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Avoid variable length arrays and other minor fixes

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This commit is contained in:
Carles Fernandez 2018-08-16 14:16:43 +02:00
parent c9413e8931
commit a249cd7242
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GPG Key ID: 4C583C52B0C3877D
7 changed files with 67 additions and 59 deletions
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5
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -496,7 +496,8 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
if (rtk_.ssat[i].vsat[0] == 1) used_sats++;
}
double azel[used_sats * 2];
std::vector<double> azel;
azel.reserve(used_sats * 2);
unsigned int index_aux = 0;
for (unsigned int i = 0; i < MAXSAT; i++)
{
@ -507,7 +508,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
index_aux++;
}
}
if (index_aux > 0) dops(index_aux, azel, 0.0, dop_);
if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_);
this->set_valid_position(true);
arma::vec rx_position_and_time(4);

30
src/algorithms/libs/galileo_e1_signal_processing.cc
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@ -33,6 +33,7 @@
#include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h"
#include "gnss_signal_processing.h"
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
@ -42,7 +43,7 @@ void galileo_e1_code_gen_int(int* _dest, char _Signal[3], int32_t _prn)
int32_t prn = _prn - 1;
int32_t index = 0;
/* A simple error check */
// A simple error check
if ((_prn < 1) || (_prn > 50))
{
return;
@ -107,7 +108,7 @@ void galileo_e1_sinboc_61_gen_int(int* _dest, int* _prn, uint32_t _length_out)
void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t _prn)
{
std::string _galileo_signal = _Signal;
uint32_t _codeLength = static_cast<uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS);
uint32_t _codeLength = static_cast<const uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS);
int32_t primary_code_E1_chips[4092]; // _codeLength not accepted by Clang
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip
for (uint32_t i = 0; i < _codeLength; i++)
@ -157,15 +158,16 @@ void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
// This function is based on the GNU software GPS for MATLAB in Kay Borre's book
std::string _galileo_signal = _Signal;
uint32_t _samplesPerCode;
const int32_t _codeFreqBasis = Galileo_E1_CODE_CHIP_RATE_HZ; //Hz
uint32_t _codeLength = Galileo_E1_B_CODE_LENGTH_CHIPS;
int32_t primary_code_E1_chips[static_cast<int32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS)];
const int32_t _codeFreqBasis = Galileo_E1_CODE_CHIP_RATE_HZ; // Hz
uint32_t _codeLength = static_cast<const uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS);
int32_t* primary_code_E1_chips = static_cast<int32_t*>(volk_gnsssdr_malloc(static_cast<const uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
_samplesPerCode = static_cast<uint32_t>(static_cast<double>(_fs) / (static_cast<double>(_codeFreqBasis) / static_cast<double>(_codeLength)));
const int32_t _samplesPerChip = (_cboc == true) ? 12 : 2;
const uint32_t delay = ((static_cast<int32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS) - _chip_shift) % static_cast<int32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS)) * _samplesPerCode / Galileo_E1_B_CODE_LENGTH_CHIPS;
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); // generate Galileo E1 code, 1 sample per chip
float* _signal_E1;
@ -174,24 +176,26 @@ void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
if (_cboc == true)
{
galileo_e1_gen_float(_signal_E1, primary_code_E1_chips, _Signal); //generate cboc 12 samples per chip
galileo_e1_gen_float(_signal_E1, primary_code_E1_chips, _Signal); // generate cboc 12 samples per chip
}
else
{
int32_t _signal_E1_int[_codeLength];
galileo_e1_sinboc_11_gen_int(_signal_E1_int, primary_code_E1_chips, _codeLength); //generate sinboc(1,1) 2 samples per chip
int32_t* _signal_E1_int = static_cast<int32_t*>(volk_gnsssdr_malloc(_codeLength * sizeof(int32_t), volk_gnsssdr_get_alignment()));
galileo_e1_sinboc_11_gen_int(_signal_E1_int, primary_code_E1_chips, _codeLength); // generate sinboc(1,1) 2 samples per chip
for (uint32_t ii = 0; ii < _codeLength; ++ii)
{
_signal_E1[ii] = static_cast<float>(_signal_E1_int[ii]);
}
volk_gnsssdr_free(_signal_E1_int);
}
if (_fs != _samplesPerChip * _codeFreqBasis)
{
float* _resampled_signal = new float[_samplesPerCode];
resampler(_signal_E1, _resampled_signal, _samplesPerChip * _codeFreqBasis, _fs,
_codeLength, _samplesPerCode); //resamples code to fs
_codeLength, _samplesPerCode); // resamples code to fs
delete[] _signal_E1;
_signal_E1 = _resampled_signal;
@ -221,6 +225,7 @@ void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
}
delete[] _signal_E1;
volk_gnsssdr_free(primary_code_E1_chips);
}
@ -229,7 +234,7 @@ void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signa
bool _secondary_flag)
{
std::string _galileo_signal = _Signal;
const int32_t _codeFreqBasis = Galileo_E1_CODE_CHIP_RATE_HZ; //Hz
const int32_t _codeFreqBasis = Galileo_E1_CODE_CHIP_RATE_HZ; // Hz
uint32_t _samplesPerCode = static_cast<uint32_t>(static_cast<double>(_fs) /
(static_cast<double>(_codeFreqBasis) / static_cast<double>(Galileo_E1_B_CODE_LENGTH_CHIPS)));
@ -238,7 +243,7 @@ void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signa
_samplesPerCode *= static_cast<int32_t>(Galileo_E1_C_SECONDARY_CODE_LENGTH);
}
float real_code[_samplesPerCode];
float* real_code = static_cast<float*>(volk_gnsssdr_malloc(_samplesPerCode * sizeof(float), volk_gnsssdr_get_alignment()));
galileo_e1_code_gen_float_sampled(real_code, _Signal, _cboc, _prn, _fs, _chip_shift, _secondary_flag);
@ -246,6 +251,7 @@ void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signa
{
_dest[ii] = std::complex<float>(real_code[ii], 0.0f);
}
volk_gnsssdr_free(real_code);
}

4
src/algorithms/libs/gnss_signal_processing.cc
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@ -158,7 +158,7 @@ void hex_to_binary_converter(int32_t* _dest, char _from)
}
void resampler(float* _from, float* _dest, float _fs_in,
void resampler(const float* _from, float* _dest, float _fs_in,
float _fs_out, uint32_t _length_in, uint32_t _length_out)
{
uint32_t _codeValueIndex;
@ -182,7 +182,7 @@ void resampler(float* _from, float* _dest, float _fs_in,
}
void resampler(std::complex<float>* _from, std::complex<float>* _dest, float _fs_in,
void resampler(const std::complex<float>* _from, std::complex<float>* _dest, float _fs_in,
float _fs_out, uint32_t _length_in, uint32_t _length_out)
{
uint32_t _codeValueIndex;

4
src/algorithms/libs/gnss_signal_processing.h
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@ -65,14 +65,14 @@ void hex_to_binary_converter(int32_t* _dest, char _from);
* \brief This function resamples a sequence of float values.
*
*/
void resampler(float* _from, float* _dest,
void resampler(const float* _from, float* _dest,
float _fs_in, float _fs_out, uint32_t _length_in,
uint32_t _length_out);
/*!
* \brief This function resamples a sequence of complex values.
*
*/
void resampler(std::complex<float>* _from, std::complex<float>* _dest,
void resampler(const std::complex<float>* _from, std::complex<float>* _dest,
float _fs_in, float _fs_out, uint32_t _length_in,
uint32_t _length_out);

4
src/algorithms/libs/gps_sdr_signal_processing.cc
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@ -116,7 +116,7 @@ void gps_l1_ca_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift)
void gps_l1_ca_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift)
{
uint32_t _code_length = 1023;
const uint32_t _code_length = 1023;
int32_t ca_code_int[_code_length];
gps_l1_ca_code_gen_int(ca_code_int, _prn, _chip_shift);
@ -130,7 +130,7 @@ void gps_l1_ca_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift)
void gps_l1_ca_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32_t _chip_shift)
{
uint32_t _code_length = 1023;
const uint32_t _code_length = 1023;
int32_t ca_code_int[_code_length];
gps_l1_ca_code_gen_int(ca_code_int, _prn, _chip_shift);

73
src/algorithms/telemetry_decoder/libs/libswiftcnav/cnav_msg.c
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@ -30,7 +30,6 @@
*/
#include "edc.h"
#include "bits.h"
#include "cnav_msg.h"
@ -48,26 +47,26 @@
* Block Viterbi decoding parameters.
*/
/** Viterbi decoder reversed polynomial A */
#define GPS_L2C_V27_POLY_A (0x4F) /* 0b01001111 - reversed 0171*/
#define GPS_L2C_V27_POLY_A (0x4F) /* 0b01001111 - reversed 0171*/
/** Viterbi decoder reversed polynomial B */
#define GPS_L2C_V27_POLY_B (0x6D) /* 0b01101101 - reversed 0133 */
#define GPS_L2C_V27_POLY_B (0x6D) /* 0b01101101 - reversed 0133 */
/*
* GPS L2C message constants.
*/
/** GPS L2C preamble */
#define GPS_CNAV_PREAMBLE1 (0b10001011u)
const u32 GPS_CNAV_PREAMBLE1 = 0x989A73u;
/** Inverted GPS L2C preamble */
#define GPS_CNAV_PREAMBLE2 (0b01110100u)
const u32 GPS_CNAV_PREAMBLE2 = 0x010F054u;
/** GPS L2C preamble length in bits */
#define GPS_CNAV_PREAMBLE_LENGTH (8)
#define GPS_CNAV_PREAMBLE_LENGTH (8)
/** GPS L2C CNAV message length in bits */
#define GPS_CNAV_MSG_LENGTH (300)
#define GPS_CNAV_MSG_LENGTH (300)
/** GPS LC2 CNAV CRC length in bits */
#define GPS_CNAV_MSG_CRC_LENGTH (24)
#define GPS_CNAV_MSG_CRC_LENGTH (24)
/** GPS L2C CNAV message payload length in bits */
#define GPS_CNAV_MSG_DATA_LENGTH (GPS_CNAV_MSG_LENGTH - GPS_CNAV_MSG_CRC_LENGTH)
#define GPS_CNAV_MSG_DATA_LENGTH (GPS_CNAV_MSG_LENGTH - GPS_CNAV_MSG_CRC_LENGTH)
/** GPS L2C CNAV message lock detector threshold */
#define GPS_CNAV_LOCK_MAX_CRC_FAILS (10)
@ -85,7 +84,7 @@
static u32 _cnav_compute_crc(cnav_v27_part_t *part)
{
u32 crc = crc24q_bits(0, part->decoded, GPS_CNAV_MSG_DATA_LENGTH,
part->invert);
part->invert);
return crc;
}
@ -104,7 +103,7 @@ static u32 _cnav_compute_crc(cnav_v27_part_t *part)
static u32 _cnav_extract_crc(const cnav_v27_part_t *part)
{
u32 crc = getbitu(part->decoded, GPS_CNAV_MSG_DATA_LENGTH,
GPS_CNAV_MSG_CRC_LENGTH);
GPS_CNAV_MSG_CRC_LENGTH);
if (part->invert)
{
crc ^= 0xFFFFFF;
@ -152,7 +151,7 @@ static void _cnav_rescan_preamble(cnav_v27_part_t *part)
if (!part->preamble_seen && part->n_decoded >= GPS_CNAV_PREAMBLE_LENGTH)
{
bitshl(part->decoded, sizeof(part->decoded),
part->n_decoded - GPS_CNAV_PREAMBLE_LENGTH + 1);
part->n_decoded - GPS_CNAV_PREAMBLE_LENGTH + 1);
part->n_decoded = GPS_CNAV_PREAMBLE_LENGTH - 1;
}
}
@ -200,11 +199,12 @@ static void _cnav_add_symbol(cnav_v27_part_t *part, u8 ch)
* - N - Number of bits to put into decoded buffer
* - M - Number of bits in the tail to ignore.
*/
unsigned char tmp_bits[ (GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS +
CHAR_BIT - 1) / CHAR_BIT];
unsigned char tmp_bits[(GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS +
CHAR_BIT - 1) /
CHAR_BIT];
v27_chainback_likely(&part->dec, tmp_bits,
GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS);
GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS);
/* Read decoded bits and add them to the decoded buffer */
bitcopy(part->decoded, part->n_decoded, tmp_bits, 0, GPS_L2C_V27_DECODE_BITS);
@ -238,10 +238,9 @@ static void _cnav_add_symbol(cnav_v27_part_t *part, u8 ch)
}
if (part->preamble_seen && GPS_CNAV_MSG_LENGTH <= part->n_decoded)
{
/* We have collected 300 bits starting from message preamble. Now try
* to compute CRC-24Q */
u32 crc = _cnav_compute_crc(part);
u32 crc = _cnav_compute_crc(part);
u32 crc2 = _cnav_extract_crc(part);
if (part->message_lock)
@ -260,8 +259,8 @@ static void _cnav_add_symbol(cnav_v27_part_t *part, u8 ch)
if (part->n_crc_fail > GPS_CNAV_LOCK_MAX_CRC_FAILS)
{
/* CRC has failed too many times - drop the lock. */
part->n_crc_fail = 0;
part->message_lock = false;
part->n_crc_fail = 0;
part->message_lock = false;
part->preamble_seen = false;
/* Try to find a new preamble, reuse data from buffer. */
retry = true;
@ -272,8 +271,8 @@ static void _cnav_add_symbol(cnav_v27_part_t *part, u8 ch)
{
/* CRC match - message can be decoded */
part->message_lock = true;
part->crc_ok = true;
part->n_crc_fail = 0;
part->crc_ok = true;
part->n_crc_fail = 0;
}
else
{
@ -346,13 +345,13 @@ static bool _cnav_msg_decode(cnav_v27_part_t *part, cnav_msg_t *msg, u32 *delay)
_cnav_msg_invert(part);
}
msg->prn = getbitu(part->decoded, 8, 6);
msg->prn = getbitu(part->decoded, 8, 6);
msg->msg_id = getbitu(part->decoded, 14, 6);
msg->tow = getbitu(part->decoded, 20, 17);
msg->alert = getbitu(part->decoded, 37, 1) ? true : false;
msg->tow = getbitu(part->decoded, 20, 17);
msg->alert = getbitu(part->decoded, 37, 1) ? true : false;
/* copy RAW message for GNSS-SDR */
memcpy(msg->raw_msg,part->decoded,GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS);
memcpy(msg->raw_msg, part->decoded, GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS);
*delay = (part->n_decoded - GPS_CNAV_MSG_LENGTH + GPS_L2C_V27_DELAY_BITS) * 2 + part->n_symbols;
@ -388,15 +387,15 @@ void cnav_msg_decoder_init(cnav_msg_decoder_t *dec)
{
memset(dec, 0, sizeof(*dec));
v27_init(&dec->part1.dec,
dec->part1.decisions,
GPS_L2_V27_HISTORY_LENGTH_BITS,
cnav_msg_decoder_get_poly(),
0);
dec->part1.decisions,
GPS_L2_V27_HISTORY_LENGTH_BITS,
cnav_msg_decoder_get_poly(),
0);
v27_init(&dec->part2.dec,
dec->part2.decisions,
GPS_L2_V27_HISTORY_LENGTH_BITS,
cnav_msg_decoder_get_poly(),
0);
dec->part2.decisions,
GPS_L2_V27_HISTORY_LENGTH_BITS,
cnav_msg_decoder_get_poly(),
0);
dec->part1.init = true;
dec->part2.init = true;
_cnav_add_symbol(&dec->part2, 0x80);
@ -426,9 +425,9 @@ void cnav_msg_decoder_init(cnav_msg_decoder_t *dec)
* \retval false More data is required.
*/
bool cnav_msg_decoder_add_symbol(cnav_msg_decoder_t *dec,
u8 symbol,
cnav_msg_t *msg,
u32 *pdelay)
u8 symbol,
cnav_msg_t *msg,
u32 *pdelay)
{
_cnav_add_symbol(&dec->part1, symbol);
_cnav_add_symbol(&dec->part2, symbol);
@ -470,7 +469,7 @@ const v27_poly_t *cnav_msg_decoder_get_poly(void)
if (!initialized)
{
/* Coefficients for polynomial object */
const signed char coeffs[2] = { GPS_L2C_V27_POLY_A, GPS_L2C_V27_POLY_B };
const signed char coeffs[2] = {GPS_L2C_V27_POLY_A, GPS_L2C_V27_POLY_B};
/* Racing condition handling: the data can be potential initialized more
* than once in case multiple threads request concurrent access. However,

6
src/core/system_parameters/rtcm.cc
View File

@ -189,7 +189,9 @@ std::string Rtcm::bin_to_binary_data(const std::string& s) const
{
std::string s_aux;
int32_t remainder = static_cast<int32_t>(std::fmod(s.length(), 8));
uint8_t c[s.length()];
std::vector<uint8_t> c;
c.reserve(s.length());
uint32_t k = 0;
if (remainder != 0)
{
@ -213,7 +215,7 @@ std::string Rtcm::bin_to_binary_data(const std::string& s) const
k++;
}
std::string ret(c, c + k / sizeof(c[0]));
std::string ret(c.begin(), c.begin() + k);
return ret;
}