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Fix defects detected by Coverity Scan

This commit is contained in:
Carles Fernandez 2018-11-08 15:34:58 +01:00
parent 79fa7ce6ca
commit a544112a84
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GPG Key ID: 4C583C52B0C3877D
3 changed files with 17 additions and 15 deletions
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2
src/algorithms/libs/geofunctions.cc
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@ -301,7 +301,7 @@ double mstokph(double MetersPerSeconds)
arma::vec CTM_to_Euler(const arma::mat &C)
{
// Calculate Euler angles using (2.23)
arma::mat CTM = C;
arma::mat CTM(C);
arma::vec eul = arma::zeros(3, 1);
eul(0) = atan2(CTM(1, 2), CTM(2, 2)); // roll
if (CTM(0, 2) < -1.0) CTM(0, 2) = -1.0;

28
src/core/receiver/control_thread.cc
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@ -94,6 +94,7 @@ ControlThread::ControlThread(std::shared_ptr<ConfigurationInterface> configurati
{
configuration_ = configuration;
delete_configuration_ = false;
restart_ = false;
init();
}
@ -112,6 +113,7 @@ void ControlThread::telecommand_listener()
cmd_interface_.run_cmd_server(tcp_cmd_port);
}
/*
* Runs the control thread that manages the receiver control plane
*
@ -154,17 +156,16 @@ int ControlThread::run()
return 0;
}
//launch GNSS assistance process AFTER the flowgraph is running because the GNURadio asynchronous queues must be already running to transport msgs
// launch GNSS assistance process AFTER the flowgraph is running because the GNU Radio asynchronous queues must be already running to transport msgs
assist_GNSS();
// start the keyboard_listener thread
keyboard_thread_ = boost::thread(&ControlThread::keyboard_listener, this);
sysv_queue_thread_ = boost::thread(&ControlThread::sysv_queue_listener, this);
//start the telecommand listener thread
// start the telecommand listener thread
cmd_interface_.set_pvt(flowgraph_->get_pvt());
cmd_interface_thread_ = boost::thread(&ControlThread::telecommand_listener, this);
bool enable_FPGA = configuration_->property("Channel.enable_FPGA", false);
if (enable_FPGA == true)
{
@ -764,22 +765,23 @@ void ControlThread::apply_action(unsigned int what)
}
}
std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time_t rx_utc_time, arma::vec LLH)
std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time_t rx_utc_time, const arma::vec &LLH)
{
//1. Compute rx ECEF position from LLH WGS84
// 1. Compute rx ECEF position from LLH WGS84
arma::vec LLH_rad = arma::vec{degtorad(LLH(0)), degtorad(LLH(1)), LLH(2)};
arma::mat C_tmp = arma::zeros(3, 3);
arma::vec r_eb_e = arma::zeros(3, 1);
arma::vec v_eb_e = arma::zeros(3, 1);
Geo_to_ECEF(LLH_rad, arma::vec{0, 0, 0}, C_tmp, r_eb_e, v_eb_e, C_tmp);
//2. Compute rx GPS time from UTC time
// 2. Compute rx GPS time from UTC time
gtime_t utc_gtime;
utc_gtime.time = rx_utc_time;
utc_gtime.sec = 0;
gtime_t gps_gtime = utc2gpst(utc_gtime);
//2. loop throught all the available ephemeris or almanac and compute satellite positions and elevations
// 3. loop through all the available ephemeris or almanac and compute satellite positions and elevations
// store visible satellites in a vector of pairs <int,Gnss_Satellite> to associate an elevation to the each satellite
std::vector<std::pair<int, Gnss_Satellite>> available_satellites;
@ -805,7 +807,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
arma::vec r_sat_eb_e = arma::vec{r_sat[0], r_sat[1], r_sat[2]};
arma::vec dx = r_sat_eb_e - r_eb_e;
topocent(&Az, &El, &dist_m, r_eb_e, dx);
//push sat
// push sat
if (El > 0)
{
std::cout << "Using GPS Ephemeris: Sat " << it->second.i_satellite_PRN << " Az: " << Az << " El: " << El << std::endl;
@ -827,7 +829,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
arma::vec r_sat_eb_e = arma::vec{r_sat[0], r_sat[1], r_sat[2]};
arma::vec dx = r_sat_eb_e - r_eb_e;
topocent(&Az, &El, &dist_m, r_eb_e, dx);
//push sat
// push sat
if (El > 0)
{
std::cout << "Using Galileo Ephemeris: Sat " << it->second.i_satellite_PRN << " Az: " << Az << " El: " << El << std::endl;
@ -848,7 +850,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
arma::vec r_sat_eb_e = arma::vec{r_sat[0], r_sat[1], r_sat[2]};
arma::vec dx = r_sat_eb_e - r_eb_e;
topocent(&Az, &El, &dist_m, r_eb_e, dx);
//push sat
// push sat
if (El > 0)
{
std::cout << "Using GPS Almanac: Sat " << it->second.i_satellite_PRN << " Az: " << Az << " El: " << El << std::endl;
@ -870,7 +872,7 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
arma::vec dx = r_sat_eb_e - r_eb_e;
topocent(&Az, &El, &dist_m, r_eb_e, dx);
std::cout << "Using Galileo Almanac: Sat " << it->second.i_satellite_PRN << " Az: " << Az << " El: " << El << std::endl;
//push sat
// push sat
if (El > 0)
{
std::cout << "Using GPS Almanac: Sat " << it->second.i_satellite_PRN << " Az: " << Az << " El: " << El << std::endl;
@ -879,11 +881,11 @@ std::vector<std::pair<int, Gnss_Satellite>> ControlThread::get_visible_sats(time
}
}
//sort the visible satellites in ascending order of elevation
// sort the visible satellites in ascending order of elevation
std::sort(available_satellites.begin(), available_satellites.end(), [](const std::pair<int, Gnss_Satellite> &a, const std::pair<int, Gnss_Satellite> &b) { // use lambda. Cleaner and easier to read
return a.first < b.first;
});
//std::reverse(available_satellites.begin(), available_satellites.end());
// std::reverse(available_satellites.begin(), available_satellites.end());
return available_satellites;
}

2
src/core/receiver/control_thread.h
View File

@ -148,8 +148,8 @@ private:
* Compute elevations for the specified time and position for all the available satellites in ephemeris and almanac queues
* returns a vector filled with the available satellites ordered from high elevation to low elevation angle.
*/
std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, const arma::vec& LLH);
std::vector<std::pair<int, Gnss_Satellite>> get_visible_sats(time_t rx_utc_time, arma::vec LLH);
/*
* Read initial GNSS assistance from SUPL server or local XML files
*/