Make clang-tidy happy

src/algorithms/PVT/libs/pvt_kf.cc

@@ -1,5 +1,5 @@
 /*!
- * \file Pvt_Kf.cc
+ * \file pvt_kf.cc
  * \brief Kalman Filter for Position and Velocity
  * \author Javier Arribas, 2023. jarribas(at)cttc.es
  *
@@ -14,11 +14,13 @@
  *
  * -----------------------------------------------------------------------------
  */
+
 #include "pvt_kf.h"
 #include <glog/logging.h>
 
 
-void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
+void Pvt_Kf::init_kf(const arma::vec& p,
+    const arma::vec& v,
     double solver_interval_s,
     double measures_ecef_pos_sd_m,
     double measures_ecef_vel_sd_ms,
@@ -28,7 +30,6 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
     // Kalman Filter class variables
     const double Ti = solver_interval_s;
 
-    std::cout << "Ti=" << Ti << "\n";
     d_F = {{1.0, 0.0, 0.0, Ti, 0.0, 0.0},
         {0.0, 1.0, 0.0, 0.0, Ti, 0.0},
         {0.0, 0.0, 1.0, 0.0, 0.0, Ti},
@@ -38,7 +39,7 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
 
     d_H = arma::eye(6, 6);
 
-    //   measurement matrix static covariances
+    // measurement matrix static covariances
     d_R = {{pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0, 0.0},
         {0.0, pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0},
         {0.0, 0.0, pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0},
@@ -46,9 +47,7 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
         {0.0, 0.0, 0.0, 0.0, pow(measures_ecef_vel_sd_ms, 2.0), 0.0},
         {0.0, 0.0, 0.0, 0.0, 0.0, pow(measures_ecef_vel_sd_ms, 2.0)}};
 
-
     // system covariance matrix (static)
-
     d_Q = {{pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0, 0.0},
         {0.0, pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0},
         {0.0, 0.0, pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0},
@@ -71,6 +70,7 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
 
     initialized = true;
 
+    DLOG(INFO) << "Ti: " << Ti;
     DLOG(INFO) << "F: " << d_F;
     DLOG(INFO) << "H: " << d_H;
     DLOG(INFO) << "R: " << d_R;
@@ -79,9 +79,10 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
     DLOG(INFO) << "x: " << d_x_old_old;
 }
 
-void Pvt_Kf::run_Kf(arma::vec p, arma::vec v)
+
+void Pvt_Kf::run_Kf(const arma::vec& p, const arma::vec& v);
 {
-    //  Kalman loop
+    // Kalman loop
     // Prediction
     d_x_new_old = d_F * d_x_old_old;
     d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q;
@@ -98,10 +99,6 @@ void Pvt_Kf::run_Kf(arma::vec p, arma::vec v)
     d_P_old_old = d_P_new_new;
 }
 
-Pvt_Kf::Pvt_Kf()
-{
-    initialized = false;
-}
 
 void Pvt_Kf::get_pvt(arma::vec& p, arma::vec& v)
 {

src/algorithms/PVT/libs/pvt_kf.h

@@ -1,5 +1,5 @@
 /*!
- * \file Pvt_Kf.h
+ * \file pvt_kf.h
  * \brief Kalman Filter for Position and Velocity
  * \author Javier Arribas, 2023. jarribas(at)cttc.es
  *
@@ -33,18 +33,18 @@
 class Pvt_Kf
 {
 public:
-    Pvt_Kf();
+    Pvt_Kf() = default;
     virtual ~Pvt_Kf() = default;
-    void init_kf(arma::vec p, arma::vec v,
+    void init_kf(const arma::vec& p,
+        const arma::vec& v,
         double solver_interval_s,
         double measures_ecef_pos_sd_m,
         double measures_ecef_vel_sd_ms,
         double system_ecef_pos_sd_m,
         double system_ecef_vel_sd_ms);
-
+    void run_Kf(const arma::vec& p, const arma::vec& v);
-    void run_Kf(arma::vec p, arma::vec v);
+    void get_pvt(arma::vec& p, arma::vec& v);
-    bool initialized;
+    bool initialized{false};
-    void get_pvt(arma::vec &p, arma::vec &v);
 
 private:
     // Kalman Filter class variables

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -51,11 +51,10 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
     bool flag_dump_to_mat,
     Pvt_Conf conf) : d_dump_filename(dump_filename),
                      d_rtk(rtk),
+                     d_conf(std::move(conf)),
                      d_type_of_rx(type_of_rx),
                      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)
-                     d_conf(conf)
-
 {
     this->set_averaging_flag(false);
 

src/algorithms/PVT/libs/rtklib_solver.h

@@ -151,11 +151,11 @@ private:
     rtk_t d_rtk{};
     nav_t d_nav_data{};
     Monitor_Pvt d_monitor_pvt{};
+    Pvt_Conf d_conf;
+    Pvt_Kf d_pvt_kf;
     uint32_t d_type_of_rx;
     bool d_flag_dump_enabled;
     bool d_flag_dump_mat_enabled;
-    Pvt_Conf d_conf;
-    Pvt_Kf d_pvt_kf;
 };
 
 

src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc

@@ -1,6 +1,7 @@
 /*!
- * \file file_timestamp_signal_source.h
+ * \file file_timestamp_signal_source.cc
- * \brief This class reads samples stored in a file and generate stream tags with its timestamp information stored in separated file
+ * \brief This class reads samples stored in a file and generate stream tags
+ * with its timestamp information stored in separated file
  * \author Javier Arribas, jarribas(at)cttc.es
  *
  * -----------------------------------------------------------------------------
@@ -13,6 +14,7 @@
  *
  * -----------------------------------------------------------------------------
  */
+
 #include "file_timestamp_signal_source.h"
 #include "gnss_sdr_flags.h"
 #include "gnss_sdr_string_literals.h"
@@ -22,7 +24,9 @@
 using namespace std::string_literals;
 
 FileTimestampSignalSource::FileTimestampSignalSource(const ConfigurationInterface* configuration,
-    const std::string& role, unsigned int in_streams, unsigned int out_streams,
+    const std::string& role,
+    unsigned int in_streams,
+    unsigned int out_streams,
     Concurrent_Queue<pmt::pmt_t>* queue)
     : FileSourceBase(configuration, role, "File_Timestamp_Signal_Source"s, queue, "byte"s),
       timestamp_file_(configuration->property(role + ".timestamp_filename"s, "../data/example_capture_timestamp.dat"s)),
@@ -53,23 +57,23 @@ void FileTimestampSignalSource::create_file_source_hook()
     int source_items_to_samples = 1;
     bool is_complex = false;
 
-    if (item_type().compare("ibyte") == 0)
+    if (item_type() == "ibyte")
         {
             source_items_to_samples = 1;
         }
-    else if (item_type().compare("byte") == 0)
+    else if (item_type() == "byte")
         {
             source_items_to_samples = 1;
         }
-    else if (item_type().compare("short") == 0)
+    else if (item_type() == "short")
         {
             source_items_to_samples = 1;
         }
-    else if (item_type().compare("ishort") == 0)
+    else if (item_type() == "ishort")
         {
             source_items_to_samples = 1;
         }
-    else if (item_type().compare("gr_complex") == 0)
+    else if (item_type() == "gr_complex")
         {
             source_items_to_samples = 1;
             is_complex = true;
@@ -96,12 +100,14 @@ void FileTimestampSignalSource::create_file_source_hook()
     DLOG(INFO) << "timestamp_block_(" << timestamp_block_->unique_id() << ")";
 }
 
+
 void FileTimestampSignalSource::pre_connect_hook(gr::top_block_sptr top_block)
 {
     top_block->connect(file_source(), 0, timestamp_block_, 0);
     DLOG(INFO) << "connected file_source to timestamp_block_";
 }
 
+
 void FileTimestampSignalSource::pre_disconnect_hook(gr::top_block_sptr top_block)
 {
     top_block->disconnect(file_source(), 0, timestamp_block_, 0);

src/algorithms/signal_source/adapters/file_timestamp_signal_source.h

@@ -1,6 +1,7 @@
 /*!
  * \file file_timestamp_signal_source.h
- * \brief This class reads samples stored in a file and generate stream tags with its timestamp information stored in separated file
+ * \brief This class reads samples stored in a file and generate stream tags
+ * with its timestamp information stored in separated file
  * \author Javier Arribas, jarribas(at)cttc.es
  *
  * -----------------------------------------------------------------------------