fixing coverity issues

src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc

@@ -107,7 +107,7 @@ arma::vec galileo_e1_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat)
     R3(1, 2) = 0.0;
     R3(2, 0) = 0.0;
     R3(2, 1) = 0.0;
-    R3(2, 2) = 1;
+    R3(2, 2) = 1.0;
 
     //--- Do the rotation ------------------------------------------------------
     arma::vec X_sat_rot;
@@ -188,7 +188,7 @@ arma::vec galileo_e1_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arm
                                     togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
 
                                     //--- Find delay due to troposphere (in meters)
-                                    tropo(&trop, sin(d_visible_satellites_El[i] * GALILEO_PI/180.0), h/1000, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
+                                    tropo(&trop, sin(d_visible_satellites_El[i] * GALILEO_PI / 180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
                                     if(trop > 50.0 ) trop = 0.0;
                                 }
                         }
@@ -238,9 +238,9 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
     arma::mat satpos = arma::zeros(3, valid_pseudoranges);           // satellite positions matrix
 
     int Galileo_week_number = 0;
-    double utc = 0;
-    double TX_time_corrected_s;
-    double SV_clock_bias_s = 0;
+    double utc = 0.0;
+    double TX_time_corrected_s = 0.0;
+    double SV_clock_bias_s = 0.0;
 
     d_flag_averaging = flag_averaging;
 
@@ -260,7 +260,7 @@ bool galileo_e1_ls_pvt::get_PVT(std::map<int,Gnss_Synchro> gnss_pseudoranges_map
                     /*!
                      * \todo Place here the satellite CN0 (power level, or weight factor)
                      */
-                    W(obs_counter, obs_counter) = 1;
+                    W(obs_counter, obs_counter) = 1.0;
 
                     // COMMON RX TIME PVT ALGORITHM MODIFICATION (Like RINEX files)
                     // first estimate of transmit time
@@ -519,14 +519,14 @@ void galileo_e1_ls_pvt::cart2geo(double X, double Y, double Z, int elipsoid_sele
     double phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection])) * f[elipsoid_selection])));
 
     double h = 0.1;
-    double oldh = 0;
+    double oldh = 0.0;
     double N;
     int iterations = 0;
     do
         {
             oldh = h;
             N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
-            phi = atan(Z / ((sqrt(X * X + Y * Y) * (1 - (2 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h) ))));
+            phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h) ))));
             h = sqrt(X * X + Y * Y) / cos(phi) - N;
             iterations = iterations + 1;
             if (iterations > 100)
@@ -568,17 +568,17 @@ void galileo_e1_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double
     *h = 0;
     double tolsq = 1.e-10;  // tolerance to accept convergence
     int maxit = 10;         // max number of iterations
-    double rtd = 180/GPS_PI;
+    double rtd = 180.0 / GPS_PI;
 
     // compute square of eccentricity
     double esq;
     if (finv < 1.0E-20)
         {
-            esq = 0;
+            esq = 0.0;
         }
     else
         {
-            esq = (2 - 1/finv) / finv;
+            esq = (2.0 - 1.0 / finv) / finv;
         }
 
     // first guess
@@ -591,7 +591,7 @@ void galileo_e1_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double
         }
     else
         {
-            *dlambda = 0;
+            *dlambda = 0.0;
         }
 
     // correct longitude bound
@@ -609,7 +609,7 @@ void galileo_e1_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double
         }
     else
         {
-            sinphi = 0;
+            sinphi = 0.0;
         }
     *dphi = asin(sinphi);
 
@@ -628,7 +628,7 @@ void galileo_e1_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double
     double N_phi;
     double dP;
     double dZ;
-    double oneesq = 1 - esq;
+    double oneesq = 1.0 - esq;
 
     for (int i = 0; i < maxit; i++)
         {
@@ -700,7 +700,7 @@ void galileo_e1_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x,
     F(1,1) = -sb * sl;
     F(1,2) = cb * sl;
 
-    F(2,0) = 0;
+    F(2,0) = 0.0;
     F(2,1) = cb;
     F(2,2) = sb;
 
@@ -717,8 +717,8 @@ void galileo_e1_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x,
 
     if (hor_dis < 1.0E-20)
         {
-            *Az = 0;
-            *El = 90;
+            *Az = 0.0;
+            *El = 90.0;
         }
     else
         {

src/algorithms/channel/adapters/channel.cc

@@ -175,7 +175,8 @@ gr::basic_block_sptr Channel::get_right_block()
 void Channel::set_signal(Gnss_Signal gnss_signal)
 {
     gnss_signal_ = gnss_signal;
-    const char * str = gnss_signal_.get_signal_str().c_str(); // get a C style null terminated string
+    std::string str_aux = gnss_signal_.get_signal_str();
+    const char * str = str_aux.c_str(); // get a C style null terminated string
     std::memcpy((void*)gnss_synchro_.Signal, str, 3); // copy string into synchro char array: 2 char + null
     gnss_synchro_.Signal[2] = 0; // make sure that string length is only two characters
     gnss_synchro_.PRN = gnss_signal_.get_satellite().get_PRN();

src/algorithms/channel/libs/gps_l1_ca_channel_fsm.cc

@@ -115,6 +115,9 @@ public:
 
 GpsL1CaChannelFsm::GpsL1CaChannelFsm()
 {
+    acq_ = nullptr;
+    trk_ = nullptr;
+    channel_ = 0;
     initiate(); //start the FSM
 }
 
@@ -123,6 +126,8 @@ GpsL1CaChannelFsm::GpsL1CaChannelFsm()
 GpsL1CaChannelFsm::GpsL1CaChannelFsm(AcquisitionInterface *acquisition) :
 	        acq_(acquisition)
 {
+    trk_ = nullptr;
+    channel_ = 0;
     initiate(); //start the FSM
 }
 

src/algorithms/channel/libs/gps_l1_ca_channel_fsm.h

@@ -85,7 +85,6 @@ public:
 private:
     AcquisitionInterface *acq_;
     TrackingInterface *trk_;
-    TelemetryDecoderInterface *nav_;
     boost::shared_ptr<gr::msg_queue> queue_;
     unsigned int channel_;
 };

src/algorithms/libs/galileo_e5_signal_processing.cc

@@ -101,11 +101,10 @@ void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Sig
     // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
     unsigned int _samplesPerCode;
     unsigned int delay;
-    unsigned int _codeLength = Galileo_E5a_CODE_LENGTH_CHIPS;
+    const unsigned int _codeLength = Galileo_E5a_CODE_LENGTH_CHIPS;
     const int _codeFreqBasis = Galileo_E5a_CODE_CHIP_RATE_HZ; //Hz
 
-    std::complex<float>* _code;
-    _code = new std::complex<float>[_codeLength];
+    std::complex<float>* _code = new std::complex<float>[_codeLength];
 
     galileo_e5_a_code_gen_complex_primary(_code , _prn , _Signal);
 
@@ -118,8 +117,8 @@ void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Sig
         	std::complex<float>* _resampled_signal;
         	if (posix_memalign((void**)&_resampled_signal, 16, _samplesPerCode * sizeof(gr_complex)) == 0){};
         	resampler(_code, _resampled_signal, _codeFreqBasis, _fs, _codeLength, _samplesPerCode); //resamples code to fs
-        	delete[] _code;
-        	_code = _resampled_signal;
+        	//delete[] _code;
+        	memcpy (_code, _resampled_signal, _codeLength);
         }
 
     for (unsigned int i = 0; i < _samplesPerCode; i++)
@@ -127,5 +126,5 @@ void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Sig
             _dest[(i + delay) % _samplesPerCode] = _code[i];
         }
 
-    free(_code);
+    delete[] _code;
 }

src/algorithms/libs/gps_sdr_signal_processing.cc

@@ -38,8 +38,6 @@ auto auxCeil = [](float x){ return static_cast<int>(static_cast<long>((x)+1)); }
 
 void gps_l1_ca_code_gen_complex(std::complex<float>* _dest, signed int _prn, unsigned int _chip_shift)
 {
-
-
     const unsigned int _code_length = 1023;
     bool G1[_code_length];
     bool G2[_code_length];
@@ -135,14 +133,14 @@ void gps_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int
     const signed int _codeLength = 1023;
 
     //--- Find number of samples per spreading code ----------------------------
-    _samplesPerCode = round(_fs / (_codeFreqBasis / _codeLength));
+    _samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
 
     //--- Find time constants --------------------------------------------------
-    _ts = 1/(float)_fs;   // Sampling period in sec
-    _tc = 1/(float)_codeFreqBasis;  // C/A chip period in sec
-    gps_l1_ca_code_gen_complex(_code,_prn, _chip_shift); //generate C/A code 1 sample per chip
+    _ts = 1.0 / static_cast<float>(_fs);   // Sampling period in sec
+    _tc = 1.0 / static_cast<float>(_codeFreqBasis);  // C/A chip period in sec
+    gps_l1_ca_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip
 
-    for (signed int i=0; i<_samplesPerCode; i++)
+    for (signed int i = 0; i < _samplesPerCode; i++)
         {
             //=== Digitizing =======================================================
 

src/algorithms/resampler/adapters/direct_resampler_conditioner.h

@@ -75,7 +75,6 @@ private:
     unsigned int out_stream_;
     std::string item_type_;
     size_t item_size_;
-    unsigned long long samples_;
     bool dump_;
     std::string dump_filename_;
     double sample_freq_in_;

src/algorithms/telemetry_decoder/adapters/galileo_e1b_telemetry_decoder.cc

@@ -76,6 +76,7 @@ GalileoE1BTelemetryDecoder::GalileoE1BTelemetryDecoder(ConfigurationInterface* c
     telemetry_decoder_->set_iono_queue(&global_galileo_iono_queue);
     telemetry_decoder_->set_almanac_queue(&global_galileo_almanac_queue);
     telemetry_decoder_->set_utc_model_queue(&global_galileo_utc_model_queue);
+    channel_ = 0;
 }
 
 

src/algorithms/telemetry_decoder/adapters/galileo_e5a_telemetry_decoder.cc

@@ -82,6 +82,7 @@ GalileoE5aTelemetryDecoder::GalileoE5aTelemetryDecoder(ConfigurationInterface* c
     telemetry_decoder_->set_utc_model_queue(&global_galileo_utc_model_queue);
 
     DLOG(INFO) << "global navigation message queue assigned to telemetry_decoder ("<< telemetry_decoder_->unique_id() << ")";
+    channel_ = 0;
 }
 
 

src/algorithms/telemetry_decoder/adapters/gps_l1_ca_telemetry_decoder.cc

@@ -80,6 +80,7 @@ GpsL1CaTelemetryDecoder::GpsL1CaTelemetryDecoder(ConfigurationInterface* configu
     int decimation_factor = configuration->property(role + ".decimation_factor", 1);
     telemetry_decoder_->set_decimation(decimation_factor);
     DLOG(INFO) << "global navigation message queue assigned to telemetry_decoder ("<< telemetry_decoder_->unique_id() << ")";
+    channel_ = 0;
 }
 
 

src/algorithms/tracking/libs/tracking_2nd_DLL_filter.h

@@ -49,20 +49,20 @@ class Tracking_2nd_DLL_filter
 {
 private:
     // PLL filter parameters
-    float d_tau1_code;
-    float d_tau2_code;
-    float d_pdi_code;
-    float d_dllnoisebandwidth;
-    float d_dlldampingratio;
-    float d_old_code_error;
-    float d_old_code_nco;
+    float d_tau1_code = 0;
+    float d_tau2_code = 0;
+    float d_pdi_code = 0;
+    float d_dllnoisebandwidth = 0;
+    float d_dlldampingratio = 0;
+    float d_old_code_error = 0;
+    float d_old_code_nco = 0;
     void calculate_lopp_coef(float* tau1,float* tau2, float lbw, float zeta, float k);
 
 public:
-    void set_DLL_BW(float dll_bw_hz);                //! Set DLL filter bandwidth [Hz]
-    void set_pdi(float pdi_code); //! Set Summation interval for code [s]
-    void initialize(); //! Start tracking with acquisition information
-    float get_code_nco(float DLL_discriminator);     //! Numerically controlled oscillator
+    void set_DLL_BW(float dll_bw_hz); //! Set DLL filter bandwidth [Hz]
+    void set_pdi(float pdi_code);     //! Set Summation interval for code [s]
+    void initialize();                //! Start tracking with acquisition information
+    float get_code_nco(float DLL_discriminator); //! Numerically controlled oscillator
     Tracking_2nd_DLL_filter(float pdi_code);
     Tracking_2nd_DLL_filter();
     ~Tracking_2nd_DLL_filter();

src/algorithms/tracking/libs/tracking_2nd_PLL_filter.h

@@ -48,26 +48,26 @@ class Tracking_2nd_PLL_filter
 {
 private:
     // PLL filter parameters
-    float d_tau1_carr;
-    float d_tau2_carr;
-    float d_pdi_carr;
+    float d_tau1_carr = 0;
+    float d_tau2_carr = 0;
+    float d_pdi_carr = 0;
 
-    float d_pllnoisebandwidth;
-    float d_plldampingratio;
+    float d_pllnoisebandwidth = 0;
+    float d_plldampingratio = 0;
 
-    float d_old_carr_error;
-    float d_old_carr_nco;
+    float d_old_carr_error = 0;
+    float d_old_carr_nco = 0;
 
     void calculate_lopp_coef(float* tau1,float* tau2, float lbw, float zeta, float k);
 
 public:
-	void set_PLL_BW(float pll_bw_hz);  //! Set PLL loop bandwidth [Hz]
-	void set_pdi(float pdi_carr); //! Set Summation interval for code [s]
-	void initialize();
-	float get_carrier_nco(float PLL_discriminator);
-        Tracking_2nd_PLL_filter(float pdi_carr);
-	Tracking_2nd_PLL_filter();
-	~Tracking_2nd_PLL_filter();
+    void set_PLL_BW(float pll_bw_hz);  //! Set PLL loop bandwidth [Hz]
+    void set_pdi(float pdi_carr); //! Set Summation interval for code [s]
+    void initialize();
+    float get_carrier_nco(float PLL_discriminator);
+    Tracking_2nd_PLL_filter(float pdi_carr);
+    Tracking_2nd_PLL_filter();
+    ~Tracking_2nd_PLL_filter();
 };
 
 #endif

src/algorithms/tracking/libs/tracking_FLL_PLL_filter.cc

@@ -124,7 +124,19 @@ float Tracking_FLL_PLL_filter::get_carrier_error(float FLL_discriminator, float
 
 
 Tracking_FLL_PLL_filter::Tracking_FLL_PLL_filter ()
-{}
+{
+    d_order = 0;
+    d_pll_w = 0;
+    d_pll_w0p3 = 0;
+    d_pll_w0f2 = 0;
+    d_pll_x = 0;
+    d_pll_a2 = 0;
+    d_pll_w0f = 0;
+    d_pll_a3 = 0;
+    d_pll_w0p2 = 0;
+    d_pll_b3 = 0;
+    d_pll_w0p = 0;
+}
 
 Tracking_FLL_PLL_filter::~Tracking_FLL_PLL_filter ()
 {}

src/tests/gnss_block/gps_l2_m_pcps_acquisition_test.cc

@@ -98,7 +98,7 @@ void GpsL2MPcpsAcquisitionTest::init()
     gnss_synchro.Channel_ID = 0;
     gnss_synchro.System = 'G';
     std::string signal = "2S";
-    strcpy(gnss_synchro.Signal,signal.c_str());
+    strncpy(gnss_synchro.Signal, signal.c_str(), 3);
     gnss_synchro.PRN = 7;
 
     sampling_freqeuncy_hz  = 5000000;