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Improve const correctness

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This commit is contained in:
Carles Fernandez
2020-07-20 01:20:15 +02:00
parent 6d510a62bf
commit 8a06981c16
24 changed files with 195 additions and 201 deletions
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110
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@@ -1360,9 +1360,9 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
// ### Galileo Almanac ###
const std::shared_ptr<Galileo_Almanac_Helper> galileo_almanac_helper = boost::any_cast<std::shared_ptr<Galileo_Almanac_Helper>>(pmt::any_ref(msg));
Galileo_Almanac sv1 = galileo_almanac_helper->get_almanac(1);
Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2);
Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3);
const Galileo_Almanac sv1 = galileo_almanac_helper->get_almanac(1);
const Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2);
const Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3);
if (sv1.i_satellite_PRN != 0)
{
@@ -2066,7 +2066,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
// #### solve PVT and store the corrected observable set
if (d_internal_pvt_solver->get_PVT(d_gnss_observables_map, false))
{
double Rx_clock_offset_s = d_internal_pvt_solver->get_time_offset_s();
const double Rx_clock_offset_s = d_internal_pvt_solver->get_time_offset_s();
if (fabs(Rx_clock_offset_s) * 1000.0 > d_max_obs_block_rx_clock_offset_ms)
{
if (!d_waiting_obs_block_rx_clock_offset_correction_msg)
@@ -2088,8 +2088,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
// ### select the rx_time and interpolate observables at that time
if (!d_gnss_observables_map_t0.empty())
{
uint32_t t0_int_ms = static_cast<uint32_t>(d_gnss_observables_map_t0.cbegin()->second.RX_time * 1000.0);
uint32_t adjust_next_20ms = 20 - t0_int_ms % 20;
const auto t0_int_ms = static_cast<uint32_t>(d_gnss_observables_map_t0.cbegin()->second.RX_time * 1000.0);
const uint32_t adjust_next_20ms = 20 - t0_int_ms % 20;
current_RX_time_ms = t0_int_ms + adjust_next_20ms;
if (current_RX_time_ms % d_output_rate_ms == 0)
@@ -2215,7 +2215,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{
if (d_show_local_time_zone)
{
boost::posix_time::ptime time_first_solution = d_user_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
const boost::posix_time::ptime time_first_solution = d_user_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
std::cout << "First position fix at " << time_first_solution << d_local_time_str;
}
else
@@ -2345,7 +2345,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 2: // GPS L2C only
if (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend())
{
std::string signal("2S");
const std::string signal("2S");
d_rp->rinex_obs_header(d_rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
d_rp->rinex_nav_header(d_rp->navFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model);
d_rp->log_rinex_nav(d_rp->navFile, d_user_pvt_solver->gps_cnav_ephemeris_map);
@@ -2355,7 +2355,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 3: // GPS L5 only
if (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend())
{
std::string signal("L5");
const std::string signal("L5");
d_rp->rinex_obs_header(d_rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
d_rp->rinex_nav_header(d_rp->navFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model);
d_rp->log_rinex_nav(d_rp->navFile, d_user_pvt_solver->gps_cnav_ephemeris_map);
@@ -2374,7 +2374,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 5: // Galileo E5a only
if (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
std::string signal("5X");
const std::string signal("5X");
d_rp->rinex_obs_header(d_rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
d_rp->rinex_nav_header(d_rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
d_rp->log_rinex_nav(d_rp->navGalFile, d_user_pvt_solver->galileo_ephemeris_map);
@@ -2384,7 +2384,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 6: // Galileo E5b only
if (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
std::string signal("7X");
const std::string signal("7X");
d_rp->rinex_obs_header(d_rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
d_rp->rinex_nav_header(d_rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
d_rp->log_rinex_nav(d_rp->navGalFile, d_user_pvt_solver->galileo_ephemeris_map);
@@ -2394,7 +2394,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 7: // GPS L1 C/A + GPS L2C
if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string signal("1C 2S");
const std::string signal("1C 2S");
d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
d_rp->rinex_nav_header(d_rp->navFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
d_rp->log_rinex_nav(d_rp->navFile, d_user_pvt_solver->gps_cnav_ephemeris_map);
@@ -2404,7 +2404,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 8: // GPS L1 + GPS L5
if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string signal("1C L5");
const std::string signal("1C L5");
d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
d_rp->rinex_nav_header(d_rp->navFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
d_rp->log_rinex_nav(d_rp->navFile, d_user_pvt_solver->gps_ephemeris_map);
@@ -2414,7 +2414,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 9: // GPS L1 C/A + Galileo E1B
if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
std::string gal_signal("1B");
const std::string gal_signal("1B");
d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
d_rp->log_rinex_nav(d_rp->navMixFile, d_user_pvt_solver->gps_ephemeris_map, d_user_pvt_solver->galileo_ephemeris_map);
@@ -2424,7 +2424,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 10: // GPS L1 C/A + Galileo E5a
if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
std::string gal_signal("5X");
const std::string gal_signal("5X");
d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
d_rp->log_rinex_nav(d_rp->navMixFile, d_user_pvt_solver->gps_ephemeris_map, d_user_pvt_solver->galileo_ephemeris_map);
@@ -2434,7 +2434,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 11: // GPS L1 C/A + Galileo E5b
if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
std::string gal_signal("7X");
const std::string gal_signal("7X");
d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
d_rp->log_rinex_nav(d_rp->navMixFile, d_user_pvt_solver->gps_ephemeris_map, d_user_pvt_solver->galileo_ephemeris_map);
@@ -2444,8 +2444,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 13: // L5+E5a
if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string gal_signal("5X");
std::string gps_signal("L5");
const std::string gal_signal("5X");
const std::string gps_signal("L5");
d_rp->rinex_obs_header(d_rp->obsFile, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
d_rp->log_rinex_nav(d_rp->navMixFile, d_user_pvt_solver->gps_cnav_ephemeris_map, d_user_pvt_solver->galileo_ephemeris_map);
@@ -2455,7 +2455,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 14: // Galileo E1B + Galileo E5a
if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string gal_signal("1B 5X");
const std::string gal_signal("1B 5X");
d_rp->rinex_obs_header(d_rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
d_rp->rinex_nav_header(d_rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
d_rp->log_rinex_nav(d_rp->navGalFile, d_user_pvt_solver->galileo_ephemeris_map);
@@ -2465,7 +2465,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 15: // Galileo E1B + Galileo E5b
if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string gal_signal("1B 7X");
const std::string gal_signal("1B 7X");
d_rp->rinex_obs_header(d_rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
d_rp->rinex_nav_header(d_rp->navGalFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
d_rp->log_rinex_nav(d_rp->navGalFile, d_user_pvt_solver->galileo_ephemeris_map);
@@ -2475,7 +2475,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 23: // GLONASS L1 C/A only
if (glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
std::string signal("1G");
const std::string signal("1G");
d_rp->rinex_obs_header(d_rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
d_rp->rinex_nav_header(d_rp->navGloFile, d_user_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
d_rp->log_rinex_nav(d_rp->navGloFile, d_user_pvt_solver->glonass_gnav_ephemeris_map);
@@ -2485,7 +2485,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 24: // GLONASS L2 C/A only
if (glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
std::string signal("2G");
const std::string signal("2G");
d_rp->rinex_obs_header(d_rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
d_rp->rinex_nav_header(d_rp->navGloFile, d_user_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
d_rp->log_rinex_nav(d_rp->navGloFile, d_user_pvt_solver->glonass_gnav_ephemeris_map);
@@ -2495,7 +2495,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 25: // GLONASS L1 C/A + GLONASS L2 C/A
if (glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
std::string signal("1G 2G");
const std::string signal("1G 2G");
d_rp->rinex_obs_header(d_rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
d_rp->rinex_nav_header(d_rp->navGloFile, d_user_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
d_rp->log_rinex_nav(d_rp->navGloFile, d_user_pvt_solver->glonass_gnav_ephemeris_map);
@@ -2505,7 +2505,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 26: // GPS L1 C/A + GLONASS L1 C/A
if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
std::string glo_signal("1G");
const std::string glo_signal("1G");
d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
if (d_rinex_version == 3)
{
@@ -2525,8 +2525,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 27: // Galileo E1B + GLONASS L1 C/A
if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string glo_signal("1G");
std::string gal_signal("1B");
const std::string glo_signal("1G");
const std::string gal_signal("1B");
d_rp->rinex_obs_header(d_rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
d_rp->log_rinex_nav(d_rp->navMixFile, d_user_pvt_solver->galileo_ephemeris_map, d_user_pvt_solver->glonass_gnav_ephemeris_map);
@@ -2536,7 +2536,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 28: // GPS L2C + GLONASS L1 C/A
if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string glo_signal("1G");
const std::string glo_signal("1G");
d_rp->rinex_obs_header(d_rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
d_rp->log_rinex_nav(d_rp->navMixFile, d_user_pvt_solver->gps_cnav_ephemeris_map, d_user_pvt_solver->glonass_gnav_ephemeris_map);
@@ -2546,7 +2546,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 29: // GPS L1 C/A + GLONASS L2 C/A
if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()))
{
std::string glo_signal("2G");
const std::string glo_signal("2G");
d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
if (d_rinex_version == 3)
{
@@ -2566,8 +2566,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 30: // Galileo E1B + GLONASS L2 C/A
if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string glo_signal("2G");
std::string gal_signal("1B");
const std::string glo_signal("2G");
const std::string gal_signal("1B");
d_rp->rinex_obs_header(d_rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
d_rp->log_rinex_nav(d_rp->navMixFile, d_user_pvt_solver->galileo_ephemeris_map, d_user_pvt_solver->glonass_gnav_ephemeris_map);
@@ -2577,7 +2577,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 31: // GPS L2C + GLONASS L2 C/A
if ((glonass_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string glo_signal("2G");
const std::string glo_signal("2G");
d_rp->rinex_obs_header(d_rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->gps_cnav_iono, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->glonass_gnav_utc_model, d_user_pvt_solver->glonass_gnav_almanac);
d_rp->log_rinex_nav(d_rp->navMixFile, d_user_pvt_solver->gps_cnav_ephemeris_map, d_user_pvt_solver->glonass_gnav_ephemeris_map);
@@ -2589,8 +2589,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
(gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()) and
(galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string gal_signal("1B 5X");
std::string gps_signal("1C L5");
const std::string gal_signal("1B 5X");
const std::string gps_signal("1C L5");
d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
d_rp->log_rinex_nav(d_rp->navMixFile, d_user_pvt_solver->gps_ephemeris_map, d_user_pvt_solver->galileo_ephemeris_map);
@@ -2601,7 +2601,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and
(galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string gal_signal("1B 5X");
const std::string gal_signal("1B 5X");
d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
d_rp->log_rinex_nav(d_rp->navMixFile, d_user_pvt_solver->gps_ephemeris_map, d_user_pvt_solver->galileo_ephemeris_map);
@@ -2621,7 +2621,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 501: // BeiDou B1I + GPS L1 C/A
if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend()))
{
std::string bds_signal("B1");
const std::string bds_signal("B1");
// d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, bds_signal);
// d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
d_rinex_header_written = true; // do not write header anymore
@@ -2631,8 +2631,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
case 502: // BeiDou B1I + Galileo E1B
if ((galileo_ephemeris_iter != d_user_pvt_solver->galileo_ephemeris_map.cend()) and (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend()))
{
std::string bds_signal("B1");
std::string gal_signal("1B");
const std::string bds_signal("B1");
const std::string gal_signal("1B");
// d_rp->rinex_obs_header(d_rp->obsFile, galileo_ephemeris_iter->second, beidou_dnav_ephemeris_iter->second, d_rx_time, gal_signal, bds_signal);
// d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
d_rinex_header_written = true; // do not write header anymore
@@ -2677,7 +2677,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if ((gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and
(gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string gps_signal("1C 2S L5");
const std::string gps_signal("1C 2S L5");
d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gps_signal);
d_rp->rinex_nav_header(d_rp->navFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second);
d_rp->log_rinex_nav(d_rp->navFile, d_user_pvt_solver->gps_ephemeris_map);
@@ -2689,8 +2689,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
(gps_ephemeris_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and
(gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
std::string gal_signal("1B 5X");
std::string gps_signal("1C 2S L5");
const std::string gal_signal("1B 5X");
const std::string gps_signal("1C 2S L5");
d_rp->rinex_obs_header(d_rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
d_rp->rinex_nav_header(d_rp->navMixFile, d_user_pvt_solver->gps_iono, d_user_pvt_solver->gps_utc_model, gps_ephemeris_iter->second, d_user_pvt_solver->galileo_iono, d_user_pvt_solver->galileo_utc_model);
d_rp->log_rinex_nav(d_rp->navMixFile, d_user_pvt_solver->gps_ephemeris_map, d_user_pvt_solver->galileo_ephemeris_map);
@@ -3070,7 +3070,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (flag_write_RTCM_MSM_output == true)
{
auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
const auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, d_gnss_observables_map, d_enable_rx_clock_correction, 0, 0, false, false);
@@ -3089,7 +3089,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (flag_write_RTCM_MSM_output == true)
{
auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
const auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, d_gnss_observables_map, d_enable_rx_clock_correction, 0, 0, false, false);
@@ -3106,8 +3106,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (flag_write_RTCM_MSM_output == true)
{
auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
const auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
const auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
if ((gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, d_gnss_observables_map, d_enable_rx_clock_correction, 0, 0, false, false);
@@ -3124,8 +3124,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (flag_write_RTCM_MSM_output == true)
{
auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
const auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
const auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
if ((gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, d_gnss_observables_map, d_enable_rx_clock_correction, 0, 0, false, false);
@@ -3156,7 +3156,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
int gal_channel = 0;
for (gnss_observables_iter = d_gnss_observables_map.cbegin(); gnss_observables_iter != d_gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
const std::string system(&gnss_observables_iter->second.System, 1);
if (gps_channel == 0)
{
if (system == "G")
@@ -3256,7 +3256,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (flag_write_RTCM_MSM_output == true)
{
auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
const auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, d_gnss_observables_map, d_enable_rx_clock_correction, 0, 0, false, false);
@@ -3275,7 +3275,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (flag_write_RTCM_MSM_output == true)
{
auto glo_gnav_ephemeris_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
const auto glo_gnav_ephemeris_iter = d_user_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
if (glo_gnav_ephemeris_iter != d_user_pvt_solver->glonass_gnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, d_gnss_observables_map, d_enable_rx_clock_correction, 0, 0, false, false);
@@ -3598,7 +3598,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (d_rtcm_MSM_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
const auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
if (gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend())
{
@@ -3619,7 +3619,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (d_rtcm_MSM_rate_ms != 0)
{
auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
const auto gal_eph_iter = d_user_pvt_solver->galileo_ephemeris_map.cbegin();
if (gal_eph_iter != d_user_pvt_solver->galileo_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, d_gnss_observables_map, d_enable_rx_clock_correction, 0, 0, false, false);
@@ -3637,8 +3637,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (d_rtcm_MSM_rate_ms != 0)
{
auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
const auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
const auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
if ((gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, d_gnss_observables_map, d_enable_rx_clock_correction, 0, 0, false, false);
@@ -3656,8 +3656,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (d_rtcm_MSM_rate_ms != 0)
{
auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
const auto gps_eph_iter = d_user_pvt_solver->gps_ephemeris_map.cbegin();
const auto gps_cnav_eph_iter = d_user_pvt_solver->gps_cnav_ephemeris_map.cbegin();
if ((gps_eph_iter != d_user_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend()))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, d_gnss_observables_map, d_enable_rx_clock_correction, 0, 0, false, false);