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Fix performance inefficiency detected by Coverity Scan

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This commit is contained in:
Carles Fernandez 2023-11-05 10:13:11 +01:00
parent 392b557a0a
commit 955770eb11
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GPG Key ID: 4C583C52B0C3877D
6 changed files with 25 additions and 24 deletions
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6
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -534,19 +534,19 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
{ {
// setup two PVT solvers: internal solver for rx clock and user solver // setup two PVT solvers: internal solver for rx clock and user solver
// user PVT solver // user PVT solver
d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, conf_); d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, conf_, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
d_user_pvt_solver->set_pre_2009_file(conf_.pre_2009_file); d_user_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
// internal PVT solver, mainly used to estimate the receiver clock // internal PVT solver, mainly used to estimate the receiver clock
rtk_t internal_rtk = rtk; rtk_t internal_rtk = rtk;
internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, d_type_of_rx, false, false, conf_); d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, conf_, dump_ls_pvt_filename, d_type_of_rx, false, false);
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file); d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
} }
else else
{ {
// only one solver, customized by the user options // only one solver, customized by the user options
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, conf_); d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, conf_, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat);
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file); d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
d_user_pvt_solver = d_internal_pvt_solver; d_user_pvt_solver = d_internal_pvt_solver;
} }

14
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -45,16 +45,16 @@
Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk, Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
const Pvt_Conf &conf,
const std::string &dump_filename, const std::string &dump_filename,
uint32_t type_of_rx, uint32_t type_of_rx,
bool flag_dump_to_file, bool flag_dump_to_file,
bool flag_dump_to_mat, bool flag_dump_to_mat) : d_dump_filename(dump_filename),
Pvt_Conf conf) : d_dump_filename(dump_filename), d_rtk(rtk),
d_rtk(rtk), d_conf(std::move(conf)),
d_conf(std::move(conf)), d_type_of_rx(type_of_rx),
d_type_of_rx(type_of_rx), d_flag_dump_enabled(flag_dump_to_file),
d_flag_dump_enabled(flag_dump_to_file), d_flag_dump_mat_enabled(flag_dump_to_mat)
d_flag_dump_mat_enabled(flag_dump_to_mat)
{ {
// see freq index at src/algorithms/libs/rtklib/rtklib_rtkcmn.cc // see freq index at src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
// function: satwavelen // function: satwavelen

5
src/algorithms/PVT/libs/rtklib_solver.h
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@ -82,11 +82,12 @@ class Rtklib_Solver : public Pvt_Solution
{ {
public: public:
Rtklib_Solver(const rtk_t& rtk, Rtklib_Solver(const rtk_t& rtk,
const Pvt_Conf& conf,
const std::string& dump_filename, const std::string& dump_filename,
uint32_t type_of_rx, uint32_t type_of_rx,
bool flag_dump_to_file, bool flag_dump_to_file,
bool flag_dump_to_mat, bool flag_dump_to_mat);
Pvt_Conf conf);
~Rtklib_Solver(); ~Rtklib_Solver();
bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, double kf_update_interval_s); bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, double kf_update_interval_s);

2
src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
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@ -147,7 +147,7 @@ TEST_F(NmeaPrinterTest, PrintLine)
std::string filename("nmea_test.nmea"); std::string filename("nmea_test.nmea");
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
std::shared_ptr<Rtklib_Solver> pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 1, false, false, conf); std::shared_ptr<Rtklib_Solver> pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 1, false, false);
boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19), boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19),
boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46)); boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46));

20
src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
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@ -145,7 +145,7 @@ TEST_F(RinexPrinterTest, GalileoObsHeader)
{ {
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false, conf); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 4, false, false);
auto eph = Galileo_Ephemeris(); auto eph = Galileo_Ephemeris();
eph.PRN = 1; eph.PRN = 1;
pvt_solution->galileo_ephemeris_map[1] = eph; pvt_solution->galileo_ephemeris_map[1] = eph;
@ -233,7 +233,7 @@ TEST_F(RinexPrinterTest, GlonassObsHeader)
{ {
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 28, false, false, conf); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 28, false, false);
auto eph = Glonass_Gnav_Ephemeris(); auto eph = Glonass_Gnav_Ephemeris();
eph.PRN = 1; eph.PRN = 1;
pvt_solution->glonass_gnav_ephemeris_map[1] = eph; pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
@ -295,7 +295,7 @@ TEST_F(RinexPrinterTest, MixedObsHeader)
eph_gps.PRN = 1; eph_gps.PRN = 1;
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 106, false, false, conf); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 106, false, false);
pvt_solution->galileo_ephemeris_map[1] = eph_gal; pvt_solution->galileo_ephemeris_map[1] = eph_gal;
pvt_solution->gps_ephemeris_map[1] = eph_gps; pvt_solution->gps_ephemeris_map[1] = eph_gps;
@ -367,7 +367,7 @@ TEST_F(RinexPrinterTest, MixedObsHeaderGpsGlo)
eph_gps.PRN = 1; eph_gps.PRN = 1;
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false, conf); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 26, false, false);
pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo; pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
pvt_solution->gps_ephemeris_map[1] = eph_gps; pvt_solution->gps_ephemeris_map[1] = eph_gps;
@ -436,7 +436,7 @@ TEST_F(RinexPrinterTest, GalileoObsLog)
eph.PRN = 1; eph.PRN = 1;
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false, conf); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 4, false, false);
pvt_solution->galileo_ephemeris_map[1] = eph; pvt_solution->galileo_ephemeris_map[1] = eph;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
@ -518,7 +518,7 @@ TEST_F(RinexPrinterTest, GlonassObsLog)
eph.PRN = 22; eph.PRN = 22;
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 23, false, false, conf); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 23, false, false);
pvt_solution->glonass_gnav_ephemeris_map[1] = eph; pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
@ -602,7 +602,7 @@ TEST_F(RinexPrinterTest, GpsObsLogDualBand)
eph_cnav.PRN = 1; eph_cnav.PRN = 1;
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 7, false, false, conf); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 7, false, false);
pvt_solution->gps_ephemeris_map[1] = eph; pvt_solution->gps_ephemeris_map[1] = eph;
pvt_solution->gps_cnav_ephemeris_map[1] = eph_cnav; pvt_solution->gps_cnav_ephemeris_map[1] = eph_cnav;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
@ -692,7 +692,7 @@ TEST_F(RinexPrinterTest, GalileoObsLogDualBand)
{ {
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 14, false, false, conf); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 14, false, false);
auto eph = Galileo_Ephemeris(); auto eph = Galileo_Ephemeris();
eph.PRN = 1; eph.PRN = 1;
pvt_solution->galileo_ephemeris_map[1] = eph; pvt_solution->galileo_ephemeris_map[1] = eph;
@ -794,7 +794,7 @@ TEST_F(RinexPrinterTest, MixedObsLog)
eph_gal.PRN = 1; eph_gal.PRN = 1;
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 9, false, false, conf); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 9, false, false);
pvt_solution->gps_ephemeris_map[1] = eph_gps; pvt_solution->gps_ephemeris_map[1] = eph_gps;
pvt_solution->galileo_ephemeris_map[1] = eph_gal; pvt_solution->galileo_ephemeris_map[1] = eph_gal;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;
@ -920,7 +920,7 @@ TEST_F(RinexPrinterTest, MixedObsLogGpsGlo)
eph_glo.PRN = 1; eph_glo.PRN = 1;
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false, conf); auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", 26, false, false);
pvt_solution->gps_ephemeris_map[1] = eph_gps; pvt_solution->gps_ephemeris_map[1] = eph_gps;
pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo; pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
std::map<int, Gnss_Synchro> gnss_observables_map; std::map<int, Gnss_Synchro> gnss_observables_map;

2
src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc
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@ -386,7 +386,7 @@ TEST(RTKLibSolverTest, test1)
Pvt_Conf conf; Pvt_Conf conf;
conf.use_e6_for_pvt = false; conf.use_e6_for_pvt = false;
auto d_ls_pvt = std::make_unique<Rtklib_Solver>(rtk, nchannels, dump_filename, 1, flag_dump_to_file, save_to_mat, conf); auto d_ls_pvt = std::make_unique<Rtklib_Solver>(rtk, conf, nchannels, dump_filename, 1, flag_dump_to_file, save_to_mat);
d_ls_pvt->set_averaging_depth(1); d_ls_pvt->set_averaging_depth(1);
// load ephemeris // load ephemeris