page.message_page_id - 1][k] = static_cast<uint8_t>(bs.to_ulong());
} }
} }
@ -192,10 +138,11 @@ void galileo_e6_has_msg_receiver::process_HAS_page(const Galileo_HAS_page& has_p
int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_t message_size) int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_t message_size)
{ {
DLOG(INFO) << "Start decoding of a HAS message"; DLOG(INFO) << "Start decoding of a HAS message";
constexpr int32_t max_erasure_positions = GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK - GALILEO_CNAV_INFORMATION_VECTOR_LENGTH; // 223 Maximum erasure positions ( = number of parity symbols in a block)
// Compute erasure positions // Compute erasure positions
std::vector<int> erasure_positions; std::vector<int> erasure_positions;
erasure_positions.reserve(223); // Maximum erasure positions ( = number of parity symbols in a block) erasure_positions.reserve(max_erasure_positions);
for (uint8_t i = 1; i < message_size + 1; i++) // we know that from message_size to 32, the value is 0 for (uint8_t i = 1; i < message_size + 1; i++) // we know that from message_size to 32, the value is 0
{ {
@ -204,7 +151,7 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
erasure_positions.push_back(i - 1); erasure_positions.push_back(i - 1);
} }
} }
for (int i = 33; i < 256; i++) for (int i = GALILEO_CNAV_INFORMATION_VECTOR_LENGTH + 1; i < GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK + 1; i++) // from 33 to 255
{ {
if (std::find(d_received_pids[message_id].begin(), d_received_pids[message_id].end(), static_cast<uint8_t>(i)) == d_received_pids[message_id].end()) if (std::find(d_received_pids[message_id].begin(), d_received_pids[message_id].end(), static_cast<uint8_t>(i)) == d_received_pids[message_id].end())
{ {
@ -212,7 +159,7 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
} }
} }
if (erasure_positions.size() > 223) if (erasure_positions.size() > static_cast<size_t>(max_erasure_positions))
{ {
// This should not happen! Maybe message_size < PID < 33 ? // This should not happen! Maybe message_size < PID < 33 ?
// Don't even try to decode // Don't even try to decode
@ -587,11 +534,11 @@ void galileo_e6_has_msg_receiver::read_MT1_body(const std::string& message_body)
{ {
if ((aux & mask_value) >= 1) if ((aux & mask_value) >= 1)
{ {
binary = "1" + binary; binary.insert(0, "1");
} }
else else
{ {
binary = "0" + binary; binary.insert(0, "0");
} }
aux <<= 1; aux <<= 1;
} }

84
src/core/libs/galileo_e6_has_msg_receiver.h
View File

@ -20,26 +20,33 @@
#ifndef GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H #ifndef GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H
#define GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H #define GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H
#include "Galileo_CNAV.h" #include "Galileo_CNAV.h" // for GALILEO_CNAV_* and HAS_MSG_* constants
#include "galileo_has_data.h" #include "galileo_has_data.h" // for Galileo_HAS_data
#include "gnss_block_interface.h" #include "galileo_has_page.h" // for Galileo_HAS_page
#include "nav_message_packet.h" #include "gnss_block_interface.h" // for gnss_shared_ptr
#include <gnuradio/block.h> #include "gnss_sdr_make_unique.h" // for std::make_unique in C++11
#include <pmt/pmt.h> #include "nav_message_packet.h" // for Nav_Message_Packet
#include <bitset> #include "reed_solomon.h" // for ReedSolomon
#include <cstdint> #include <gnuradio/block.h> // for gr::block
#include <memory> // for std::unique_ptr #include <gnuradio/io_signature.h> // for gr::io_signature::make
#include <string> #include <pmt/pmt.h> // for pmt::mp
#include <utility> // std::pair #include <bitset> // for std::bitset
#include <vector> #include <cstdint> // for uint8_t, ...
#include <memory> // for std::unique_ptr
#include <string> // for std::string
#include <utility> // std::pair
#include <vector> // for std::vector
#if HAS_GENERIC_LAMBDA
#else
#include <boost/bind/bind.hpp> // for boost::bind
#endif
/** \addtogroup Core /** \addtogroup Core
* \{ */ * \{ */
/** \addtogroup Core_Receiver_Library /** \addtogroup Core_Receiver_Library
* \{ */ * \{ */
class Galileo_HAS_page;
class ReedSolomon;
class galileo_e6_has_msg_receiver; class galileo_e6_has_msg_receiver;
using galileo_e6_has_msg_receiver_sptr = gnss_shared_ptr<galileo_e6_has_msg_receiver>; using galileo_e6_has_msg_receiver_sptr = gnss_shared_ptr<galileo_e6_has_msg_receiver>;
@ -60,7 +67,52 @@ public:
private: private:
friend galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make(); friend galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make();
galileo_e6_has_msg_receiver();
inline galileo_e6_has_msg_receiver() : gr::block("galileo_e6_has_msg_receiver", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
// register Gal E6 HAS input message port from telemetry blocks
this->message_port_register_in(pmt::mp("E6_HAS_from_TLM"));
// register nav message monitor out
this->message_port_register_out(pmt::mp("Nav_msg_from_TLM"));
this->set_msg_handler(pmt::mp("E6_HAS_from_TLM"),
#if HAS_GENERIC_LAMBDA
[this](auto&& PH1) { msg_handler_galileo_e6_has(PH1); });
#else
#if USE_BOOST_BIND_PLACEHOLDERS
boost::bind(&galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has, this, boost::placeholders::_1));
#else
boost::bind(&galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has, this, _1));
#endif
#endif
// register Gal E6 processed HAS async output message port towards PVT
this->message_port_register_out(pmt::mp("E6_HAS_to_PVT"));
// initialize Reed-Solomon decoder
d_rs = std::make_unique<ReedSolomon>();
// Reserve memory for decoding matrices and received PIDs
d_C_matrix = std::vector<std::vector<std::vector<uint8_t>>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<std::vector<uint8_t>>(GALILEO_CNAV_MAX_NUMBER_SYMBOLS_ENCODED_BLOCK, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE))); // 32 x 255 x 53
d_M_matrix = std::vector<std::vector<uint8_t>>(GALILEO_CNAV_INFORMATION_VECTOR_LENGTH, std::vector<uint8_t>(GALILEO_CNAV_OCTETS_IN_SUBPAGE)); // HAS message matrix 32 x 53
d_received_pids = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MESSAGE_IDS, std::vector<uint8_t>());
// Reserve memory to store masks
d_nsat_in_mask_id = std::vector<int>(HAS_MSG_NUMBER_MASK_IDS);
d_gnss_id_in_mask = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint8_t>(HAS_MSG_NUMBER_GNSS_IDS));
d_satellite_mask = std::vector<std::vector<uint64_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint64_t>(HAS_MSG_NUMBER_GNSS_IDS));
d_signal_mask = std::vector<std::vector<uint16_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint16_t>(HAS_MSG_NUMBER_GNSS_IDS));
d_cell_mask_availability_flag = std::vector<std::vector<bool>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<bool>(HAS_MSG_NUMBER_GNSS_IDS));
d_cell_mask = std::vector<std::vector<std::vector<std::vector<bool>>>>(HAS_MSG_NUMBER_MASK_IDS, {HAS_MSG_NUMBER_GNSS_IDS, {HAS_MSG_NUMBER_SATELLITE_IDS, std::vector<bool>(HAS_MSG_NUMBER_SIGNAL_MASKS)}});
d_nsys_in_mask = std::vector<uint8_t>(HAS_MSG_NUMBER_MASK_IDS);
d_nav_message_mask = std::vector<std::vector<uint8_t>>(HAS_MSG_NUMBER_MASK_IDS, std::vector<uint8_t>(HAS_MSG_NUMBER_GNSS_IDS));
// Initialize values for d_nav_msg_packet
d_nav_msg_packet.system = std::string("E");
d_nav_msg_packet.signal = std::string("E6");
d_nav_msg_packet.prn = 0;
d_nav_msg_packet.tow_at_current_symbol_ms = 0;
};
void msg_handler_galileo_e6_has(const pmt::pmt_t& msg); void msg_handler_galileo_e6_has(const pmt::pmt_t& msg);
void process_HAS_page(const Galileo_HAS_page& has_page); void process_HAS_page(const Galileo_HAS_page& has_page);
void read_MT1_header(const std::string& message_header); void read_MT1_header(const std::string& message_header);
@ -85,7 +137,7 @@ private:
std::unique_ptr<ReedSolomon> d_rs; std::unique_ptr<ReedSolomon> d_rs;
Galileo_HAS_data d_HAS_data{}; Galileo_HAS_data d_HAS_data{};
Nav_Message_Packet d_nav_msg_packet; Nav_Message_Packet d_nav_msg_packet{};
// Store decoding matrices and received PIDs // Store decoding matrices and received PIDs
std::vector<std::vector<std::vector<uint8_t>>> d_C_matrix; std::vector<std::vector<std::vector<uint8_t>>> d_C_matrix;