Merge branch 'next' of https://github.com/carlesfernandez/gnss-sdr into next

docs/changelog

@@ -14,6 +14,7 @@
 
 ### Improvements in Reliability:
 
+- Decoding of navigation messages no longer rely on implementation defined behavior for shifting left a signed integer.
 - Removed usage of functions with insecure API (e.g., strcpy)
 - Added clang-tidy checks clang-analyzer-security.*
 

src/core/libs/supl/asn-rrlp/INTEGER.c

@@ -137,7 +137,7 @@ INTEGER__dump(asn_TYPE_descriptor_t *td, const INTEGER_t *st, asn_app_consume_by
 		} else {
 			accum = (*buf & 0x80) ? -1 : 0;
 			for(; buf < buf_end; buf++)
-				accum = (accum << 8) | *buf;
+				accum = (accum * 256) | *buf;
 		}
 
 		el = INTEGER_map_value2enum(specs, accum);
@@ -545,7 +545,7 @@ INTEGER_encode_xer(asn_TYPE_descriptor_t *td, void *sptr,
 
 	(void)ilevel;
 	(void)flags;
-	
+
 	if(!st || !st->buf)
 		_ASN_ENCODE_FAILED;
 
@@ -818,7 +818,7 @@ asn_INTEGER2long(const INTEGER_t *iptr, long *lptr) {
 
 	/* Conversion engine */
 	for(; b < end; b++)
-		l = (l << 8) | *b;
+		l = (l * 256) | *b;
 
 	*lptr = l;
 	return 0;

src/core/libs/supl/asn-rrlp/per_support.c

@@ -96,7 +96,8 @@ per_get_few_bits(asn_per_data_t *pd, int nbits) {
                 /* The number of available bits in the stream allow
                  * for the following operations to take place without
                  * invoking the ->refill() function */
-                accum  = per_get_few_bits(&tpd, nbits - 24) << 24;
+                uint32_t two_twentyfour = 16777216;
+                accum  = per_get_few_bits(&tpd, nbits - 24) * two_twentyfour;
                 accum |= per_get_few_bits(&tpd, 24);
         } else {
                 per_get_undo(pd, nbits);
@@ -424,8 +425,11 @@ per_put_few_bits(asn_per_outp_t *po, uint32_t bits, int obits) {
                 buf[2] = bits >> 8,
                 buf[3] = bits;
         else {
-                if(per_put_few_bits(po, bits >> (obits - 24), 24)) return -1;
+            if((obits - 24) > 0)
-                if(per_put_few_bits(po, bits, obits - 24)) return -1;
+                {
+                    if(per_put_few_bits(po, bits >> (obits - 24), 24)) return -1;
+                }
+            if(per_put_few_bits(po, bits, obits - 24)) return -1;
         }
 
         ASN_DEBUG("[PER out %u/%x => %02x buf+%ld]",

src/core/libs/supl/asn-supl/INTEGER.c

@@ -137,7 +137,7 @@ INTEGER__dump(asn_TYPE_descriptor_t *td, const INTEGER_t *st, asn_app_consume_by
 		} else {
 			accum = (*buf & 0x80) ? -1 : 0;
 			for(; buf < buf_end; buf++)
-				accum = (accum << 8) | *buf;
+				accum = (accum * 256) | *buf;
 		}
 
 		el = INTEGER_map_value2enum(specs, accum);
@@ -545,7 +545,7 @@ INTEGER_encode_xer(asn_TYPE_descriptor_t *td, void *sptr,
 
 	(void)ilevel;
 	(void)flags;
-	
+
 	if(!st || !st->buf)
 		_ASN_ENCODE_FAILED;
 
@@ -818,7 +818,7 @@ asn_INTEGER2long(const INTEGER_t *iptr, long *lptr) {
 
 	/* Conversion engine */
 	for(; b < end; b++)
-		l = (l << 8) | *b;
+		l = (l * 256) | *b;
 
 	*lptr = l;
 	return 0;

src/core/libs/supl/asn-supl/per_support.c

@@ -96,7 +96,8 @@ per_get_few_bits(asn_per_data_t *pd, int nbits) {
                 /* The number of available bits in the stream allow
                  * for the following operations to take place without
                  * invoking the ->refill() function */
-                accum  = per_get_few_bits(&tpd, nbits - 24) << 24;
+                uint32_t two_twentyfour = 16777216;
+                accum  = per_get_few_bits(&tpd, nbits - 24) * two_twentyfour;
                 accum |= per_get_few_bits(&tpd, 24);
         } else {
                 per_get_undo(pd, nbits);
@@ -424,7 +425,10 @@ per_put_few_bits(asn_per_outp_t *po, uint32_t bits, int obits) {
                 buf[2] = bits >> 8,
                 buf[3] = bits;
         else {
-                if(per_put_few_bits(po, bits >> (obits - 24), 24)) return -1;
+            if((obits - 24) > 0)
+                {
+                    if(per_put_few_bits(po, bits >> (obits - 24), 24)) return -1;
+                }
                 if(per_put_few_bits(po, bits, obits - 24)) return -1;
         }
 

src/core/system_parameters/beidou_dnav_navigation_message.cc

@@ -34,6 +34,7 @@
 #include "gnss_satellite.h"
 #include <cmath>     // for cos, sin, fmod, sqrt, atan2, fabs, floor
 #include <iostream>  // for string, operator<<, cout, ostream, endl
+#include <limits>    // for std::numeric_limits
 
 
 void Beidou_Dnav_Navigation_Message::reset()
@@ -273,55 +274,30 @@ int64_t Beidou_Dnav_Navigation_Message::read_navigation_signed(
 {
     int64_t value = 0;
     int32_t num_of_slices = parameter.size();
-    // Discriminate between 64 bits and 32 bits compiler
-    int32_t long_int_size_bytes = sizeof(int64_t);
-    if (long_int_size_bytes == 8)  // if a long int takes 8 bytes, we are in a 64 bits system
-        {
-            // read the MSB and perform the sign extension
-            if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[0].first] == 1)
-                {
-                    value ^= 0xFFFFFFFFFFFFFFFF;  //64 bits variable
-                }
-            else
-                {
-                    value &= 0;
-                }
 
-            for (int32_t i = 0; i < num_of_slices; i++)
+    // read the MSB and perform the sign extension
-                {
+    if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[0].first] == 1)
-                    for (int32_t j = 0; j < parameter[i].second; j++)
+        {
-                        {
+            value ^= 0xFFFFFFFFFFFFFFFF;  // 64 bits variable
-                            value <<= 1;                  //shift left
-                            value &= 0xFFFFFFFFFFFFFFFE;  //reset the corresponding bit (for the 64 bits variable)
-                            if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1)
-                                {
-                                    value += 1;  // insert the bit
-                                }
-                        }
-                }
         }
-    else  // we assume we are in a 32 bits system
+    else
         {
-            // read the MSB and perform the sign extension
+            value &= 0;
-            if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[0].first] == 1)
+        }
+    // Avoid saturation when decoding
+    if (value == std::numeric_limits<int64_t>::max() or value == std::numeric_limits<int64_t>::min())
+        {
+            value /= 2;
+        }
+    for (int32_t i = 0; i < num_of_slices; i++)
+        {
+            for (int32_t j = 0; j < parameter[i].second; j++)
                 {
-                    value ^= 0xFFFFFFFF;
+                    value *= 2;                   // shift left the signed integer
-                }
+                    value &= 0xFFFFFFFFFFFFFFFE;  // reset the corresponding bit (for the 64 bits variable)
-            else
+                    if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1)
-                {
-                    value &= 0;
-                }
-
-            for (int32_t i = 0; i < num_of_slices; i++)
-                {
-                    for (int32_t j = 0; j < parameter[i].second; j++)
                         {
-                            value <<= 1;          //shift left
+                            value += 1;  // insert the bit
-                            value &= 0xFFFFFFFE;  //reset the corresponding bit
-                            if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1)
-                                {
-                                    value += 1;  // insert the bit
-                                }
                         }
                 }
         }

src/core/system_parameters/galileo_navigation_message.cc

@@ -36,6 +36,7 @@
 #include <glog/logging.h>            // for DLOG
 #include <algorithm>                 // for reverse
 #include <iostream>                  // for operator<<
+#include <limits>                    // for std::numeric_limits
 
 
 using CRC_Galileo_INAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>;
@@ -310,12 +311,16 @@ int64_t Galileo_Navigation_Message::read_navigation_signed(std::bitset<GALILEO_D
         {
             value &= 0LL;
         }
-
+    // Avoid saturation when decoding
+    if (value == std::numeric_limits<int64_t>::max() or value == std::numeric_limits<int64_t>::min())
+        {
+            value /= 2;
+        }
     for (int32_t i = 0; i < num_of_slices; i++)
         {
             for (int32_t j = 0; j < parameter[i].second; j++)
                 {
-                    value <<= 1;                  // shift left
+                    value *= 2;                   // shift left the signed integer
                     value &= 0xFFFFFFFFFFFFFFFE;  // reset the corresponding bit (for the 64 bits variable)
                     if (static_cast<int>(bits[GALILEO_DATA_JK_BITS - parameter[i].first - j]) == 1)
                         {

src/core/system_parameters/gps_cnav_navigation_message.cc

@@ -32,6 +32,7 @@
 
 #include "gps_cnav_navigation_message.h"
 #include "gnss_satellite.h"
+#include <limits>  // for std::numeric_limits
 
 
 void Gps_CNAV_Navigation_Message::reset()
@@ -121,12 +122,16 @@ int64_t Gps_CNAV_Navigation_Message::read_navigation_signed(std::bitset<GPS_CNAV
         {
             value &= 0LL;
         }
-
+    // Avoid saturation when decoding
+    if (value == std::numeric_limits<int64_t>::max() or value == std::numeric_limits<int64_t>::min())
+        {
+            value /= 2;
+        }
     for (int32_t i = 0; i < num_of_slices; i++)
         {
             for (int32_t j = 0; j < parameter[i].second; j++)
                 {
-                    value <<= 1;                    // shift left
+                    value *= 2;                     // shift left the signed integer
                     value &= 0xFFFFFFFFFFFFFFFELL;  // reset the corresponding bit (for the 64 bits variable)
                     if (static_cast<int>(bits[GPS_CNAV_DATA_PAGE_BITS - parameter[i].first - j]) == 1)
                         {

src/core/system_parameters/gps_navigation_message.cc

@@ -35,6 +35,7 @@ m * \file gps_navigation_message.cc
 #include <cmath>     // for fmod, abs, floor
 #include <cstring>   // for memcpy
 #include <iostream>  // for operator<<, cout, endl
+#include <limits>    // for std::numeric_limits
 
 
 void Gps_Navigation_Message::reset()
@@ -211,12 +212,16 @@ int64_t Gps_Navigation_Message::read_navigation_signed(std::bitset<GPS_SUBFRAME_
         {
             value &= 0LL;
         }
-
+    // Avoid salutation when decoding;
+    if (value == std::numeric_limits<int64_t>::max() or value == std::numeric_limits<int64_t>::min())
+        {
+            value /= 2;
+        }
     for (int32_t i = 0; i < num_of_slices; i++)
         {
             for (int32_t j = 0; j < parameter[i].second; j++)
                 {
-                    value <<= 1;                    // shift left
+                    value *= 2;                     // shift left the signed integer
                     value &= 0xFFFFFFFFFFFFFFFELL;  // reset the corresponding bit (for the 64 bits variable)
                     if (static_cast<int>(bits[GPS_SUBFRAME_BITS - parameter[i].first - j]) == 1)
                         {