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

.clang-tidy

@@ -0,0 +1,3 @@
+---
+Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-move-const-arg,readability-named-parameter,readability-string-compare'
+HeaderFilterRegex: '.*'

CMakeLists.txt

@@ -1131,7 +1131,13 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
                 endif()
                 message(FATAL_ERROR "libtool is required to build matio from source")
             endif()
-            if(EXISTS "/usr/bin/aclocal" OR EXISTS "/usr/bin/aclocal-1.16" OR EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.13" OR EXISTS "/usr/bin/aclocal-1.11"  OR EXISTS "/usr/bin/aclocal-1.10")
+            if(EXISTS "/usr/bin/aclocal" OR
+                EXISTS "/usr/bin/aclocal-1.16" OR
+                EXISTS "/usr/bin/aclocal-1.15" OR
+                EXISTS "/usr/bin/aclocal-1.14" OR
+                EXISTS "/usr/bin/aclocal-1.13" OR
+                EXISTS "/usr/bin/aclocal-1.11" OR
+                EXISTS "/usr/bin/aclocal-1.10")
                 message(STATUS "Automake found.")
             else()
                 message(" aclocal has not been found.")
@@ -1612,6 +1618,26 @@ if((CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "GNU
 endif()
 
 
+########################################################################
+# clang-tidy https://clang.llvm.org/extra/clang-tidy/index.html
+########################################################################
+if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    if(NOT (CMAKE_VERSION VERSION_LESS "3.6"))
+        find_program(
+            CLANG_TIDY_EXE
+            NAMES "clang-tidy"
+            DOC "Path to clang-tidy executable"
+        )
+        if(NOT CLANG_TIDY_EXE)
+            message(STATUS "clang-tidy not found.")
+        else()
+            message(STATUS "clang-tidy found: ${CLANG_TIDY_EXE}")
+            set(DO_CLANG_TIDY "${CLANG_TIDY_EXE}" "-checks=*")
+            set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+        endif()
+    endif()
+endif()
+
 
 ########################################################################
 # Create uninstall target

docs/changelog

@@ -71,6 +71,7 @@ Next release will have several improvements in different dimensions, addition of
 - Improvement in C++ usage: The override special identifier is now used when overriding a virtual function. This helps the compiler to check for type changes in the base class, making the detection of errors easier.
 - Improvement in C++ usage: A number of unused includes have been removed. Order of includes set to: local (in-source) headers, then library headers, then system headers. This helps to detect missing includes.
 - Improvement in C++ usage: Enhanced const correctness. Misuses of those variables are detected by the compiler.
+- Improved code with clang-tidy and generation of a compile_commands.json file containing the exact compiler calls for all translation units of the project in machine-readable form if clang-tidy is detected.
 - Applied some style rules to CMake scripts.
 - Minimal versions of dependencies identified and detected.
 

src/algorithms/PVT/adapters/rtklib_pvt.h

@@ -94,7 +94,7 @@ public:
 
 private:
     rtklib_pvt_cc_sptr pvt_;
-    rtk_t rtk;
+    rtk_t rtk{};
     std::string role_;
     unsigned int in_streams_;
     unsigned int out_streams_;

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc

@@ -514,7 +514,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
     if ((sysv_msqid = msgget(sysv_msg_key, msgflg)) == -1)
         {
             std::cout << "GNSS-SDR can not create message queues!" << std::endl;
-            throw new std::exception();
+            throw std::exception();
         }
     start = std::chrono::system_clock::now();
 }

src/algorithms/PVT/libs/rtcm_printer.cc

@@ -37,6 +37,7 @@
 #include <boost/filesystem/path.hpp>         // for path, operator<<
 #include <boost/filesystem/path_traits.hpp>  // for filesystem
 #include <glog/logging.h>
+#include <cstdint>
 #include <iomanip>
 #include <utility>
 #include <fcntl.h>    // for O_RDWR
@@ -187,7 +188,7 @@ Rtcm_Printer::~Rtcm_Printer()
         }
     if (rtcm_file_descriptor.is_open())
         {
-            long pos;
+            int64_t pos;
             pos = rtcm_file_descriptor.tellp();
             rtcm_file_descriptor.close();
             if (pos == 0)
@@ -345,13 +346,13 @@ int Rtcm_Printer::init_serial(const std::string& serial_device)
      */
     int32_t fd = 0;
     struct termios options;
-    long BAUD;
+    int64_t BAUD;
-    long DATABITS;
+    int64_t DATABITS;
-    long STOPBITS;
+    int64_t STOPBITS;
-    long PARITYON;
+    int64_t PARITYON;
-    long PARITY;
+    int64_t PARITY;
 
-    fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
+    fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY | O_CLOEXEC);
     if (fd == -1) return fd;  // failed to open TTY port
 
     if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O";  // clear all flags on descriptor, enable direct I/O

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -59,7 +59,6 @@
 #include "GLONASS_L1_L2_CA.h"
 #include <matio.h>
 #include <glog/logging.h>
-
 #include <utility>
 
 
@@ -75,10 +74,10 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
     count_valid_position = 0;
     this->set_averaging_flag(false);
     rtk_ = rtk;
-    for (double & i : dop_) i = 0.0;
+    for (double &i : dop_) i = 0.0;
     pvt_sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
     ssat_t ssat0 = {0, 0, {0.0}, {0.0}, {0.0}, {'0'}, {'0'}, {'0'}, {'0'}, {'0'}, {}, {}, {}, {}, 0.0, 0.0, 0.0, 0.0, {{{0, 0}}, {{0, 0}}}, {{}, {}}};
-    for (auto & i : pvt_ssat)
+    for (auto &i : pvt_ssat)
         {
             i = ssat0;
         }
@@ -777,7 +776,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
             nav_data.n = valid_obs;
             nav_data.ng = glo_valid_obs;
 
-            for (auto & i : nav_data.lam)
+            for (auto &i : nav_data.lam)
                 {
                     i[0] = SPEED_OF_LIGHT / FREQ1;  // L1/E1
                     i[1] = SPEED_OF_LIGHT / FREQ2;  // L2
@@ -811,7 +810,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                     std::vector<double> azel;
                     azel.reserve(used_sats * 2);
                     unsigned int index_aux = 0;
-                    for (auto & i : rtk_.ssat)
+                    for (auto &i : rtk_.ssat)
                         {
                             if (i.vs == 1)
                                 {

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc

@@ -338,15 +338,13 @@ gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_left_block()
         {
             return acquisition_;
         }
-    else if (item_type_ == "cbyte")
+    if (item_type_ == "cbyte")
         {
             return cbyte_to_float_x2_;
         }
-    else
+
-        {
+    LOG(WARNING) << item_type_ << " unknown acquisition item type";
-            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+    return nullptr;
-            return nullptr;
-        }
 }
 
 

src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc

@@ -323,15 +323,13 @@ gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_left_block()
         {
             return acquisition_;
         }
-    else if (item_type_ == "cbyte")
+    if (item_type_ == "cbyte")
         {
             return cbyte_to_float_x2_;
         }
-    else
+
-        {
+    LOG(WARNING) << item_type_ << " unknown acquisition item type";
-            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+    return nullptr;
-            return nullptr;
-        }
 }
 
 

src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc

@@ -322,15 +322,13 @@ gr::basic_block_sptr GlonassL2CaPcpsAcquisition::get_left_block()
         {
             return acquisition_;
         }
-    else if (item_type_ == "cbyte")
+    if (item_type_ == "cbyte")
         {
             return cbyte_to_float_x2_;
         }
-    else
+
-        {
+    LOG(WARNING) << item_type_ << " unknown acquisition item type";
-            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+    return nullptr;
-            return nullptr;
-        }
 }
 
 

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc

@@ -311,15 +311,13 @@ gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_left_block()
         {
             return acquisition_;
         }
-    else if (item_type_ == "cbyte")
+    if (item_type_ == "cbyte")
         {
             return cbyte_to_float_x2_;
         }
-    else
+
-        {
+    LOG(WARNING) << item_type_ << " unknown acquisition item type";
-            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+    return nullptr;
-            return nullptr;
-        }
 }
 
 

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc

@@ -325,15 +325,13 @@ gr::basic_block_sptr GpsL2MPcpsAcquisition::get_left_block()
         {
             return acquisition_;
         }
-    else if (item_type_ == "cbyte")
+    if (item_type_ == "cbyte")
         {
             return cbyte_to_float_x2_;
         }
-    else
+
-        {
+    LOG(WARNING) << item_type_ << " unknown acquisition item type";
-            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+    return nullptr;
-            return nullptr;
-        }
 }
 
 

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc

@@ -313,15 +313,13 @@ gr::basic_block_sptr GpsL5iPcpsAcquisition::get_left_block()
         {
             return acquisition_;
         }
-    else if (item_type_ == "cbyte")
+    if (item_type_ == "cbyte")
         {
             return cbyte_to_float_x2_;
         }
-    else
+
-        {
+    LOG(WARNING) << item_type_ << " unknown acquisition item type";
-            LOG(WARNING) << item_type_ << " unknown acquisition item type";
+    return nullptr;
-            return nullptr;
-        }
 }
 
 

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc

@@ -41,9 +41,12 @@
 using google::LogMessage;
 
 galileo_pcps_8ms_acquisition_cc_sptr galileo_pcps_8ms_make_acquisition_cc(
-    unsigned int sampled_ms, unsigned int max_dwells,
+    uint32_t sampled_ms,
-    unsigned int doppler_max, long fs_in,
+    uint32_t max_dwells,
-    int samples_per_ms, int samples_per_code,
+    uint32_t doppler_max,
+    int64_t fs_in,
+    int32_t samples_per_ms,
+    int32_t samples_per_code,
     bool dump, std::string dump_filename)
 {
     return galileo_pcps_8ms_acquisition_cc_sptr(
@@ -52,9 +55,12 @@ galileo_pcps_8ms_acquisition_cc_sptr galileo_pcps_8ms_make_acquisition_cc(
 }
 
 galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
-    unsigned int sampled_ms, unsigned int max_dwells,
+    uint32_t sampled_ms,
-    unsigned int doppler_max, long fs_in,
+    uint32_t max_dwells,
-    int samples_per_ms, int samples_per_code,
+    uint32_t doppler_max,
+    int64_t fs_in,
+    int32_t samples_per_ms,
+    int32_t samples_per_code,
     bool dump,
     std::string dump_filename) : gr::block("galileo_pcps_8ms_acquisition_cc",
                                      gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
@@ -101,11 +107,12 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
     d_channel = 0;
 }
 
+
 galileo_pcps_8ms_acquisition_cc::~galileo_pcps_8ms_acquisition_cc()
 {
     if (d_num_doppler_bins > 0)
         {
-            for (unsigned int i = 0; i < d_num_doppler_bins; i++)
+            for (uint32_t i = 0; i < d_num_doppler_bins; i++)
                 {
                     volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
                 }
@@ -125,6 +132,7 @@ galileo_pcps_8ms_acquisition_cc::~galileo_pcps_8ms_acquisition_cc()
         }
 }
 
+
 void galileo_pcps_8ms_acquisition_cc::set_local_code(std::complex<float> *code)
 {
     // code A: two replicas of a primary code
@@ -146,6 +154,7 @@ void galileo_pcps_8ms_acquisition_cc::set_local_code(std::complex<float> *code)
     volk_32fc_conjugate_32fc(d_fft_code_B, d_fft_if->get_outbuf(), d_fft_size);
 }
 
+
 void galileo_pcps_8ms_acquisition_cc::init()
 {
     d_gnss_synchro->Flag_valid_acquisition = false;
@@ -161,8 +170,8 @@ void galileo_pcps_8ms_acquisition_cc::init()
     const double GALILEO_TWO_PI = 6.283185307179600;
     // Count the number of bins
     d_num_doppler_bins = 0;
-    for (int doppler = static_cast<int>(-d_doppler_max);
+    for (auto doppler = static_cast<int32_t>(-d_doppler_max);
-         doppler <= static_cast<int>(d_doppler_max);
+         doppler <= static_cast<int32_t>(d_doppler_max);
          doppler += d_doppler_step)
         {
             d_num_doppler_bins++;
@@ -170,10 +179,10 @@ void galileo_pcps_8ms_acquisition_cc::init()
 
     // Create the carrier Doppler wipeoff signals
     d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
-    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+    for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
         {
             d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
-            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+            int32_t doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
             float phase_step_rad = static_cast<float>(GALILEO_TWO_PI) * doppler / static_cast<float>(d_fs_in);
             float _phase[1];
             _phase[0] = 0;
@@ -182,7 +191,7 @@ void galileo_pcps_8ms_acquisition_cc::init()
 }
 
 
-void galileo_pcps_8ms_acquisition_cc::set_state(int state)
+void galileo_pcps_8ms_acquisition_cc::set_state(int32_t state)
 {
     d_state = state;
     if (d_state == 1)
@@ -210,7 +219,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
     gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
     gr_vector_void_star &output_items __attribute__((unused)))
 {
-    int acquisition_message = -1;  //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
+    int32_t acquisition_message = -1;  //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
 
     switch (d_state)
         {
@@ -240,7 +249,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
         case 1:
             {
                 // initialize acquisition algorithm
-                int doppler;
+                int32_t doppler;
                 uint32_t indext = 0;
                 uint32_t indext_A = 0;
                 uint32_t indext_B = 0;
@@ -268,10 +277,10 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
                 d_input_power /= static_cast<float>(d_fft_size);
 
                 // 2- Doppler frequency search loop
-                for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+                for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
                     {
                         // doppler search steps
-                        doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+                        doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
 
                         volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in,
                             d_grid_doppler_wipeoffs[doppler_index], d_fft_size);

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h

@@ -44,10 +44,14 @@ class galileo_pcps_8ms_acquisition_cc;
 typedef boost::shared_ptr<galileo_pcps_8ms_acquisition_cc> galileo_pcps_8ms_acquisition_cc_sptr;
 
 galileo_pcps_8ms_acquisition_cc_sptr
-galileo_pcps_8ms_make_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells,
+galileo_pcps_8ms_make_acquisition_cc(uint32_t sampled_ms,
-    unsigned int doppler_max, long fs_in,
+    uint32_t max_dwells,
-    int samples_per_ms, int samples_per_code,
+    uint32_t doppler_max,
-    bool dump, std::string dump_filename);
+    int64_t fs_in,
+    int32_t samples_per_ms,
+    int32_t samples_per_code,
+    bool dump,
+    std::string dump_filename);
 
 /*!
  * \brief This class implements a Parallel Code Phase Search Acquisition for
@@ -57,41 +61,52 @@ class galileo_pcps_8ms_acquisition_cc : public gr::block
 {
 private:
     friend galileo_pcps_8ms_acquisition_cc_sptr
-    galileo_pcps_8ms_make_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells,
+    galileo_pcps_8ms_make_acquisition_cc(
-        unsigned int doppler_max, long fs_in,
+        uint32_t sampled_ms,
-        int samples_per_ms, int samples_per_code,
+        uint32_t max_dwells,
-        bool dump, std::string dump_filename);
+        uint32_t doppler_max,
+        int64_t fs_in,
+        int32_t samples_per_ms,
+        int32_t samples_per_code,
+        bool dump,
+        std::string dump_filename);
 
+    galileo_pcps_8ms_acquisition_cc(
+        uint32_t sampled_ms,
+        uint32_t max_dwells,
+        uint32_t doppler_max,
+        int64_t fs_in,
+        int32_t samples_per_ms,
+        int32_t samples_per_code,
+        bool dump,
+        std::string dump_filename);
 
-    galileo_pcps_8ms_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells,
+    void calculate_magnitudes(
-        unsigned int doppler_max, long fs_in,
+        gr_complex* fft_begin,
-        int samples_per_ms, int samples_per_code,
+        int32_t doppler_shift,
-        bool dump, std::string dump_filename);
+        int32_t doppler_offset);
 
-    void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
+    int64_t d_fs_in;
-        int doppler_offset);
+    int32_t d_samples_per_ms;
-
+    int32_t d_samples_per_code;
-    long d_fs_in;
+    uint32_t d_doppler_resolution;
-    int d_samples_per_ms;
-    int d_samples_per_code;
-    unsigned int d_doppler_resolution;
     float d_threshold;
     std::string d_satellite_str;
-    unsigned int d_doppler_max;
+    uint32_t d_doppler_max;
-    unsigned int d_doppler_step;
+    uint32_t d_doppler_step;
-    unsigned int d_sampled_ms;
+    uint32_t d_sampled_ms;
-    unsigned int d_max_dwells;
+    uint32_t d_max_dwells;
-    unsigned int d_well_count;
+    uint32_t d_well_count;
-    unsigned int d_fft_size;
+    uint32_t d_fft_size;
     uint64_t d_sample_counter;
     gr_complex** d_grid_doppler_wipeoffs;
-    unsigned int d_num_doppler_bins;
+    uint32_t d_num_doppler_bins;
     gr_complex* d_fft_code_A;
     gr_complex* d_fft_code_B;
     gr::fft::fft_complex* d_fft_if;
     gr::fft::fft_complex* d_ifft;
     Gnss_Synchro* d_gnss_synchro;
-    unsigned int d_code_phase;
+    uint32_t d_code_phase;
     float d_doppler_freq;
     float d_mag;
     float* d_magnitude;
@@ -99,9 +114,9 @@ private:
     float d_test_statistics;
     std::ofstream d_dump_file;
     bool d_active;
-    int d_state;
+    int32_t d_state;
     bool d_dump;
-    unsigned int d_channel;
+    uint32_t d_channel;
     std::string d_dump_filename;
 
 public:
@@ -123,7 +138,7 @@ public:
     /*!
      * \brief Returns the maximum peak of grid search.
      */
-    inline unsigned int mag() const
+    inline uint32_t mag() const
     {
         return d_mag;
     }
@@ -154,13 +169,13 @@ public:
      * first available sample.
      * \param state - int=1 forces start of acquisition
      */
-    void set_state(int state);
+    void set_state(int32_t state);
 
     /*!
      * \brief Set acquisition channel unique ID
      * \param channel - receiver channel.
      */
-    inline void set_channel(unsigned int channel)
+    inline void set_channel(uint32_t channel)
     {
         d_channel = channel;
     }
@@ -179,7 +194,7 @@ public:
      * \brief Set maximum Doppler grid search
      * \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
      */
-    inline void set_doppler_max(unsigned int doppler_max)
+    inline void set_doppler_max(uint32_t doppler_max)
     {
         d_doppler_max = doppler_max;
     }
@@ -188,7 +203,7 @@ public:
      * \brief Set Doppler steps for the grid search
      * \param doppler_step - Frequency bin of the search grid [Hz].
      */
-    inline void set_doppler_step(unsigned int doppler_step)
+    inline void set_doppler_step(uint32_t doppler_step)
     {
         d_doppler_step = doppler_step;
     }

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -274,10 +274,7 @@ bool pcps_acquisition::is_fdma()
             LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_old_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
             return true;
         }
-    else
+    return false;
-        {
-            return false;
-        }
 }
 
 

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc

@@ -47,8 +47,8 @@ extern concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
 using google::LogMessage;
 
 pcps_assisted_acquisition_cc_sptr pcps_make_assisted_acquisition_cc(
-    int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min,
+    int32_t max_dwells, uint32_t sampled_ms, int32_t doppler_max, int32_t doppler_min,
-    long fs_in, int samples_per_ms, bool dump,
+    int64_t fs_in, int32_t samples_per_ms, bool dump,
     std::string dump_filename)
 {
     return pcps_assisted_acquisition_cc_sptr(
@@ -58,8 +58,8 @@ pcps_assisted_acquisition_cc_sptr pcps_make_assisted_acquisition_cc(
 
 
 pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
-    int max_dwells, unsigned int sampled_ms, int doppler_max, int doppler_min,
+    int32_t max_dwells, uint32_t sampled_ms, int32_t doppler_max, int32_t doppler_min,
-    long fs_in, int samples_per_ms, bool dump,
+    int64_t fs_in, int32_t samples_per_ms, bool dump,
     std::string dump_filename) : gr::block("pcps_assisted_acquisition_cc",
                                      gr::io_signature::make(1, 1, sizeof(gr_complex)),
                                      gr::io_signature::make(0, 0, sizeof(gr_complex)))
@@ -109,7 +109,7 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
 }
 
 
-void pcps_assisted_acquisition_cc::set_doppler_step(unsigned int doppler_step)
+void pcps_assisted_acquisition_cc::set_doppler_step(uint32_t doppler_step)
 {
     d_doppler_step = doppler_step;
 }
@@ -117,7 +117,7 @@ void pcps_assisted_acquisition_cc::set_doppler_step(unsigned int doppler_step)
 
 void pcps_assisted_acquisition_cc::free_grid_memory()
 {
-    for (int i = 0; i < d_num_doppler_points; i++)
+    for (int32_t i = 0; i < d_num_doppler_points; i++)
         {
             delete[] d_grid_data[i];
             delete[] d_grid_doppler_wipeoffs[i];
@@ -206,9 +206,9 @@ void pcps_assisted_acquisition_cc::get_assistance()
 void pcps_assisted_acquisition_cc::reset_grid()
 {
     d_well_count = 0;
-    for (int i = 0; i < d_num_doppler_points; i++)
+    for (int32_t i = 0; i < d_num_doppler_points; i++)
         {
-            for (unsigned int j = 0; j < d_fft_size; j++)
+            for (uint32_t j = 0; j < d_fft_size; j++)
                 {
                     d_grid_data[i][j] = 0.0;
                 }
@@ -227,16 +227,16 @@ void pcps_assisted_acquisition_cc::redefine_grid()
     d_num_doppler_points = floor(std::abs(d_doppler_max - d_doppler_min) / d_doppler_step);
 
     d_grid_data = new float *[d_num_doppler_points];
-    for (int i = 0; i < d_num_doppler_points; i++)
+    for (int32_t i = 0; i < d_num_doppler_points; i++)
         {
             d_grid_data[i] = new float[d_fft_size];
         }
 
     // create the carrier Doppler wipeoff signals
-    int doppler_hz;
+    int32_t doppler_hz;
     float phase_step_rad;
     d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_points];
-    for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
+    for (int32_t doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
         {
             doppler_hz = d_doppler_min + d_doppler_step * doppler_index;
             // doppler search steps
@@ -254,11 +254,11 @@ double pcps_assisted_acquisition_cc::search_maximum()
 {
     float magt = 0.0;
     float fft_normalization_factor;
-    int index_doppler = 0;
+    int32_t index_doppler = 0;
     uint32_t tmp_intex_t = 0;
     uint32_t index_time = 0;
 
-    for (int i = 0; i < d_num_doppler_points; i++)
+    for (int32_t i = 0; i < d_num_doppler_points; i++)
         {
             volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i], d_fft_size);
             if (d_grid_data[i][tmp_intex_t] > magt)
@@ -316,7 +316,7 @@ float pcps_assisted_acquisition_cc::estimate_input_power(gr_vector_const_void_st
 }
 
 
-int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_void_star &input_items)
+int32_t pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_void_star &input_items)
 {
     // initialize acquisition algorithm
     const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]);  //Get the input samples pointer
@@ -331,7 +331,7 @@ int pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_vo
     // 2- Doppler frequency search loop
     auto *p_tmp_vector = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
 
-    for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
+    for (int32_t doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
         {
             // doppler search steps
             // Perform the carrier wipe-off
@@ -394,7 +394,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
             d_state = 2;
             break;
         case 2:  // S2. ComputeGrid
-            int consumed_samples;
+            int32_t consumed_samples;
             consumed_samples = compute_and_accumulate_grid(input_items);
             d_well_count++;
             if (d_well_count >= d_max_dwells)

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h

@@ -61,8 +61,13 @@ typedef boost::shared_ptr<pcps_assisted_acquisition_cc>
     pcps_assisted_acquisition_cc_sptr;
 
 pcps_assisted_acquisition_cc_sptr
-pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
+pcps_make_assisted_acquisition_cc(
-    int doppler_max, int doppler_min, long fs_in, int samples_per_ms,
+    int32_t max_dwells,
+    uint32_t sampled_ms,
+    int32_t doppler_max,
+    int32_t doppler_min,
+    int64_t fs_in,
+    int32_t samples_per_ms,
     bool dump, std::string dump_filename);
 
 /*!
@@ -75,20 +80,20 @@ class pcps_assisted_acquisition_cc : public gr::block
 {
 private:
     friend pcps_assisted_acquisition_cc_sptr
-    pcps_make_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
+    pcps_make_assisted_acquisition_cc(int32_t max_dwells, uint32_t sampled_ms,
-        int doppler_max, int doppler_min, long fs_in,
+        int32_t doppler_max, int32_t doppler_min, int64_t fs_in,
-        int samples_per_ms, bool dump,
+        int32_t samples_per_ms, bool dump,
         std::string dump_filename);
 
-    pcps_assisted_acquisition_cc(int max_dwells, unsigned int sampled_ms,
+    pcps_assisted_acquisition_cc(int32_t max_dwells, uint32_t sampled_ms,
-        int doppler_max, int doppler_min, long fs_in,
+        int32_t doppler_max, int32_t doppler_min, int64_t fs_in,
-        int samples_per_ms, bool dump,
+        int32_t samples_per_ms, bool dump,
         std::string dump_filename);
 
-    void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
+    void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
-        int doppler_offset);
+        int32_t doppler_offset);
 
-    int compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
+    int32_t compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
     float estimate_input_power(gr_vector_const_void_star& input_items);
     double search_maximum();
     void get_assistance();
@@ -96,22 +101,22 @@ private:
     void redefine_grid();
     void free_grid_memory();
 
-    long d_fs_in;
+    int64_t d_fs_in;
-    int d_samples_per_ms;
+    int32_t d_samples_per_ms;
-    int d_max_dwells;
+    int32_t d_max_dwells;
-    unsigned int d_doppler_resolution;
+    uint32_t d_doppler_resolution;
-    int d_gnuradio_forecast_samples;
+    int32_t d_gnuradio_forecast_samples;
     float d_threshold;
     std::string d_satellite_str;
-    int d_doppler_max;
+    int32_t d_doppler_max;
-    int d_doppler_min;
+    int32_t d_doppler_min;
-    int d_config_doppler_max;
+    int32_t d_config_doppler_max;
-    int d_config_doppler_min;
+    int32_t d_config_doppler_min;
 
-    int d_num_doppler_points;
+    int32_t d_num_doppler_points;
-    int d_doppler_step;
+    int32_t d_doppler_step;
-    unsigned int d_sampled_ms;
+    uint32_t d_sampled_ms;
-    unsigned int d_fft_size;
+    uint32_t d_fft_size;
     uint64_t d_sample_counter;
     gr_complex* d_carrier;
     gr_complex* d_fft_codes;
@@ -122,17 +127,17 @@ private:
     gr::fft::fft_complex* d_fft_if;
     gr::fft::fft_complex* d_ifft;
     Gnss_Synchro* d_gnss_synchro;
-    unsigned int d_code_phase;
+    uint32_t d_code_phase;
     float d_doppler_freq;
     float d_input_power;
     float d_test_statistics;
     std::ofstream d_dump_file;
-    int d_state;
+    int32_t d_state;
     bool d_active;
     bool d_disable_assist;
-    int d_well_count;
+    int32_t d_well_count;
     bool d_dump;
-    unsigned int d_channel;
+    uint32_t d_channel;
 
     std::string d_dump_filename;
 
@@ -155,7 +160,7 @@ public:
     /*!
      * \brief Returns the maximum peak of grid search.
      */
-    inline unsigned int mag() const
+    inline uint32_t mag() const
     {
         return d_test_statistics;
     }
@@ -185,7 +190,7 @@ public:
      * \brief Set acquisition channel unique ID
      * \param channel - receiver channel.
      */
-    inline void set_channel(unsigned int channel)
+    inline void set_channel(uint32_t channel)
     {
         d_channel = channel;
     }
@@ -204,7 +209,7 @@ public:
      * \brief Set maximum Doppler grid search
      * \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
      */
-    inline void set_doppler_max(unsigned int doppler_max)
+    inline void set_doppler_max(uint32_t doppler_max)
     {
         d_doppler_max = doppler_max;
     }
@@ -213,7 +218,7 @@ public:
      * \brief Set Doppler steps for the grid search
      * \param doppler_step - Frequency bin of the search grid [Hz].
      */
-    void set_doppler_step(unsigned int doppler_step);
+    void set_doppler_step(uint32_t doppler_step);
 
     /*!
      * \brief Parallel Code Phase Search Acquisition signal processing.

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc

@@ -35,22 +35,24 @@
  */
 
 #include "pcps_cccwsr_acquisition_cc.h"
-#include <sstream>
+#include "control_message_factory.h"
-#include <utility>
+#include "GPS_L1_CA.h"  // GPS_TWO_PI
 #include <glog/logging.h>
 #include <gnuradio/io_signature.h>
 #include <volk/volk.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
-#include "control_message_factory.h"
+#include <sstream>
-#include "GPS_L1_CA.h"  //GPS_TWO_PI
+#include <utility>
-
 
 using google::LogMessage;
 
 pcps_cccwsr_acquisition_cc_sptr pcps_cccwsr_make_acquisition_cc(
-    unsigned int sampled_ms, unsigned int max_dwells,
+    uint32_t sampled_ms,
-    unsigned int doppler_max, long fs_in,
+    uint32_t max_dwells,
-    int samples_per_ms, int samples_per_code,
+    uint32_t doppler_max,
+    int64_t fs_in,
+    int32_t samples_per_ms,
+    int32_t samples_per_code,
     bool dump, std::string dump_filename)
 {
     return pcps_cccwsr_acquisition_cc_sptr(
@@ -58,10 +60,14 @@ pcps_cccwsr_acquisition_cc_sptr pcps_cccwsr_make_acquisition_cc(
             samples_per_ms, samples_per_code, dump, std::move(dump_filename)));
 }
 
+
 pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
-    unsigned int sampled_ms, unsigned int max_dwells,
+    uint32_t sampled_ms,
-    unsigned int doppler_max, long fs_in,
+    uint32_t max_dwells,
-    int samples_per_ms, int samples_per_code,
+    uint32_t doppler_max,
+    int64_t fs_in,
+    int32_t samples_per_ms,
+    int32_t samples_per_code,
     bool dump,
     std::string dump_filename) : gr::block("pcps_cccwsr_acquisition_cc",
                                      gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
@@ -116,7 +122,7 @@ pcps_cccwsr_acquisition_cc::~pcps_cccwsr_acquisition_cc()
 {
     if (d_num_doppler_bins > 0)
         {
-            for (unsigned int i = 0; i < d_num_doppler_bins; i++)
+            for (uint32_t i = 0; i < d_num_doppler_bins; i++)
                 {
                     volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
                 }
@@ -175,8 +181,8 @@ void pcps_cccwsr_acquisition_cc::init()
 
     // Count the number of bins
     d_num_doppler_bins = 0;
-    for (int doppler = static_cast<int>(-d_doppler_max);
+    for (auto doppler = static_cast<int32_t>(-d_doppler_max);
-         doppler <= static_cast<int>(d_doppler_max);
+         doppler <= static_cast<int32_t>(d_doppler_max);
          doppler += d_doppler_step)
         {
             d_num_doppler_bins++;
@@ -184,11 +190,11 @@ void pcps_cccwsr_acquisition_cc::init()
 
     // Create the carrier Doppler wipeoff signals
     d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
-    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+    for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
         {
             d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
 
-            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+            int32_t doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
             float phase_step_rad = GPS_TWO_PI * doppler / static_cast<float>(d_fs_in);
             float _phase[1];
             _phase[0] = 0;
@@ -197,7 +203,7 @@ void pcps_cccwsr_acquisition_cc::init()
 }
 
 
-void pcps_cccwsr_acquisition_cc::set_state(int state)
+void pcps_cccwsr_acquisition_cc::set_state(int32_t state)
 {
     d_state = state;
     if (d_state == 1)
@@ -225,7 +231,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
     gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
     gr_vector_void_star &output_items __attribute__((unused)))
 {
-    int acquisition_message = -1;  //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
+    int32_t acquisition_message = -1;  //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
 
     switch (d_state)
         {
@@ -254,7 +260,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
         case 1:
             {
                 // initialize acquisition algorithm
-                int doppler;
+                int32_t doppler;
 
                 uint32_t indext = 0;
                 uint32_t indext_plus = 0;
@@ -281,11 +287,11 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
                 d_input_power /= static_cast<float>(d_fft_size);
 
                 // 2- Doppler frequency search loop
-                for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+                for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
                     {
                         // doppler search steps
 
-                        doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+                        doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
 
                         volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in,
                             d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
@@ -320,7 +326,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
                         // d_data_correlation.
                         memcpy(d_pilot_correlation, d_ifft->get_outbuf(), sizeof(gr_complex) * d_fft_size);
 
-                        for (unsigned int i = 0; i < d_fft_size; i++)
+                        for (uint32_t i = 0; i < d_fft_size; i++)
                             {
                                 d_correlation_plus[i] = std::complex<float>(
                                     d_data_correlation[i].real() - d_pilot_correlation[i].imag(),

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h

@@ -50,10 +50,15 @@ class pcps_cccwsr_acquisition_cc;
 typedef boost::shared_ptr<pcps_cccwsr_acquisition_cc> pcps_cccwsr_acquisition_cc_sptr;
 
 pcps_cccwsr_acquisition_cc_sptr
-pcps_cccwsr_make_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells,
+pcps_cccwsr_make_acquisition_cc(
-    unsigned int doppler_max, long fs_in,
+    uint32_t sampled_ms,
-    int samples_per_ms, int samples_per_code,
+    uint32_t max_dwells,
-    bool dump, std::string dump_filename);
+    uint32_t doppler_max,
+    int64_t fs_in,
+    int32_t samples_per_ms,
+    int32_t samples_per_code,
+    bool dump,
+    std::string dump_filename);
 
 /*!
  * \brief This class implements a Parallel Code Phase Search Acquisition with
@@ -63,40 +68,40 @@ class pcps_cccwsr_acquisition_cc : public gr::block
 {
 private:
     friend pcps_cccwsr_acquisition_cc_sptr
-    pcps_cccwsr_make_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells,
+    pcps_cccwsr_make_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
-        unsigned int doppler_max, long fs_in,
+        uint32_t doppler_max, int64_t fs_in,
-        int samples_per_ms, int samples_per_code,
+        int32_t samples_per_ms, int32_t samples_per_code,
         bool dump, std::string dump_filename);
 
-    pcps_cccwsr_acquisition_cc(unsigned int sampled_ms, unsigned int max_dwells,
+    pcps_cccwsr_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
-        unsigned int doppler_max, long fs_in,
+        uint32_t doppler_max, int64_t fs_in,
-        int samples_per_ms, int samples_per_code,
+        int32_t samples_per_ms, int32_t samples_per_code,
         bool dump, std::string dump_filename);
 
-    void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
+    void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
-        int doppler_offset);
+        int32_t doppler_offset);
 
-    long d_fs_in;
+    int64_t d_fs_in;
-    int d_samples_per_ms;
+    int32_t d_samples_per_ms;
-    int d_samples_per_code;
+    int32_t d_samples_per_code;
-    unsigned int d_doppler_resolution;
+    uint32_t d_doppler_resolution;
     float d_threshold;
     std::string d_satellite_str;
-    unsigned int d_doppler_max;
+    uint32_t d_doppler_max;
-    unsigned int d_doppler_step;
+    uint32_t d_doppler_step;
-    unsigned int d_sampled_ms;
+    uint32_t d_sampled_ms;
-    unsigned int d_max_dwells;
+    uint32_t d_max_dwells;
-    unsigned int d_well_count;
+    uint32_t d_well_count;
-    unsigned int d_fft_size;
+    uint32_t d_fft_size;
     uint64_t d_sample_counter;
     gr_complex** d_grid_doppler_wipeoffs;
-    unsigned int d_num_doppler_bins;
+    uint32_t d_num_doppler_bins;
     gr_complex* d_fft_code_data;
     gr_complex* d_fft_code_pilot;
     gr::fft::fft_complex* d_fft_if;
     gr::fft::fft_complex* d_ifft;
     Gnss_Synchro* d_gnss_synchro;
-    unsigned int d_code_phase;
+    uint32_t d_code_phase;
     float d_doppler_freq;
     float d_mag;
     float* d_magnitude;
@@ -108,9 +113,9 @@ private:
     float d_test_statistics;
     std::ofstream d_dump_file;
     bool d_active;
-    int d_state;
+    int32_t d_state;
     bool d_dump;
-    unsigned int d_channel;
+    uint32_t d_channel;
     std::string d_dump_filename;
 
 public:
@@ -132,7 +137,7 @@ public:
     /*!
       * \brief Returns the maximum peak of grid search.
       */
-    inline unsigned int mag() const
+    inline uint32_t mag() const
     {
         return d_mag;
     }
@@ -164,13 +169,13 @@ public:
       * first available sample.
       * \param state - int=1 forces start of acquisition
       */
-    void set_state(int state);
+    void set_state(int32_t state);
 
     /*!
       * \brief Set acquisition channel unique ID
       * \param channel - receiver channel.
       */
-    inline void set_channel(unsigned int channel)
+    inline void set_channel(uint32_t channel)
     {
         d_channel = channel;
     }
@@ -189,7 +194,7 @@ public:
       * \brief Set maximum Doppler grid search
       * \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
       */
-    inline void set_doppler_max(unsigned int doppler_max)
+    inline void set_doppler_max(uint32_t doppler_max)
     {
         d_doppler_max = doppler_max;
     }
@@ -198,7 +203,7 @@ public:
       * \brief Set Doppler steps for the grid search
       * \param doppler_step - Frequency bin of the search grid [Hz].
       */
-    inline void set_doppler_step(unsigned int doppler_step)
+    inline void set_doppler_step(uint32_t doppler_step)
     {
         d_doppler_step = doppler_step;
     }

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc

@@ -43,10 +43,13 @@
 using google::LogMessage;
 
 pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
-    unsigned int folding_factor,
+    uint32_t folding_factor,
-    unsigned int sampled_ms, unsigned int max_dwells,
+    uint32_t sampled_ms,
-    unsigned int doppler_max, long fs_in,
+    uint32_t max_dwells,
-    int samples_per_ms, int samples_per_code,
+    uint32_t doppler_max,
+    int64_t fs_in,
+    int32_t samples_per_ms,
+    int32_t samples_per_code,
     bool bit_transition_flag,
     bool dump,
     std::string dump_filename)
@@ -63,10 +66,10 @@ pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
 
 
 pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
-    unsigned int folding_factor,
+    uint32_t folding_factor,
-    unsigned int sampled_ms, unsigned int max_dwells,
+    uint32_t sampled_ms, uint32_t max_dwells,
-    unsigned int doppler_max, long fs_in,
+    uint32_t doppler_max, int64_t fs_in,
-    int samples_per_ms, int samples_per_code,
+    int32_t samples_per_ms, int32_t samples_per_code,
     bool bit_transition_flag,
     bool dump,
     std::string dump_filename) : gr::block("pcps_quicksync_acquisition_cc",
@@ -97,7 +100,7 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
     d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_samples_per_code * d_folding_factor * sizeof(float), volk_gnsssdr_get_alignment()));
     d_magnitude_folded = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
 
-    d_possible_delay = new unsigned int[d_folding_factor];
+    d_possible_delay = new uint32_t[d_folding_factor];
     d_corr_output_f = new float[d_folding_factor];
 
     /*Create the d_code signal , which would store the values of the code in its
@@ -138,7 +141,7 @@ pcps_quicksync_acquisition_cc::~pcps_quicksync_acquisition_cc()
     //DLOG(INFO) << "START DESTROYER";
     if (d_num_doppler_bins > 0)
         {
-            for (unsigned int i = 0; i < d_num_doppler_bins; i++)
+            for (uint32_t i = 0; i < d_num_doppler_bins; i++)
                 {
                     volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
                 }
@@ -176,7 +179,7 @@ void pcps_quicksync_acquisition_cc::set_local_code(std::complex<float>* code)
     /*perform folding of the code by the factorial factor parameter. Notice that
     folding of the code in the time stage would result in a downsampled spectrum
     in the frequency domain after applying the fftw operation*/
-    for (unsigned int i = 0; i < d_folding_factor; i++)
+    for (uint32_t i = 0; i < d_folding_factor; i++)
         {
             std::transform((code + i * d_fft_size), (code + ((i + 1) * d_fft_size)),
                 d_fft_if->get_inbuf(), d_fft_if->get_inbuf(),
@@ -209,8 +212,8 @@ void pcps_quicksync_acquisition_cc::init()
 
     // Count the number of bins
     d_num_doppler_bins = 0;
-    for (int doppler = static_cast<int>(-d_doppler_max);
+    for (auto doppler = static_cast<int32_t>(-d_doppler_max);
-         doppler <= static_cast<int>(d_doppler_max);
+         doppler <= static_cast<int32_t>(d_doppler_max);
          doppler += d_doppler_step)
         {
             d_num_doppler_bins++;
@@ -218,10 +221,10 @@ void pcps_quicksync_acquisition_cc::init()
 
     // Create the carrier Doppler wipeoff signals
     d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
-    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+    for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
         {
             d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * d_folding_factor * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
-            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+            int32_t doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
             float phase_step_rad = GPS_TWO_PI * doppler / static_cast<float>(d_fs_in);
             float _phase[1];
             _phase[0] = 0;
@@ -231,7 +234,7 @@ void pcps_quicksync_acquisition_cc::init()
 }
 
 
-void pcps_quicksync_acquisition_cc::set_state(int state)
+void pcps_quicksync_acquisition_cc::set_state(int32_t state)
 {
     d_state = state;
     if (d_state == 1)
@@ -270,7 +273,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
      * 6. Declare positive or negative acquisition using a message queue
      */
     //DLOG(INFO) << "START GENERAL WORK";
-    int acquisition_message = -1;  //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
+    int32_t acquisition_message = -1;  //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
     //std::cout<<"general_work in quicksync gnuradio block"<<std::endl;
     switch (d_state)
         {
@@ -302,7 +305,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
             {
                 /* initialize acquisition  implementing the QuickSync algorithm*/
                 //DLOG(INFO) << "START CASE 1";
-                int doppler;
+                int32_t doppler;
                 uint32_t indext = 0;
                 float magt = 0.0;
                 const auto* in = reinterpret_cast<const gr_complex*>(input_items[0]);  //Get the input samples pointer
@@ -349,7 +352,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
                 volk_32f_accumulator_s32f(&d_input_power, d_magnitude, d_samples_per_code * d_folding_factor);
                 d_input_power /= static_cast<float>(d_samples_per_code * d_folding_factor);
 
-                for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+                for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
                     {
                         /*Ensure that the signal is going to start with all samples
                     at zero. This is done to avoid over acumulation when performing
@@ -360,7 +363,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
                         /*Doppler search steps and then multiplication of the incoming
                     signal with the doppler wipeoffs to eliminate frequency offset
                      */
-                        doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+                        doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
 
                         /*Perform multiplication of the incoming signal with the
                    complex exponential vector. This removes the frequency doppler
@@ -372,7 +375,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
                         /*Perform folding of the carrier wiped-off incoming signal. Since
                    superlinear method is being used the folding factor in the
                    incoming raw data signal is of d_folding_factor^2*/
-                        for (int i = 0; i < static_cast<int>(d_folding_factor * d_folding_factor); i++)
+                        for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor * d_folding_factor); i++)
                             {
                                 std::transform((in_temp + i * d_fft_size),
                                     (in_temp + ((i + 1) * d_fft_size)),
@@ -423,17 +426,17 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
                             restarted between consecutive dwells in multidwell operation.*/
                                 if (d_test_statistics < (d_mag / d_input_power) || !d_bit_transition_flag)
                                     {
-                                        unsigned int detected_delay_samples_folded = 0;
+                                        uint32_t detected_delay_samples_folded = 0;
                                         detected_delay_samples_folded = (indext % d_samples_per_code);
                                         gr_complex complex_acumulator[100];
                                         //gr_complex complex_acumulator[d_folding_factor];
 
-                                        for (int i = 0; i < static_cast<int>(d_folding_factor); i++)
+                                        for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++)
                                             {
                                                 d_possible_delay[i] = detected_delay_samples_folded + (i)*d_fft_size;
                                             }
 
-                                        for (int i = 0; i < static_cast<int>(d_folding_factor); i++)
+                                        for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++)
                                             {
                                                 /*Copy a signal of 1 code length into suggested buffer.
                                                                       The copied signal must have doppler effect corrected*/
@@ -447,7 +450,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
                                                               of a shift*/
                                                 volk_32fc_x2_multiply_32fc(corr_output, in_1code, d_code, d_samples_per_code);
 
-                                                for (int j = 0; j < d_samples_per_code; j++)
+                                                for (int32_t j = 0; j < d_samples_per_code; j++)
                                                     {
                                                         complex_acumulator[i] += (corr_output[j]);
                                                     }
@@ -532,7 +535,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
                 DLOG(INFO) << "test statistics threshold " << d_threshold;
                 DLOG(INFO) << "folding factor " << d_folding_factor;
                 DLOG(INFO) << "possible delay correlation output";
-                for (int i = 0; i < static_cast<int>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
+                for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
                 DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
                 DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
                 DLOG(INFO) << "magnitude folded " << d_mag;
@@ -561,7 +564,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
                 DLOG(INFO) << "test statistics threshold " << d_threshold;
                 DLOG(INFO) << "folding factor " << d_folding_factor;
                 DLOG(INFO) << "possible delay    corr output";
-                for (int i = 0; i < static_cast<int>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
+                for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor); i++) DLOG(INFO) << d_possible_delay[i] << "\t\t\t" << d_corr_output_f[i];
                 DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
                 DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
                 DLOG(INFO) << "magnitude folded " << d_mag;

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h

@@ -67,10 +67,14 @@ typedef boost::shared_ptr<pcps_quicksync_acquisition_cc>
     pcps_quicksync_acquisition_cc_sptr;
 
 pcps_quicksync_acquisition_cc_sptr
-pcps_quicksync_make_acquisition_cc(unsigned int folding_factor,
+pcps_quicksync_make_acquisition_cc(
-    unsigned int sampled_ms, unsigned int max_dwells,
+    uint32_t folding_factor,
-    unsigned int doppler_max, long fs_in,
+    uint32_t sampled_ms,
-    int samples_per_ms, int samples_per_code,
+    uint32_t max_dwells,
+    uint32_t doppler_max,
+    int64_t fs_in,
+    int32_t samples_per_ms,
+    int32_t samples_per_code,
     bool bit_transition_flag,
     bool dump,
     std::string dump_filename);
@@ -86,56 +90,56 @@ class pcps_quicksync_acquisition_cc : public gr::block
 {
 private:
     friend pcps_quicksync_acquisition_cc_sptr
-    pcps_quicksync_make_acquisition_cc(unsigned int folding_factor,
+    pcps_quicksync_make_acquisition_cc(uint32_t  folding_factor,
-        unsigned int sampled_ms, unsigned int max_dwells,
+        uint32_t  sampled_ms, uint32_t  max_dwells,
-        unsigned int doppler_max, long fs_in,
+        uint32_t  doppler_max, int64_t  fs_in,
-        int samples_per_ms, int samples_per_code,
+        int32_t samples_per_ms, int32_t samples_per_code,
         bool bit_transition_flag,
         bool dump,
         std::string dump_filename);
 
-    pcps_quicksync_acquisition_cc(unsigned int folding_factor,
+    pcps_quicksync_acquisition_cc(uint32_t  folding_factor,
-        unsigned int sampled_ms, unsigned int max_dwells,
+        uint32_t  sampled_ms, uint32_t  max_dwells,
-        unsigned int doppler_max, long fs_in,
+        uint32_t  doppler_max, int64_t  fs_in,
-        int samples_per_ms, int samples_per_code,
+        int32_t samples_per_ms, int32_t samples_per_code,
         bool bit_transition_flag,
         bool dump,
         std::string dump_filename);
 
-    void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
+    void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
-        int doppler_offset);
+        int32_t doppler_offset);
 
     gr_complex* d_code;
-    unsigned int d_folding_factor;  // also referred in the paper as 'p'
+    uint32_t  d_folding_factor;  // also referred in the paper as 'p'
     float* d_corr_acumulator;
-    unsigned int* d_possible_delay;
+    uint32_t * d_possible_delay;
     float* d_corr_output_f;
     float* d_magnitude_folded;
     gr_complex* d_signal_folded;
     gr_complex* d_code_folded;
     float d_noise_floor_power;
 
-    long d_fs_in;
+    int64_t  d_fs_in;
-    int d_samples_per_ms;
+    int32_t d_samples_per_ms;
-    int d_samples_per_code;
+    int32_t d_samples_per_code;
-    unsigned int d_doppler_resolution;
+    uint32_t  d_doppler_resolution;
     float d_threshold;
     std::string d_satellite_str;
-    unsigned int d_doppler_max;
+    uint32_t  d_doppler_max;
-    unsigned int d_doppler_step;
+    uint32_t  d_doppler_step;
-    unsigned int d_sampled_ms;
+    uint32_t  d_sampled_ms;
-    unsigned int d_max_dwells;
+    uint32_t  d_max_dwells;
-    unsigned int d_well_count;
+    uint32_t  d_well_count;
-    unsigned int d_fft_size;
+    uint32_t  d_fft_size;
     uint64_t d_sample_counter;
     gr_complex** d_grid_doppler_wipeoffs;
-    unsigned int d_num_doppler_bins;
+    uint32_t  d_num_doppler_bins;
     gr_complex* d_fft_codes;
     gr::fft::fft_complex* d_fft_if;
     gr::fft::fft_complex* d_fft_if2;
     gr::fft::fft_complex* d_ifft;
     Gnss_Synchro* d_gnss_synchro;
-    unsigned int d_code_phase;
+    uint32_t  d_code_phase;
     float d_doppler_freq;
     float d_mag;
     float* d_magnitude;
@@ -144,9 +148,9 @@ private:
     bool d_bit_transition_flag;
     std::ofstream d_dump_file;
     bool d_active;
-    int d_state;
+    int32_t d_state;
     bool d_dump;
-    unsigned int d_channel;
+    uint32_t  d_channel;
     std::string d_dump_filename;
 
 public:
@@ -168,7 +172,7 @@ public:
     /*!
      * \brief Returns the maximum peak of grid search.
      */
-    inline unsigned int mag() const
+    inline uint32_t  mag() const
     {
         return d_mag;
     }
@@ -199,13 +203,13 @@ public:
      * first available sample.
      * \param state - int=1 forces start of acquisition
      */
-    void set_state(int state);
+    void set_state(int32_t state);
 
     /*!
      * \brief Set acquisition channel unique ID
      * \param channel - receiver channel.
      */
-    inline void set_channel(unsigned int channel)
+    inline void set_channel(uint32_t  channel)
     {
         d_channel = channel;
     }
@@ -224,7 +228,7 @@ public:
      * \brief Set maximum Doppler grid search
      * \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
      */
-    inline void set_doppler_max(unsigned int doppler_max)
+    inline void set_doppler_max(uint32_t  doppler_max)
     {
         d_doppler_max = doppler_max;
     }
@@ -233,7 +237,7 @@ public:
      * \brief Set Doppler steps for the grid search
      * \param doppler_step - Frequency bin of the search grid [Hz].
      */
-    inline void set_doppler_step(unsigned int doppler_step)
+    inline void set_doppler_step(uint32_t  doppler_step)
     {
         d_doppler_step = doppler_step;
     }

src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc

@@ -61,10 +61,14 @@
 using google::LogMessage;
 
 pcps_tong_acquisition_cc_sptr pcps_tong_make_acquisition_cc(
-    unsigned int sampled_ms, unsigned int doppler_max,
+    uint32_t sampled_ms,
-    long fs_in, int samples_per_ms,
+    uint32_t doppler_max,
-    int samples_per_code, unsigned int tong_init_val,
+    int64_t fs_in,
-    unsigned int tong_max_val, unsigned int tong_max_dwells,
+    int32_t samples_per_ms,
+    int32_t samples_per_code,
+    uint32_t tong_init_val,
+    uint32_t tong_max_val,
+    uint32_t tong_max_dwells,
     bool dump, std::string dump_filename)
 {
     return pcps_tong_acquisition_cc_sptr(
@@ -73,10 +77,14 @@ pcps_tong_acquisition_cc_sptr pcps_tong_make_acquisition_cc(
 }
 
 pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
-    unsigned int sampled_ms, unsigned int doppler_max,
+    uint32_t sampled_ms,
-    long fs_in, int samples_per_ms,
+    uint32_t doppler_max,
-    int samples_per_code, unsigned int tong_init_val,
+    int64_t fs_in,
-    unsigned int tong_max_val, unsigned int tong_max_dwells,
+    int32_t samples_per_ms,
+    int32_t samples_per_code,
+    uint32_t tong_init_val,
+    uint32_t tong_max_val,
+    uint32_t tong_max_dwells,
     bool dump,
     std::string dump_filename) : gr::block("pcps_tong_acquisition_cc",
                                      gr::io_signature::make(1, 1, sizeof(gr_complex) * sampled_ms * samples_per_ms),
@@ -130,7 +138,7 @@ pcps_tong_acquisition_cc::~pcps_tong_acquisition_cc()
 {
     if (d_num_doppler_bins > 0)
         {
-            for (unsigned int i = 0; i < d_num_doppler_bins; i++)
+            for (uint32_t i = 0; i < d_num_doppler_bins; i++)
                 {
                     volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
                     volk_gnsssdr_free(d_grid_data[i]);
@@ -176,8 +184,8 @@ void pcps_tong_acquisition_cc::init()
 
     // Count the number of bins
     d_num_doppler_bins = 0;
-    for (int doppler = static_cast<int>(-d_doppler_max);
+    for (auto doppler = static_cast<int32_t>(-d_doppler_max);
-         doppler <= static_cast<int>(d_doppler_max);
+         doppler <= static_cast<int32_t>(d_doppler_max);
          doppler += d_doppler_step)
         {
             d_num_doppler_bins++;
@@ -186,11 +194,11 @@ void pcps_tong_acquisition_cc::init()
     // Create the carrier Doppler wipeoff signals and allocate data grid.
     d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
     d_grid_data = new float *[d_num_doppler_bins];
-    for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+    for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
         {
             d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
 
-            int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+            int32_t doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
             float phase_step_rad = GPS_TWO_PI * doppler / static_cast<float>(d_fs_in);
             float _phase[1];
             _phase[0] = 0;
@@ -198,14 +206,14 @@ void pcps_tong_acquisition_cc::init()
 
             d_grid_data[doppler_index] = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
 
-            for (unsigned int i = 0; i < d_fft_size; i++)
+            for (uint32_t i = 0; i < d_fft_size; i++)
                 {
                     d_grid_data[doppler_index][i] = 0;
                 }
         }
 }
 
-void pcps_tong_acquisition_cc::set_state(int state)
+void pcps_tong_acquisition_cc::set_state(int32_t state)
 {
     d_state = state;
     if (d_state == 1)
@@ -220,9 +228,9 @@ void pcps_tong_acquisition_cc::set_state(int state)
             d_input_power = 0.0;
             d_test_statistics = 0.0;
 
-            for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+            for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
                 {
-                    for (unsigned int i = 0; i < d_fft_size; i++)
+                    for (uint32_t i = 0; i < d_fft_size; i++)
                         {
                             d_grid_data[doppler_index][i] = 0;
                         }
@@ -241,7 +249,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
     gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
     gr_vector_void_star &output_items __attribute__((unused)))
 {
-    int acquisition_message = -1;  //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
+    int32_t acquisition_message = -1;  //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
 
     switch (d_state)
         {
@@ -260,9 +268,9 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
                         d_input_power = 0.0;
                         d_test_statistics = 0.0;
 
-                        for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+                        for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
                             {
-                                for (unsigned int i = 0; i < d_fft_size; i++)
+                                for (uint32_t i = 0; i < d_fft_size; i++)
                                     {
                                         d_grid_data[doppler_index][i] = 0;
                                     }
@@ -280,7 +288,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
         case 1:
             {
                 // initialize acquisition algorithm
-                int doppler;
+                int32_t doppler;
                 uint32_t indext = 0;
                 float magt = 0.0;
                 const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]);  //Get the input samples pointer
@@ -304,11 +312,11 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
                 d_input_power /= static_cast<float>(d_fft_size);
 
                 // 2- Doppler frequency search loop
-                for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
+                for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
                     {
                         // doppler search steps
 
-                        doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
+                        doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
 
                         volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in,
                             d_grid_doppler_wipeoffs[doppler_index], d_fft_size);

src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h

@@ -64,11 +64,17 @@ class pcps_tong_acquisition_cc;
 typedef boost::shared_ptr<pcps_tong_acquisition_cc> pcps_tong_acquisition_cc_sptr;
 
 pcps_tong_acquisition_cc_sptr
-pcps_tong_make_acquisition_cc(unsigned int sampled_ms, unsigned int doppler_max,
+pcps_tong_make_acquisition_cc(
-    long fs_in, int samples_per_ms,
+    uint32_t sampled_ms,
-    int samples_per_code, unsigned int tong_init_val,
+    uint32_t doppler_max,
-    unsigned int tong_max_val, unsigned int tong_max_dwells,
+    int64_t fs_in,
-    bool dump, std::string dump_filename);
+    int32_t samples_per_ms,
+    int32_t samples_per_code,
+    uint32_t tong_init_val,
+    uint32_t tong_max_val,
+    uint32_t tong_max_dwells,
+    bool dump,
+    std::string dump_filename);
 
 /*!
  * \brief This class implements a Parallel Code Phase Search Acquisition with
@@ -78,45 +84,45 @@ class pcps_tong_acquisition_cc : public gr::block
 {
 private:
     friend pcps_tong_acquisition_cc_sptr
-    pcps_tong_make_acquisition_cc(unsigned int sampled_ms, unsigned int doppler_max,
+    pcps_tong_make_acquisition_cc(uint32_t sampled_ms, uint32_t doppler_max,
-        long fs_in, int samples_per_ms,
+        int64_t fs_in, int32_t samples_per_ms,
-        int samples_per_code, unsigned int tong_init_val,
+        int32_t samples_per_code, uint32_t tong_init_val,
-        unsigned int tong_max_val, unsigned int tong_max_dwells,
+        uint32_t tong_max_val, uint32_t tong_max_dwells,
         bool dump, std::string dump_filename);
 
-    pcps_tong_acquisition_cc(unsigned int sampled_ms, unsigned int doppler_max,
+    pcps_tong_acquisition_cc(uint32_t sampled_ms, uint32_t doppler_max,
-        long fs_in, int samples_per_ms,
+        int64_t fs_in, int32_t samples_per_ms,
-        int samples_per_code, unsigned int tong_init_val,
+        int32_t samples_per_code, uint32_t tong_init_val,
-        unsigned int tong_max_val, unsigned int tong_max_dwells,
+        uint32_t tong_max_val, uint32_t tong_max_dwells,
         bool dump, std::string dump_filename);
 
-    void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
+    void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
-        int doppler_offset);
+        int32_t doppler_offset);
 
-    long d_fs_in;
+    int64_t d_fs_in;
-    int d_samples_per_ms;
+    int32_t d_samples_per_ms;
-    int d_samples_per_code;
+    int32_t d_samples_per_code;
-    unsigned int d_doppler_resolution;
+    uint32_t d_doppler_resolution;
     float d_threshold;
     std::string d_satellite_str;
-    unsigned int d_doppler_max;
+    uint32_t d_doppler_max;
-    unsigned int d_doppler_step;
+    uint32_t d_doppler_step;
-    unsigned int d_sampled_ms;
+    uint32_t d_sampled_ms;
-    unsigned int d_dwell_count;
+    uint32_t d_dwell_count;
-    unsigned int d_tong_count;
+    uint32_t d_tong_count;
-    unsigned int d_tong_init_val;
+    uint32_t d_tong_init_val;
-    unsigned int d_tong_max_val;
+    uint32_t d_tong_max_val;
-    unsigned int d_tong_max_dwells;
+    uint32_t d_tong_max_dwells;
-    unsigned int d_fft_size;
+    uint32_t d_fft_size;
     uint64_t d_sample_counter;
     gr_complex** d_grid_doppler_wipeoffs;
-    unsigned int d_num_doppler_bins;
+    uint32_t d_num_doppler_bins;
     gr_complex* d_fft_codes;
     float** d_grid_data;
     gr::fft::fft_complex* d_fft_if;
     gr::fft::fft_complex* d_ifft;
     Gnss_Synchro* d_gnss_synchro;
-    unsigned int d_code_phase;
+    uint32_t d_code_phase;
     float d_doppler_freq;
     float d_mag;
     float* d_magnitude;
@@ -124,9 +130,9 @@ private:
     float d_test_statistics;
     std::ofstream d_dump_file;
     bool d_active;
-    int d_state;
+    int32_t d_state;
     bool d_dump;
-    unsigned int d_channel;
+    uint32_t d_channel;
     std::string d_dump_filename;
 
 public:
@@ -148,7 +154,7 @@ public:
     /*!
       * \brief Returns the maximum peak of grid search.
       */
-    inline unsigned int mag() const
+    inline uint32_t mag() const
     {
         return d_mag;
     }
@@ -179,13 +185,13 @@ public:
       * first available sample.
       * \param state - int=1 forces start of acquisition
       */
-    void set_state(int state);
+    void set_state(int32_t state);
 
     /*!
       * \brief Set acquisition channel unique ID
       * \param channel - receiver channel.
       */
-    inline void set_channel(unsigned int channel)
+    inline void set_channel(uint32_t channel)
     {
         d_channel = channel;
     }
@@ -204,7 +210,7 @@ public:
       * \brief Set maximum Doppler grid search
       * \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
       */
-    inline void set_doppler_max(unsigned int doppler_max)
+    inline void set_doppler_max(uint32_t doppler_max)
     {
         d_doppler_max = doppler_max;
     }
@@ -213,7 +219,7 @@ public:
       * \brief Set Doppler steps for the grid search
       * \param doppler_step - Frequency bin of the search grid [Hz].
       */
-    inline void set_doppler_step(unsigned int doppler_step)
+    inline void set_doppler_step(uint32_t doppler_step)
     {
         d_doppler_step = doppler_step;
     }

src/algorithms/data_type_adapter/adapters/byte_to_short.cc

@@ -31,7 +31,7 @@
 #include "byte_to_short.h"
 #include "configuration_interface.h"
 #include <glog/logging.h>
-
+#include <cstdint>
 #include <utility>
 
 
@@ -51,7 +51,7 @@ ByteToShort::ByteToShort(ConfigurationInterface* configuration, std::string role
     dump_ = config_->property(role_ + ".dump", false);
     dump_filename_ = config_->property(role_ + ".dump_filename", default_dump_filename);
 
-    size_t item_size = sizeof(short);
+    size_t item_size = sizeof(int16_t);
 
     gr_char_to_short_ = gr::blocks::char_to_short::make();
 

src/algorithms/input_filter/adapters/fir_filter.cc

@@ -287,15 +287,15 @@ gr::basic_block_sptr FirFilter::get_left_block()
         {
             return cshort_to_float_x2_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "cbyte") && (output_item_type_ == "gr_complex"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "cbyte") && (output_item_type_ == "gr_complex"))
         {
             return cbyte_to_float_x2_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "cbyte") && (output_item_type_ == "cbyte"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "cbyte") && (output_item_type_ == "cbyte"))
         {
             return cbyte_to_float_x2_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "cshort") && (output_item_type_ == "gr_complex"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "cshort") && (output_item_type_ == "gr_complex"))
         {
             return cshort_to_float_x2_;
         }
@@ -317,15 +317,15 @@ gr::basic_block_sptr FirFilter::get_right_block()
         {
             return short_x2_to_cshort_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "cbyte") && (output_item_type_ == "gr_complex"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "cbyte") && (output_item_type_ == "gr_complex"))
         {
             return float_to_complex_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "cbyte") && (output_item_type_ == "cbyte"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "cbyte") && (output_item_type_ == "cbyte"))
         {
             return char_x2_cbyte_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "cshort") && (output_item_type_ == "gr_complex"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "cshort") && (output_item_type_ == "gr_complex"))
         {
             return float_to_complex_;
         }

src/algorithms/input_filter/adapters/freq_xlating_fir_filter.cc

@@ -327,15 +327,15 @@ gr::basic_block_sptr FreqXlatingFirFilter::get_left_block()
         {
             return freq_xlating_fir_filter_fcf_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "short") && (output_item_type_ == "gr_complex"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "short") && (output_item_type_ == "gr_complex"))
         {
             return freq_xlating_fir_filter_scf_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "short") && (output_item_type_ == "cshort"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "short") && (output_item_type_ == "cshort"))
         {
             return freq_xlating_fir_filter_scf_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "byte") && (output_item_type_ == "gr_complex"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "byte") && (output_item_type_ == "gr_complex"))
         {
             return gr_char_to_short_;
         }
@@ -361,15 +361,15 @@ gr::basic_block_sptr FreqXlatingFirFilter::get_right_block()
         {
             return freq_xlating_fir_filter_fcf_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "short") && (output_item_type_ == "gr_complex"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "short") && (output_item_type_ == "gr_complex"))
         {
             return freq_xlating_fir_filter_scf_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "short") && (output_item_type_ == "cshort"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "short") && (output_item_type_ == "cshort"))
         {
             return short_x2_to_cshort_;
         }
-    else if ((taps_item_type_ == "float") && (input_item_type_ == "byte") && (output_item_type_ == "gr_complex"))
+    if ((taps_item_type_ == "float") && (input_item_type_ == "byte") && (output_item_type_ == "gr_complex"))
         {
             return freq_xlating_fir_filter_scf_;
         }

src/algorithms/input_filter/adapters/pulse_blanking_filter.cc

@@ -160,11 +160,8 @@ gr::basic_block_sptr PulseBlankingFilter::get_left_block()
                 }
             return pulse_blanking_cc_;
         }
-    else
+    LOG(ERROR) << " Unknown input filter input/output item type conversion";
-        {
+    return nullptr;
-            LOG(ERROR) << " Unknown input filter input/output item type conversion";
-            return nullptr;
-        }
 }
 
 

src/algorithms/input_filter/gnuradio_blocks/beamformer.cc

@@ -49,7 +49,7 @@ beamformer::beamformer()
 {
     //initialize weight vector
 
-    if (posix_memalign((void **)&weight_vector, 16, GNSS_SDR_BEAMFORMER_CHANNELS * sizeof(gr_complex)) == 0)
+    if (posix_memalign(reinterpret_cast<void **>(&weight_vector), 16, GNSS_SDR_BEAMFORMER_CHANNELS * sizeof(gr_complex)) == 0)
         {
         };
 

src/algorithms/libs/galileo_e5_signal_processing.cc

@@ -119,7 +119,7 @@ void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Sig
     if (_fs != _codeFreqBasis)
         {
             std::complex<float>* _resampled_signal;
-            if (posix_memalign((void**)&_resampled_signal, 16, _samplesPerCode * sizeof(gr_complex)) == 0)
+            if (posix_memalign(reinterpret_cast<void**>(&_resampled_signal), 16, _samplesPerCode * sizeof(gr_complex)) == 0)
                 {
                 };
             resampler(_code, _resampled_signal, _codeFreqBasis, _fs, _codeLength, _samplesPerCode);  // resamples code to fs

src/algorithms/libs/gnss_sdr_flags.cc

@@ -69,7 +69,7 @@ DEFINE_double(pll_bw_hz, 0.0, "If defined, bandwidth of the PLL low pass filter,
 
 static bool ValidateC(const char* flagname, const std::string& value)
 {
-    if (boost::filesystem::exists(value) or value.compare("-") == 0)  // value is ok
+    if (boost::filesystem::exists(value) or value == "-")  // value is ok
         return true;
     std::cout << "Invalid value for flag -" << flagname << ". The file '" << value << "' does not exist." << std::endl;
     std::cout << "GNSS-SDR program ended." << std::endl;
@@ -78,7 +78,7 @@ static bool ValidateC(const char* flagname, const std::string& value)
 
 static bool ValidateConfigFile(const char* flagname, const std::string& value)
 {
-    if (boost::filesystem::exists(value) or value.compare(std::string(GNSSSDR_INSTALL_DIR "/share/gnss-sdr/conf/default.conf")) == 0)  // value is ok
+    if (boost::filesystem::exists(value) or value == std::string(GNSSSDR_INSTALL_DIR "/share/gnss-sdr/conf/default.conf"))  // value is ok
         return true;
     std::cout << "Invalid value for flag -" << flagname << ". The file '" << value << "' does not exist." << std::endl;
     std::cout << "GNSS-SDR program ended." << std::endl;
@@ -87,7 +87,7 @@ static bool ValidateConfigFile(const char* flagname, const std::string& value)
 
 static bool ValidateS(const char* flagname, const std::string& value)
 {
-    if (boost::filesystem::exists(value) or value.compare("-") == 0)  // value is ok
+    if (boost::filesystem::exists(value) or value == "-")  // value is ok
         return true;
     std::cout << "Invalid value for flag -" << flagname << ". The file '" << value << "' does not exist." << std::endl;
     std::cout << "GNSS-SDR program ended." << std::endl;
@@ -96,7 +96,7 @@ static bool ValidateS(const char* flagname, const std::string& value)
 
 static bool ValidateSignalSource(const char* flagname, const std::string& value)
 {
-    if (boost::filesystem::exists(value) or value.compare("-") == 0)  // value is ok
+    if (boost::filesystem::exists(value) or value == "-")  // value is ok
         return true;
     std::cout << "Invalid value for flag -" << flagname << ". The file '" << value << "' does not exist." << std::endl;
     std::cout << "GNSS-SDR program ended." << std::endl;

src/algorithms/libs/gnss_sdr_valve.cc

@@ -40,7 +40,7 @@
 #include <utility>
 
 gnss_sdr_valve::gnss_sdr_valve(size_t sizeof_stream_item,
-    unsigned long long nitems,
+    uint64_t nitems,
     gr::msg_queue::sptr queue,
     bool stop_flowgraph) : gr::sync_block("valve",
                                gr::io_signature::make(1, 1, sizeof_stream_item),
@@ -54,14 +54,14 @@ gnss_sdr_valve::gnss_sdr_valve(size_t sizeof_stream_item,
 }
 
 
-boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item, unsigned long long nitems, gr::msg_queue::sptr queue, bool stop_flowgraph)
+boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item, uint64_t nitems, gr::msg_queue::sptr queue, bool stop_flowgraph)
 {
     boost::shared_ptr<gnss_sdr_valve> valve_(new gnss_sdr_valve(sizeof_stream_item, nitems, std::move(queue), stop_flowgraph));
     return valve_;
 }
 
 
-boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item, unsigned long long nitems, gr::msg_queue::sptr queue)
+boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item, uint64_t nitems, gr::msg_queue::sptr queue)
 {
     boost::shared_ptr<gnss_sdr_valve> valve_(new gnss_sdr_valve(sizeof_stream_item, nitems, std::move(queue), true));
     return valve_;
@@ -93,7 +93,7 @@ int gnss_sdr_valve::work(int noutput_items,
                     usleep(1000000);
                     return 0;  // do not produce or consume
                 }
-            unsigned long long n = std::min(d_nitems - d_ncopied_items, static_cast<long long unsigned int>(noutput_items));
+            uint64_t n = std::min(d_nitems - d_ncopied_items, static_cast<uint64_t>(noutput_items));
             if (n == 0) return 0;
             memcpy(output_items[0], input_items[0], n * input_signature()->sizeof_stream_item(0));
             d_ncopied_items += n;

src/algorithms/libs/gnss_sdr_valve.h

@@ -37,13 +37,14 @@
 #include <gnuradio/sync_block.h>
 #include <gnuradio/msg_queue.h>
 #include <boost/shared_ptr.hpp>
+#include <cstdint>
 
 boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item,
-    unsigned long long nitems,
+    uint64_t nitems,
     gr::msg_queue::sptr queue);
 
 boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item,
-    unsigned long long nitems,
+    uint64_t nitems,
     gr::msg_queue::sptr queue,
     bool stop_flowgraph);
 
@@ -54,22 +55,22 @@ boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item,
 class gnss_sdr_valve : public gr::sync_block
 {
     friend boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item,
-        unsigned long long nitems,
+        uint64_t nitems,
         gr::msg_queue::sptr queue);
     friend boost::shared_ptr<gr::block> gnss_sdr_make_valve(size_t sizeof_stream_item,
-        unsigned long long nitems,
+        uint64_t nitems,
         gr::msg_queue::sptr queue,
         bool stop_flowgraph);
 
-    unsigned long long d_nitems;
+    uint64_t d_nitems;
-    unsigned long long d_ncopied_items;
+    uint64_t d_ncopied_items;
     gr::msg_queue::sptr d_queue;
     bool d_stop_flowgraph;
     bool d_open_valve;
 
 public:
     gnss_sdr_valve(size_t sizeof_stream_item,
-        unsigned long long nitems,
+        uint64_t nitems,
         gr::msg_queue::sptr queue, bool stop_flowgraph);
     void open_valve();
 

src/algorithms/libs/pass_through.cc

@@ -153,15 +153,12 @@ gr::basic_block_sptr Pass_Through::get_left_block()
                 {
                     return conjugate_sc_;
                 }
-            else if (item_type_ == "cbyte")
+            if (item_type_ == "cbyte")
                 {
                     return conjugate_ic_;
                 }
-            else
+            LOG(WARNING) << "Setting inverted_spectrum to true with item_type "
-                {
+                         << item_type_ << " is not defined and has no effect.";
-                    LOG(WARNING) << "Setting inverted_spectrum to true with item_type "
-                                 << item_type_ << " is not defined and has no effect.";
-                }
         }
 
     return kludge_copy_;
@@ -180,15 +177,12 @@ gr::basic_block_sptr Pass_Through::get_right_block()
                 {
                     return conjugate_sc_;
                 }
-            else if (item_type_ == "cbyte")
+            if (item_type_ == "cbyte")
                 {
                     return conjugate_ic_;
                 }
-            else
+            DLOG(WARNING) << "Setting inverted_spectrum to true with item_type "
-                {
+                          << item_type_ << " is not defined and has no effect.";
-                    DLOG(WARNING) << "Setting inverted_spectrum to true with item_type "
-                                  << item_type_ << " is not defined and has no effect.";
-                }
         }
 
     return kludge_copy_;

src/algorithms/libs/rtklib/rtklib.h

@@ -63,6 +63,7 @@
 #include <cstdarg>
 #include <cstdio>
 #include <cstdlib>
+#include <cstdint>
 
 
 /* macros --------------------------------------------------------------------*/

src/algorithms/libs/rtklib/rtklib_ionex.cc

@@ -66,7 +66,7 @@ int getindex(double value, const double *range)
     if (range[2] == 0.0) return 0;
     if (range[1] > 0.0 && (value < range[0] || range[1] < value)) return -1;
     if (range[1] < 0.0 && (value < range[1] || range[0] < value)) return -1;
-    return (int)floor((value - range[0]) / range[2] + 0.5);
+    return static_cast<int>(floor((value - range[0]) / range[2] + 0.5));
 }
 
 
@@ -103,7 +103,7 @@ tec_t *addtec(const double *lats, const double *lons, const double *hgts,
     if (nav->nt >= nav->ntmax)
         {
             nav->ntmax += 256;
-            if (!(nav_tec = (tec_t *)realloc(nav->tec, sizeof(tec_t) * nav->ntmax)))
+            if (!(nav_tec = static_cast<tec_t *>(realloc(nav->tec, sizeof(tec_t) * nav->ntmax))))
                 {
                     trace(1, "readionex malloc error ntmax=%d\n", nav->ntmax);
                     free(nav->tec);
@@ -125,8 +125,8 @@ tec_t *addtec(const double *lats, const double *lons, const double *hgts,
         }
     n = ndata[0] * ndata[1] * ndata[2];
 
-    if (!(p->data = (double *)malloc(sizeof(double) * n)) ||
+    if (!(p->data = static_cast<double *>(malloc(sizeof(double) * n))) ||
-        !(p->rms = (float *)malloc(sizeof(float) * n)))
+        !(p->rms = static_cast<float *>(malloc(sizeof(float) * n))))
         {
             return nullptr;
         }
@@ -310,7 +310,7 @@ int readionexb(FILE *fp, const double *lats, const double *lons,
                             if (type == 1)
                                 p->data[index] = x * std::pow(10.0, nexp);
                             else
-                                p->rms[index] = (float)(x * std::pow(10.0, nexp));
+                                p->rms[index] = static_cast<float>(x * std::pow(10.0, nexp));
                         }
                 }
         }
@@ -384,7 +384,7 @@ void readtec(const char *file, nav_t *nav, int opt)
         }
     for (i = 0; i < MAXEXFILE; i++)
         {
-            if (!(efiles[i] = (char *)malloc(1024)))
+            if (!(efiles[i] = static_cast<char *>(malloc(1024))))
                 {
                     for (i--; i >= 0; i--) free(efiles[i]);
                     return;
@@ -395,7 +395,7 @@ void readtec(const char *file, nav_t *nav, int opt)
 
     for (i = 0; i < n; i++)
         {
-            if (!(fp = fopen(efiles[i], "r")))
+            if (!(fp = fopen(efiles[i], "re")))
                 {
                     trace(2, "ionex file open error %s\n", efiles[i]);
                     continue;
@@ -447,9 +447,9 @@ int interptec(const tec_t *tec, int k, const double *posp, double *value,
 
     a = dlat / tec->lats[2];
     b = dlon / tec->lons[2];
-    i = (int)floor(a);
+    i = static_cast<int>(floor(a));
     a -= i;
-    j = (int)floor(b);
+    j = static_cast<int>(floor(b));
     b -= j;
 
     /* get gridded tec data */

src/algorithms/libs/rtklib/rtklib_lambda.cc

@@ -84,10 +84,10 @@ void gauss(int n, double *L, double *Z, int i, int j)
 {
     int k, mu;
 
-    if ((mu = (int)ROUND_LAMBDA(L[i + j * n])) != 0)
+    if ((mu = static_cast<int>ROUND_LAMBDA(L[i + j * n])) != 0)
         {
-            for (k = i; k < n; k++) L[k + n * j] -= (double)mu * L[k + i * n];
+            for (k = i; k < n; k++) L[k + n * j] -= static_cast<double>(mu) * L[k + i * n];
-            for (k = 0; k < n; k++) Z[k + n * j] -= (double)mu * Z[k + i * n];
+            for (k = 0; k < n; k++) Z[k + n * j] -= static_cast<double>(mu) * Z[k + i * n];
         }
 }
 

src/algorithms/libs/rtklib/rtklib_pntpos.cc

@@ -609,11 +609,11 @@ int estpos(const obsd_t *obs, int n, const double *rs, const double *dts,
                     sol->dtr[2] = x[5] / SPEED_OF_LIGHT; /* gal-gps time offset (s) */
                     sol->dtr[3] = x[6] / SPEED_OF_LIGHT; /* bds-gps time offset (s) */
                     for (j = 0; j < 6; j++) sol->rr[j] = j < 3 ? x[j] : 0.0;
-                    for (j = 0; j < 3; j++) sol->qr[j] = (float)Q[j + j * NX];
+                    for (j = 0; j < 3; j++) sol->qr[j] = static_cast<float>(Q[j + j * NX]);
-                    sol->qr[3] = (float)Q[1];      /* cov xy */
+                    sol->qr[3] = static_cast<float>(Q[1]);      /* cov xy */
-                    sol->qr[4] = (float)Q[2 + NX]; /* cov yz */
+                    sol->qr[4] = static_cast<float>(Q[2 + NX]); /* cov yz */
-                    sol->qr[5] = (float)Q[2];      /* cov zx */
+                    sol->qr[5] = static_cast<float>(Q[2]);      /* cov zx */
-                    sol->ns = (unsigned char)ns;
+                    sol->ns = static_cast<unsigned char>(ns);
                     sol->age = sol->ratio = 0.0;
 
                     /* validate solution */
@@ -652,7 +652,7 @@ int raim_fde(const obsd_t *obs, int n, const double *rs,
 
     trace(3, "raim_fde: %s n=%2d\n", time_str(obs[0].time, 0), n);
 
-    if (!(obs_e = (obsd_t *)malloc(sizeof(obsd_t) * n))) return 0;
+    if (!(obs_e = static_cast<obsd_t *>(malloc(sizeof(obsd_t) * n)))) return 0;
     rs_e = mat(6, n);
     dts_e = mat(2, n);
     vare_e = mat(1, n);

src/algorithms/libs/rtklib/rtklib_ppp.cc

@@ -518,7 +518,7 @@ int fix_amb_ILS(rtk_t *rtk, int *sat1, int *sat2, int *NW, int n)
             return 0;
         }
 
-    rtk->sol.ratio = (float)(MIN_PPP(s[1] / s[0], 999.9));
+    rtk->sol.ratio = static_cast<float>(MIN_PPP(s[1] / s[0], 999.9));
 
     /* varidation by ratio-test */
     if (rtk->opt.thresar[0] > 0.0 && rtk->sol.ratio < rtk->opt.thresar[0])
@@ -1113,7 +1113,7 @@ void udbias_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
     /* reset phase-bias if expire obs outage counter */
     for (i = 0; i < MAXSAT; i++)
         {
-            if (++rtk->ssat[i].outc[0] > (unsigned int)rtk->opt.maxout)
+            if (++rtk->ssat[i].outc[0] > static_cast<unsigned int>(rtk->opt.maxout))
                 {
                     initx(rtk, 0.0, 0.0, IB_PPP(i + 1, &rtk->opt));
                 }
@@ -1492,11 +1492,11 @@ void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
             for (i = 0; i < 3; i++)
                 {
                     rtk->sol.rr[i] = rtk->x[i];
-                    rtk->sol.qr[i] = (float)rtk->P[i + i * rtk->nx];
+                    rtk->sol.qr[i] = static_cast<float>(rtk->P[i + i * rtk->nx]);
                 }
-            rtk->sol.qr[3] = (float)rtk->P[1];
+            rtk->sol.qr[3] = static_cast<float>(rtk->P[1]);
-            rtk->sol.qr[4] = (float)rtk->P[2 + rtk->nx];
+            rtk->sol.qr[4] = static_cast<float>(rtk->P[2 + rtk->nx]);
-            rtk->sol.qr[5] = (float)rtk->P[2];
+            rtk->sol.qr[5] = static_cast<float>(rtk->P[2]);
             rtk->sol.dtr[0] = rtk->x[IC_PPP(0, opt)];
             rtk->sol.dtr[1] = rtk->x[IC_PPP(1, opt)] - rtk->x[IC_PPP(0, opt)];
             for (i = 0; i < n && i < MAXOBS; i++)

src/algorithms/libs/rtklib/rtklib_preceph.cc

@@ -98,12 +98,12 @@ int readsp3h(FILE *fp, gtime_t *time, char *type, int *sats,
                 {
                     if (i == 2)
                         {
-                            ns = (int)str2num(buff, 4, 2);
+                            ns = static_cast<int>(str2num(buff, 4, 2));
                         }
                     for (j = 0; j < 17 && k < ns; j++)
                         {
                             sys = code2sys(buff[9 + 3 * j]);
-                            prn = (int)str2num(buff, 10 + 3 * j, 2);
+                            prn = static_cast<int>(str2num(buff, 10 + 3 * j, 2));
                             if (k < MAXSAT) sats[k++] = satno(sys, prn);
                         }
                 }
@@ -130,7 +130,7 @@ int addpeph(nav_t *nav, peph_t *peph)
     if (nav->ne >= nav->nemax)
         {
             nav->nemax += 256;
-            if (!(nav_peph = (peph_t *)realloc(nav->peph, sizeof(peph_t) * nav->nemax)))
+            if (!(nav_peph = static_cast<peph_t *>(realloc(nav->peph, sizeof(peph_t) * nav->nemax))))
                 {
                     trace(1, "readsp3b malloc error n=%d\n", nav->nemax);
                     free(nav->peph);
@@ -190,7 +190,7 @@ void readsp3b(FILE *fp, char type, int *sats __attribute__((unused)), int ns, do
                     if (strlen(buff) < 4 || (buff[0] != 'P' && buff[0] != 'V')) continue;
 
                     sys = buff[1] == ' ' ? SYS_GPS : code2sys(buff[1]);
-                    prn = (int)str2num(buff, 2, 2);
+                    prn = static_cast<int>(str2num(buff, 2, 2));
                     if (sys == SYS_SBS)
                         prn += 100;
                     else if (sys == SYS_QZS)
@@ -223,7 +223,7 @@ void readsp3b(FILE *fp, char type, int *sats __attribute__((unused)), int ns, do
                                         }
                                     if ((base = bfact[j < 3 ? 0 : 1]) > 0.0 && std > 0.0)
                                         {
-                                            peph.std[sat - 1][j] = (float)(std::pow(base, std) * (j < 3 ? 1e-3 : 1e-12));
+                                            peph.std[sat - 1][j] = static_cast<float>(std::pow(base, std) * (j < 3 ? 1e-3 : 1e-12));
                                         }
                                 }
                             else if (v)
@@ -234,7 +234,7 @@ void readsp3b(FILE *fp, char type, int *sats __attribute__((unused)), int ns, do
                                         }
                                     if ((base = bfact[j < 3 ? 0 : 1]) > 0.0 && std > 0.0)
                                         {
-                                            peph.vst[sat - 1][j] = (float)(std::pow(base, std) * (j < 3 ? 1e-7 : 1e-16));
+                                            peph.vst[sat - 1][j] = static_cast<float>(std::pow(base, std) * (j < 3 ? 1e-7 : 1e-16));
                                         }
                                 }
                         }
@@ -315,7 +315,7 @@ void readsp3(const char *file, nav_t *nav, int opt)
 
     for (i = 0; i < MAXEXFILE; i++)
         {
-            if (!(efiles[i] = (char *)malloc(1024)))
+            if (!(efiles[i] = static_cast<char *>(malloc(1024))))
                 {
                     for (i--; i >= 0; i--) free(efiles[i]);
                     return;
@@ -331,7 +331,7 @@ void readsp3(const char *file, nav_t *nav, int opt)
             if (!strstr(ext + 1, "sp3") && !strstr(ext + 1, ".SP3") &&
                 !strstr(ext + 1, "eph") && !strstr(ext + 1, ".EPH")) continue;
 
-            if (!(fp = fopen(efiles[i], "r")))
+            if (!(fp = fopen(efiles[i], "re")))
                 {
                     trace(2, "sp3 file open error %s\n", efiles[i]);
                     continue;
@@ -389,7 +389,7 @@ int readdcbf(const char *file, nav_t *nav, const sta_t *sta)
 
     trace(3, "readdcbf: file=%s\n", file);
 
-    if (!(fp = fopen(file, "r")))
+    if (!(fp = fopen(file, "re")))
         {
             trace(2, "dcb parameters file open error: %s\n", file);
             return 0;
@@ -453,7 +453,7 @@ int readdcb(const char *file, nav_t *nav, const sta_t *sta)
             }
     for (i = 0; i < MAXEXFILE; i++)
         {
-            if (!(efiles[i] = (char *)malloc(1024)))
+            if (!(efiles[i] = static_cast<char *>(malloc(1024))))
                 {
                     for (i--; i >= 0; i--) free(efiles[i]);
                     return 0;
@@ -490,7 +490,7 @@ int addfcb(nav_t *nav, gtime_t ts, gtime_t te, int sat,
     if (nav->nf >= nav->nfmax)
         {
             nav->nfmax = nav->nfmax <= 0 ? 2048 : nav->nfmax * 2;
-            if (!(nav_fcb = (fcbd_t *)realloc(nav->fcb, sizeof(fcbd_t) * nav->nfmax)))
+            if (!(nav_fcb = static_cast<fcbd_t *>(realloc(nav->fcb, sizeof(fcbd_t) * nav->nfmax))))
                 {
                     free(nav->fcb);
                     nav->nf = nav->nfmax = 0;
@@ -525,7 +525,7 @@ int readfcbf(const char *file, nav_t *nav)
 
     trace(3, "readfcbf: file=%s\n", file);
 
-    if (!(fp = fopen(file, "r")))
+    if (!(fp = fopen(file, "re")))
         {
             trace(2, "fcb parameters file open error: %s\n", file);
             return 0;
@@ -578,7 +578,7 @@ int readfcb(const char *file, nav_t *nav)
 
     for (i = 0; i < MAXEXFILE; i++)
         {
-            if (!(efiles[i] = (char *)malloc(1024)))
+            if (!(efiles[i] = static_cast<char *>(malloc(1024))))
                 {
                     for (i--; i >= 0; i--) free(efiles[i]);
                     return 0;

src/algorithms/libs/rtklib/rtklib_rtcm.cc

@@ -113,9 +113,9 @@ int init_rtcm(rtcm_t *rtcm)
     rtcm->nav.geph = nullptr;
 
     /* reallocate memory for observation and ephemris buffer */
-    if (!(rtcm->obs.data = (obsd_t *)malloc(sizeof(obsd_t) * MAXOBS)) ||
+    if (!(rtcm->obs.data = static_cast<obsd_t *>(malloc(sizeof(obsd_t) * MAXOBS))) ||
-        !(rtcm->nav.eph = (eph_t *)malloc(sizeof(eph_t) * MAXSAT)) ||
+        !(rtcm->nav.eph = static_cast<eph_t *>(malloc(sizeof(eph_t) * MAXSAT))) ||
-        !(rtcm->nav.geph = (geph_t *)malloc(sizeof(geph_t) * MAXPRNGLO)))
+        !(rtcm->nav.geph = static_cast<geph_t *>(malloc(sizeof(geph_t) * MAXPRNGLO))))
         {
             free_rtcm(rtcm);
             return 0;
@@ -182,7 +182,7 @@ int input_rtcm2(rtcm_t *rtcm, unsigned char data)
             /* synchronize frame */
             if (rtcm->nbyte == 0)
                 {
-                    preamb = (unsigned char)(rtcm->word >> 22);
+                    preamb = static_cast<unsigned char>(rtcm->word >> 22);
                     if (rtcm->word & 0x40000000) preamb ^= 0xFF; /* decode preamble */
                     if (preamb != RTCM2PREAMB) continue;
 
@@ -330,7 +330,7 @@ int input_rtcm2f(rtcm_t *rtcm, FILE *fp)
     for (i = 0; i < 4096; i++)
         {
             if ((data = fgetc(fp)) == EOF) return -2;
-            if ((ret = input_rtcm2(rtcm, (unsigned char)data))) return ret;
+            if ((ret = input_rtcm2(rtcm, static_cast<unsigned char>(data)))) return ret;
         }
     return 0; /* return at every 4k bytes */
 }
@@ -352,7 +352,7 @@ int input_rtcm3f(rtcm_t *rtcm, FILE *fp)
     for (i = 0; i < 4096; i++)
         {
             if ((data = fgetc(fp)) == EOF) return -2;
-            if ((ret = input_rtcm3(rtcm, (unsigned char)data))) return ret;
+            if ((ret = input_rtcm3(rtcm, static_cast<unsigned char>(data)))) return ret;
         }
     return 0; /* return at every 4k bytes */
 }

src/algorithms/libs/rtklib/rtklib_rtcm3.cc

@@ -173,7 +173,7 @@ double adjcp(rtcm_t *rtcm, int sat, int freq, double cp)
 int lossoflock(rtcm_t *rtcm, int sat, int freq, int lock)
 {
     int lli = (!lock && !rtcm->lock[sat - 1][freq]) || lock < rtcm->lock[sat - 1][freq];
-    rtcm->lock[sat - 1][freq] = (unsigned short)lock;
+    rtcm->lock[sat - 1][freq] = static_cast<uint16_t>(lock);
     return lli;
 }
 
@@ -181,7 +181,7 @@ int lossoflock(rtcm_t *rtcm, int sat, int freq, int lock)
 /* s/n ratio -----------------------------------------------------------------*/
 unsigned char snratio(double snr)
 {
-    return (unsigned char)(snr <= 0.0 || 255.5 <= snr ? 0.0 : snr * 4.0 + 0.5);
+    return static_cast<unsigned char>(snr <= 0.0 || 255.5 <= snr ? 0.0 : snr * 4.0 + 0.5);
 }
 
 
@@ -337,7 +337,7 @@ int decode_type1002(rtcm_t *rtcm)
                 }
             if ((index = obsindex3(&rtcm->obs, rtcm->time, sat)) < 0) continue;
             pr1 = pr1 * 0.02 + amb * PRUNIT_GPS;
-            if (ppr1 != (int)0xFFF80000)
+            if (ppr1 != static_cast<int>(0xFFF80000))
                 {
                     rtcm->obs.data[index].P[0] = pr1;
                     cp1 = adjcp(rtcm, sat, 0, ppr1 * 0.0005 / lam_carr[0]);
@@ -418,7 +418,7 @@ int decode_type1004(rtcm_t *rtcm)
                 }
             if ((index = obsindex3(&rtcm->obs, rtcm->time, sat)) < 0) continue;
             pr1 = pr1 * 0.02 + amb * PRUNIT_GPS;
-            if (ppr1 != (int)0xFFF80000)
+            if (ppr1 != static_cast<int>(0xFFF80000))
                 {
                     rtcm->obs.data[index].P[0] = pr1;
                     cp1 = adjcp(rtcm, sat, 0, ppr1 * 0.0005 / lam_carr[0]);
@@ -428,11 +428,11 @@ int decode_type1004(rtcm_t *rtcm)
             rtcm->obs.data[index].SNR[0] = snratio(cnr1 * 0.25);
             rtcm->obs.data[index].code[0] = code1 ? CODE_L1P : CODE_L1C;
 
-            if (pr21 != (int)0xFFFFE000)
+            if (pr21 != static_cast<int>(0xFFFFE000))
                 {
                     rtcm->obs.data[index].P[1] = pr1 + pr21 * 0.02;
                 }
-            if (ppr2 != (int)0xFFF80000)
+            if (ppr2 != static_cast<int>(0xFFF80000))
                 {
                     cp2 = adjcp(rtcm, sat, 1, ppr2 * 0.0005 / lam_carr[1]);
                     rtcm->obs.data[index].L[1] = pr1 / lam_carr[1] + cp2;
@@ -449,7 +449,7 @@ int decode_type1004(rtcm_t *rtcm)
 /* get signed 38bit field ----------------------------------------------------*/
 double getbits_38(const unsigned char *buff, int pos)
 {
-    return (double)getbits(buff, pos, 32) * 64.0 + getbitu(buff, pos + 32, 6);
+    return static_cast<double>(getbits(buff, pos, 32)) * 64.0 + getbitu(buff, pos + 32, 6);
 }
 
 
@@ -564,7 +564,7 @@ int decode_type1007(rtcm_t *rtcm)
             i += 12 + 8;
             for (j = 0; j < n && j < 31; j++)
                 {
-                    des[j] = (char)getbitu(rtcm->buff, i, 8);
+                    des[j] = static_cast<char>(getbitu(rtcm->buff, i, 8));
                     i += 8;
                 }
             setup = getbitu(rtcm->buff, i, 8);
@@ -606,14 +606,14 @@ int decode_type1008(rtcm_t *rtcm)
             i += 12 + 8;
             for (j = 0; j < n && j < 31; j++)
                 {
-                    des[j] = (char)getbitu(rtcm->buff, i, 8);
+                    des[j] = static_cast<char>(getbitu(rtcm->buff, i, 8));
                     i += 8;
                 }
             setup = getbitu(rtcm->buff, i, 8);
             i += 8 + 8;
             for (j = 0; j < m && j < 31; j++)
                 {
-                    sno[j] = (char)getbitu(rtcm->buff, i, 8);
+                    sno[j] = static_cast<char>(getbitu(rtcm->buff, i, 8));
                     i += 8;
                 }
         }
@@ -730,7 +730,7 @@ int decode_type1010(rtcm_t *rtcm)
                 }
             if ((index = obsindex3(&rtcm->obs, rtcm->time, sat)) < 0) continue;
             pr1 = pr1 * 0.02 + amb * PRUNIT_GLO;
-            if (ppr1 != (int)0xFFF80000)
+            if (ppr1 != static_cast<int>(0xFFF80000))
                 {
                     rtcm->obs.data[index].P[0] = pr1;
                     lam1 = SPEED_OF_LIGHT / (FREQ1_GLO + DFRQ1_GLO * (freq - 7));
@@ -804,7 +804,7 @@ int decode_type1012(rtcm_t *rtcm)
                 }
             if ((index = obsindex3(&rtcm->obs, rtcm->time, sat)) < 0) continue;
             pr1 = pr1 * 0.02 + amb * PRUNIT_GLO;
-            if (ppr1 != (int)0xFFF80000)
+            if (ppr1 != static_cast<int>(0xFFF80000))
                 {
                     lam1 = SPEED_OF_LIGHT / (FREQ1_GLO + DFRQ1_GLO * (freq - 7));
                     rtcm->obs.data[index].P[0] = pr1;
@@ -815,11 +815,11 @@ int decode_type1012(rtcm_t *rtcm)
             rtcm->obs.data[index].SNR[0] = snratio(cnr1 * 0.25);
             rtcm->obs.data[index].code[0] = code1 ? CODE_L1P : CODE_L1C;
 
-            if (pr21 != (int)0xFFFFE000)
+            if (pr21 != static_cast<int>(0xFFFFE000))
                 {
                     rtcm->obs.data[index].P[1] = pr1 + pr21 * 0.02;
                 }
-            if (ppr2 != (int)0xFFF80000)
+            if (ppr2 != static_cast<int>(0xFFF80000))
                 {
                     lam2 = SPEED_OF_LIGHT / (FREQ2_GLO + DFRQ2_GLO * (freq - 7));
                     cp2 = adjcp(rtcm, sat, 1, ppr2 * 0.0005 / lam2);
@@ -1189,32 +1189,32 @@ int decode_type1033(rtcm_t *rtcm)
             i += 12 + 8;
             for (j = 0; j < n && j < 31; j++)
                 {
-                    des[j] = (char)getbitu(rtcm->buff, i, 8);
+                    des[j] = static_cast<char>(getbitu(rtcm->buff, i, 8));
                     i += 8;
                 }
             setup = getbitu(rtcm->buff, i, 8);
             i += 8 + 8;
             for (j = 0; j < m && j < 31; j++)
                 {
-                    sno[j] = (char)getbitu(rtcm->buff, i, 8);
+                    sno[j] = static_cast<char>(getbitu(rtcm->buff, i, 8));
                     i += 8;
                 }
             i += 8;
             for (j = 0; j < n1 && j < 31; j++)
                 {
-                    rec[j] = (char)getbitu(rtcm->buff, i, 8);
+                    rec[j] = static_cast<char>(getbitu(rtcm->buff, i, 8));
                     i += 8;
                 }
             i += 8;
             for (j = 0; j < n2 && j < 31; j++)
                 {
-                    ver[j] = (char)getbitu(rtcm->buff, i, 8);
+                    ver[j] = static_cast<char>(getbitu(rtcm->buff, i, 8));
                     i += 8;
                 }
             i += 8;
             for (j = 0; j < n3 && j < 31; j++)
                 {
-                    rsn[j] = (char)getbitu(rtcm->buff, i, 8);
+                    rsn[j] = static_cast<char>(getbitu(rtcm->buff, i, 8));
                     i += 8;
                 }
         }
@@ -2222,7 +2222,7 @@ int decode_ssr3(rtcm_t *rtcm, int sys)
                     i += 14;
                     if (mode <= ncode)
                         {
-                            cbias[codes[mode] - 1] = (float)bias;
+                            cbias[codes[mode] - 1] = static_cast<float>(bias);
                         }
                     else
                         {
@@ -2240,7 +2240,7 @@ int decode_ssr3(rtcm_t *rtcm, int sys)
 
             for (k = 0; k < MAXCODE; k++)
                 {
-                    rtcm->ssr[sat - 1].cbias[k] = (float)cbias[k];
+                    rtcm->ssr[sat - 1].cbias[k] = static_cast<float>(cbias[k]);
                 }
             rtcm->ssr[sat - 1].update = 1;
         }
@@ -2579,7 +2579,7 @@ int decode_ssr7(rtcm_t *rtcm, int sys)
             for (k = 0; k < MAXCODE; k++)
                 {
                     rtcm->ssr[sat - 1].pbias[k] = pbias[k];
-                    rtcm->ssr[sat - 1].stdpb[k] = (float)stdpb[k];
+                    rtcm->ssr[sat - 1].stdpb[k] = static_cast<float>(stdpb[k]);
                 }
         }
     return 20;
@@ -2773,11 +2773,11 @@ void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
                             /* doppler (hz) */
                             if (rr && rrf && rrf[j] > -1E12 && wl > 0.0)
                                 {
-                                    rtcm->obs.data[index].D[ind[k]] = (float)(-(rr[i] + rrf[j]) / wl);
+                                    rtcm->obs.data[index].D[ind[k]] = static_cast<float>(-(rr[i] + rrf[j]) / wl);
                                 }
                             rtcm->obs.data[index].LLI[ind[k]] =
                                 lossoflock(rtcm, sat, ind[k], lock[j]) + (half[j] ? 3 : 0);
-                            rtcm->obs.data[index].SNR[ind[k]] = (unsigned char)(cnr[j] * 4.0);
+                            rtcm->obs.data[index].SNR[ind[k]] = static_cast<unsigned char>(cnr[j] * 4.0);
                             rtcm->obs.data[index].code[ind[k]] = code[k];
                         }
                     j++;

src/algorithms/libs/rtklib/rtklib_rtkcmn.cc

@@ -153,7 +153,7 @@ char codepris[7][MAXFREQ][16] = {
 fatalfunc_t *fatalfunc = nullptr; /* fatal callback function */
 
 /* crc tables generated by util/gencrc ---------------------------------------*/
-const unsigned short tbl_CRC16[] = {
+const uint16_t tbl_CRC16[] = {
     0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
     0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
     0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
@@ -519,7 +519,7 @@ int testsnr(int base, int freq, double el, double snr,
     if (!mask->ena[base] || freq < 0 || freq >= NFREQ) return 0;
 
     a = (el * R2D + 5.0) / 10.0;
-    i = (int)floor(a);
+    i = static_cast<int>(floor(a));
     a -= i;
     if (i < 1)
         minsnr = mask->mask[freq][0];
@@ -546,9 +546,9 @@ unsigned char obs2code(const char *obs, int *freq)
     if (freq) *freq = 0;
     for (i = 1; *obscodes[i]; i++)
         {
-            if (strcmp(obscodes[i], obs)) continue;
+            if (strcmp(obscodes[i], obs) != 0) continue;
             if (freq) *freq = obsfreqs[i];
-            return (unsigned char)i;
+            return static_cast<unsigned char>(i);
         }
     return CODE_NONE;
 }
@@ -657,7 +657,7 @@ int getcodepri(int sys, unsigned char code, const char *opt)
             return str[1] == obs[1] ? 15 : 0;
         }
     /* search code priority */
-    return (p = strchr(codepris[i][j - 1], obs[1])) ? 14 - (int)(p - codepris[i][j - 1]) : 0;
+    return (p = strchr(codepris[i][j - 1], obs[1])) ? 14 - static_cast<int>(p - codepris[i][j - 1]) : 0;
 }
 
 
@@ -680,8 +680,8 @@ unsigned int getbitu(const unsigned char *buff, int pos, int len)
 int getbits(const unsigned char *buff, int pos, int len)
 {
     unsigned int bits = getbitu(buff, pos, len);
-    if (len <= 0 || 32 <= len || !(bits & (1u << (len - 1)))) return (int)bits;
+    if (len <= 0 || 32 <= len || !(bits & (1u << (len - 1)))) return static_cast<int>(bits);
-    return (int)(bits | (~0u << len)); /* extend sign */
+    return static_cast<int>(bits | (~0u << len)); /* extend sign */
 }
 
 
@@ -714,7 +714,7 @@ void setbits(unsigned char *buff, int pos, int len, int data)
         data |= 1 << (len - 1);
     else
         data &= ~(1 << (len - 1)); /* set sign bit */
-    setbitu(buff, pos, len, (unsigned int)data);
+    setbitu(buff, pos, len, static_cast<unsigned int>(data));
 }
 
 
@@ -773,9 +773,9 @@ unsigned int rtk_crc24q(const unsigned char *buff, int len)
  * return : crc-16 parity
  * notes  : see reference [10] A.3.
  *-----------------------------------------------------------------------------*/
-unsigned short rtk_crc16(const unsigned char *buff, int len)
+uint16_t rtk_crc16(const unsigned char *buff, int len)
 {
-    unsigned short crc = 0;
+    uint16_t crc = 0;
     int i;
 
     trace(4, "rtk_crc16: len=%d\n", len);
@@ -815,7 +815,7 @@ int decode_word(unsigned int word, unsigned char *data)
         }
     if (parity != (word & 0x3F)) return 0;
 
-    for (i = 0; i < 3; i++) data[i] = (unsigned char)(word >> (22 - i * 8));
+    for (i = 0; i < 3; i++) data[i] = static_cast<unsigned char>(word >> (22 - i * 8));
     return 1;
 }
 
@@ -830,7 +830,7 @@ double *mat(int n, int m)
     double *p;
 
     if (n <= 0 || m <= 0) return nullptr;
-    if (!(p = (double *)malloc(sizeof(double) * n * m)))
+    if (!(p = static_cast<double *>(malloc(sizeof(double) * n * m))))
         {
             fatalerr("matrix memory allocation error: n=%d,m=%d\n", n, m);
         }
@@ -848,7 +848,7 @@ int *imat(int n, int m)
     int *p;
 
     if (n <= 0 || m <= 0) return nullptr;
-    if (!(p = (int *)malloc(sizeof(int) * n * m)))
+    if (!(p = static_cast<int *>(malloc(sizeof(int) * n * m))))
         {
             fatalerr("integer matrix memory allocation error: n=%d,m=%d\n", n, m);
         }
@@ -870,7 +870,7 @@ double *zeros(int n, int m)
         for (n = n * m - 1; n >= 0; n--) p[n] = 0.0;
 #else
     if (n <= 0 || m <= 0) return nullptr;
-    if (!(p = (double *)calloc(sizeof(double), n * m)))
+    if (!(p = static_cast<double *>(calloc(sizeof(double), n * m))))
         {
             fatalerr("matrix memory allocation error: n=%d,m=%d\n", n, m);
         }
@@ -983,7 +983,7 @@ void matmul(const char *tr, int n, int k, int m, double alpha,
 {
     int lda = tr[0] == 'T' ? m : n, ldb = tr[1] == 'T' ? k : m;
 
-    dgemm_((char *)tr, (char *)tr + 1, &n, &k, &m, &alpha, (double *)A, &lda, (double *)B,
+    dgemm_(const_cast<char *>(tr), const_cast<char *>(tr) + 1, &n, &k, &m, &alpha, const_cast<double *>(A), &lda, const_cast<double *>(B),
         &ldb, &beta, C, &n);
 }
 
@@ -1028,7 +1028,7 @@ int solve(const char *tr, const double *A, const double *Y, int n,
     matcpy(B, A, n, n);
     matcpy(X, Y, n, m);
     dgetrf_(&n, &n, B, &n, ipiv, &info);
-    if (!info) dgetrs_((char *)tr, &n, &m, B, &n, ipiv, X, &n, &info);
+    if (!info) dgetrs_(const_cast<char *>(tr), &n, &m, B, &n, ipiv, X, &n, &info);
     free(ipiv);
     free(B);
     return info;
@@ -1239,7 +1239,7 @@ double str2num(const char *s, int i, int n)
     double value;
     char str[256], *p = str;
 
-    if (i < 0 || (int)strlen(s) < i || (int)sizeof(str) - 1 < n) return 0.0;
+    if (i < 0 || static_cast<int>(strlen(s)) < i || static_cast<int>(sizeof(str)) - 1 < n) return 0.0;
     for (s += i; *s && --n >= 0; s++)
         {
             *p++ = *s == 'd' || *s == 'D' ? 'E' : *s;
@@ -1261,7 +1261,7 @@ int str2time(const char *s, int i, int n, gtime_t *t)
     double ep[6];
     char str[256], *p = str;
 
-    if (i < 0 || (int)strlen(s) < i || (int)sizeof(str) - 1 < i) return -1;
+    if (i < 0 || static_cast<int>(strlen(s)) < i || static_cast<int>(sizeof(str)) - 1 < i) return -1;
     for (s += i; *s && --n >= 0;)
         {
             *p++ = *s++;
@@ -1285,14 +1285,14 @@ gtime_t epoch2time(const double *ep)
 {
     const int doy[] = {1, 32, 60, 91, 121, 152, 182, 213, 244, 274, 305, 335};
     gtime_t time = {0, 0};
-    int days, sec, year = (int)ep[0], mon = (int)ep[1], day = (int)ep[2];
+    int days, sec, year = static_cast<int>(ep[0]), mon = static_cast<int>(ep[1]), day = static_cast<int>(ep[2]);
 
     if (year < 1970 || 2099 < year || mon < 1 || 12 < mon) return time;
 
     /* leap year if year%4==0 in 1901-2099 */
     days = (year - 1970) * 365 + (year - 1969) / 4 + doy[mon - 1] + day - 2 + (year % 4 == 0 && mon >= 3 ? 1 : 0);
-    sec = (int)floor(ep[5]);
+    sec = static_cast<int>(floor(ep[5]));
-    time.time = (time_t)days * 86400 + (int)ep[3] * 3600 + (int)ep[4] * 60 + sec;
+    time.time = static_cast<time_t>(days) * 86400 + static_cast<int>(ep[3]) * 3600 + static_cast<int>(ep[4]) * 60 + sec;
     time.sec = ep[5] - sec;
     return time;
 }
@@ -1313,8 +1313,8 @@ void time2epoch(gtime_t t, double *ep)
     int days, sec, mon, day;
 
     /* leap year if year%4==0 in 1901-2099 */
-    days = (int)(t.time / 86400);
+    days = static_cast<int>(t.time / 86400);
-    sec = (int)(t.time - (time_t)days * 86400);
+    sec = static_cast<int>(t.time - static_cast<time_t>(days) * 86400);
     for (day = days % 1461, mon = 0; mon < 48; mon++)
         {
             if (day >= mday[mon])
@@ -1342,8 +1342,8 @@ gtime_t gpst2time(int week, double sec)
     gtime_t t = epoch2time(gpst0);
 
     if (sec < -1e9 || 1e9 < sec) sec = 0.0;
-    t.time += (time_t)86400 * 7 * week + (int)sec;
+    t.time += static_cast<time_t>(86400) * 7 * week + static_cast<int>(sec);
-    t.sec = sec - (int)sec;
+    t.sec = sec - static_cast<int>(sec);
     return t;
 }
 
@@ -1376,8 +1376,8 @@ gtime_t gst2time(int week, double sec)
     gtime_t t = epoch2time(gst0);
 
     if (sec < -1e9 || 1e9 < sec) sec = 0.0;
-    t.time += (time_t)86400 * 7 * week + (int)sec;
+    t.time += static_cast<time_t>(86400) * 7 * week + static_cast<int>(sec);
-    t.sec = sec - (int)sec;
+    t.sec = sec - static_cast<int>(sec);
     return t;
 }
 
@@ -1392,10 +1392,10 @@ double time2gst(gtime_t t, int *week)
 {
     gtime_t t0 = epoch2time(gst0);
     time_t sec = t.time - t0.time;
-    int w = (int)(sec / (86400 * 7));
+    int w = static_cast<int>(sec / (86400 * 7));
 
     if (week) *week = w;
-    return (double)(sec - (double)w * 86400 * 7) + t.sec;
+    return (sec - static_cast<double>(w) * 86400 * 7) + t.sec;
 }
 
 
@@ -1410,8 +1410,8 @@ gtime_t bdt2time(int week, double sec)
     gtime_t t = epoch2time(bdt0);
 
     if (sec < -1e9 || 1e9 < sec) sec = 0.0;
-    t.time += (time_t)86400 * 7 * week + (int)sec;
+    t.time += static_cast<time_t>(86400) * 7 * week + static_cast<int>(sec);
-    t.sec = sec - (int)sec;
+    t.sec = sec - static_cast<int>(sec);
     return t;
 }
 
@@ -1426,10 +1426,10 @@ double time2bdt(gtime_t t, int *week)
 {
     gtime_t t0 = epoch2time(bdt0);
     time_t sec = t.time - t0.time;
-    int w = (int)(sec / (86400 * 7));
+    int w = static_cast<int>(sec / (86400 * 7));
 
     if (week) *week = w;
-    return (double)(sec - (double)w * 86400 * 7) + t.sec;
+    return (sec - static_cast<double>(w) * 86400 * 7) + t.sec;
 }
 
 
@@ -1445,7 +1445,7 @@ gtime_t timeadd(gtime_t t, double sec)
 
     t.sec += sec;
     tt = floor(t.sec);
-    t.time += (int)tt;
+    t.time += static_cast<int>(tt);
     t.sec -= tt;
     return t;
 }
@@ -1471,7 +1471,7 @@ gtime_t timeget(void)
 {
     gtime_t time;
     double ep[6] = {};
-    struct timeval tv;
+    struct timeval tv{};
     struct tm *tt;
 
     if (!gettimeofday(&tv, nullptr) && (tt = gmtime(&tv.tv_sec)))
@@ -1547,7 +1547,7 @@ int read_leaps_usno(FILE *fp)
             ls[n][0] = y;
             ls[n][1] = m;
             ls[n][2] = d;
-            ls[n++][6] = (char)(19.0 - tai_utc);
+            ls[n++][6] = static_cast<char>(19.0 - tai_utc);
         }
     for (i = 0; i < n; i++)
         for (j = 0; j < 7; j++)
@@ -1574,7 +1574,7 @@ int read_leaps(const char *file)
     FILE *fp;
     int i, n;
 
-    if (!(fp = fopen(file, "r"))) return 0;
+    if (!(fp = fopen(file, "re"))) return 0;
 
     /* read leap seconds table by text or usno */
     if (!(n = read_leaps_text(fp)) && !(n = read_leaps_usno(fp)))
@@ -1794,8 +1794,8 @@ void sleepms(int ms)
 {
     struct timespec ts = {0, 0};
     if (ms <= 0) return;
-    ts.tv_sec = (time_t)(ms / 1000);
+    ts.tv_sec = static_cast<time_t>(ms / 1000);
-    ts.tv_nsec = (long)(ms % 1000 * 1000000);
+    ts.tv_nsec = static_cast<int64_t>(ms % 1000 * 1000000);
     nanosleep(&ts, nullptr);
 }
 
@@ -2242,7 +2242,7 @@ void addpcv(const pcv_t *pcv, pcvs_t *pcvs)
     if (pcvs->nmax <= pcvs->n)
         {
             pcvs->nmax += 256;
-            if (!(pcvs_pcv = (pcv_t *)realloc(pcvs->pcv, sizeof(pcv_t) * pcvs->nmax)))
+            if (!(pcvs_pcv = static_cast<pcv_t *>(realloc(pcvs->pcv, sizeof(pcv_t) * pcvs->nmax))))
                 {
                     trace(1, "addpcv: memory allocation error\n");
                     free(pcvs->pcv);
@@ -2266,7 +2266,7 @@ int readngspcv(const char *file, pcvs_t *pcvs)
     int n = 0;
     char buff[256];
 
-    if (!(fp = fopen(file, "r")))
+    if (!(fp = fopen(file, "re")))
         {
             trace(2, "ngs pcv file open error: %s\n", file);
             return 0;
@@ -2327,7 +2327,7 @@ int readantex(const char *file, pcvs_t *pcvs)
 
     trace(3, "readantex: file=%s\n", file);
 
-    if (!(fp = fopen(file, "r")))
+    if (!(fp = fopen(file, "re")))
         {
             trace(2, "antex pcv file open error: %s\n", file);
             return 0;
@@ -2521,7 +2521,7 @@ void readpos(const char *file, const char *rcv, double *pos)
 
     trace(3, "readpos: file=%s\n", file);
 
-    if (!(fp = fopen(file, "r")))
+    if (!(fp = fopen(file, "re")))
         {
             fprintf(stderr, "reference position file open error : %s\n", file);
             return;
@@ -2536,10 +2536,10 @@ void readpos(const char *file, const char *rcv, double *pos)
             stas[np++][15] = '\0';
         }
     fclose(fp);
-    len = (int)strlen(rcv);
+    len = static_cast<int>(strlen(rcv));
     for (i = 0; i < np; i++)
         {
-            if (strncmp(stas[i], rcv, len)) continue;
+            if (strncmp(stas[i], rcv, len) != 0) continue;
             for (j = 0; j < 3; j++) pos[j] = poss[i][j];
             pos[0] *= D2R;
             pos[1] *= D2R;
@@ -2582,10 +2582,10 @@ int readblq(const char *file, const char *sta, double *odisp)
 
     /* station name to upper case */
     sscanf(sta, "%16s", staname);
-    for (p = staname; (*p = (char)toupper((int)(*p))); p++)
+    for (p = staname; (*p = static_cast<char>(toupper(static_cast<int>(*p)))); p++)
         ;
 
-    if (!(fp = fopen(file, "r")))
+    if (!(fp = fopen(file, "re")))
         {
             trace(2, "blq file open error: file=%s\n", file);
             return 0;
@@ -2595,9 +2595,9 @@ int readblq(const char *file, const char *sta, double *odisp)
             if (!strncmp(buff, "$$", 2) || strlen(buff) < 2) continue;
 
             if (sscanf(buff + 2, "%16s", name) < 1) continue;
-            for (p = name; (*p = (char)toupper((int)(*p))); p++)
+            for (p = name; (*p = static_cast<char>(toupper(static_cast<int>(*p)))); p++)
                 ;
-            if (strcmp(name, staname)) continue;
+            if (strcmp(name, staname) != 0) continue;
 
             /* read blq record */
             if (readblqrecord(fp, odisp))
@@ -2627,7 +2627,7 @@ int readerp(const char *file, erp_t *erp)
 
     trace(3, "readerp: file=%s\n", file);
 
-    if (!(fp = fopen(file, "r")))
+    if (!(fp = fopen(file, "re")))
         {
             trace(2, "erp file open error: file=%s\n", file);
             return 0;
@@ -2642,7 +2642,7 @@ int readerp(const char *file, erp_t *erp)
             if (erp->n >= erp->nmax)
                 {
                     erp->nmax = erp->nmax <= 0 ? 128 : erp->nmax * 2;
-                    erp_data = (erpd_t *)realloc(erp->data, sizeof(erpd_t) * erp->nmax);
+                    erp_data = static_cast<erpd_t *>(realloc(erp->data, sizeof(erpd_t) * erp->nmax));
                     if (!erp_data)
                         {
                             free(erp->data);
@@ -2730,7 +2730,7 @@ int geterp(const erp_t *erp, gtime_t time, double *erpv)
 int cmpeph(const void *p1, const void *p2)
 {
     auto *q1 = (eph_t *)p1, *q2 = (eph_t *)p2;
-    return q1->ttr.time != q2->ttr.time ? (int)(q1->ttr.time - q2->ttr.time) : (q1->toe.time != q2->toe.time ? (int)(q1->toe.time - q2->toe.time) : q1->sat - q2->sat);
+    return q1->ttr.time != q2->ttr.time ? static_cast<int>(q1->ttr.time - q2->ttr.time) : (q1->toe.time != q2->toe.time ? static_cast<int>(q1->toe.time - q2->toe.time) : q1->sat - q2->sat);
 }
 
 
@@ -2756,7 +2756,7 @@ void uniqeph(nav_t *nav)
         }
     nav->n = j + 1;
 
-    if (!(nav_eph = (eph_t *)realloc(nav->eph, sizeof(eph_t) * nav->n)))
+    if (!(nav_eph = static_cast<eph_t *>(realloc(nav->eph, sizeof(eph_t) * nav->n))))
         {
             trace(1, "uniqeph malloc error n=%d\n", nav->n);
             free(nav->eph);
@@ -2775,7 +2775,7 @@ void uniqeph(nav_t *nav)
 int cmpgeph(const void *p1, const void *p2)
 {
     auto *q1 = (geph_t *)p1, *q2 = (geph_t *)p2;
-    return q1->tof.time != q2->tof.time ? (int)(q1->tof.time - q2->tof.time) : (q1->toe.time != q2->toe.time ? (int)(q1->toe.time - q2->toe.time) : q1->sat - q2->sat);
+    return q1->tof.time != q2->tof.time ? static_cast<int>(q1->tof.time - q2->tof.time) : (q1->toe.time != q2->toe.time ? static_cast<int>(q1->toe.time - q2->toe.time) : q1->sat - q2->sat);
 }
 
 
@@ -2802,7 +2802,7 @@ void uniqgeph(nav_t *nav)
         }
     nav->ng = j + 1;
 
-    if (!(nav_geph = (geph_t *)realloc(nav->geph, sizeof(geph_t) * nav->ng)))
+    if (!(nav_geph = static_cast<geph_t *>(realloc(nav->geph, sizeof(geph_t) * nav->ng))))
         {
             trace(1, "uniqgeph malloc error ng=%d\n", nav->ng);
             free(nav->geph);
@@ -2821,7 +2821,7 @@ void uniqgeph(nav_t *nav)
 int cmpseph(const void *p1, const void *p2)
 {
     auto *q1 = (seph_t *)p1, *q2 = (seph_t *)p2;
-    return q1->tof.time != q2->tof.time ? (int)(q1->tof.time - q2->tof.time) : (q1->t0.time != q2->t0.time ? (int)(q1->t0.time - q2->t0.time) : q1->sat - q2->sat);
+    return q1->tof.time != q2->tof.time ? static_cast<int>(q1->tof.time - q2->tof.time) : (q1->t0.time != q2->t0.time ? static_cast<int>(q1->t0.time - q2->t0.time) : q1->sat - q2->sat);
 }
 
 
@@ -2847,7 +2847,7 @@ void uniqseph(nav_t *nav)
         }
     nav->ns = j + 1;
 
-    if (!(nav_seph = (seph_t *)realloc(nav->seph, sizeof(seph_t) * nav->ns)))
+    if (!(nav_seph = static_cast<seph_t *>(realloc(nav->seph, sizeof(seph_t) * nav->ns))))
         {
             trace(1, "uniqseph malloc error ns=%d\n", nav->ns);
             free(nav->seph);
@@ -2893,8 +2893,8 @@ int cmpobs(const void *p1, const void *p2)
     auto *q1 = (obsd_t *)p1, *q2 = (obsd_t *)p2;
     double tt = timediff(q1->time, q2->time);
     if (fabs(tt) > DTTOL) return tt < 0 ? -1 : 1;
-    if (q1->rcv != q2->rcv) return (int)q1->rcv - (int)q2->rcv;
+    if (q1->rcv != q2->rcv) return static_cast<int>(q1->rcv) - static_cast<int>(q2->rcv);
-    return (int)q1->sat - (int)q2->sat;
+    return static_cast<int>(q1->sat) - static_cast<int>(q2->sat);
 }
 
 
@@ -2965,12 +2965,12 @@ int readnav(const char *file, nav_t *nav)
         0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {}, {}, 0.0, 0.0};
     geph_t geph0 = {0, 0, 0, 0, 0, 0, {0, 0}, {0, 0}, {}, {}, {}, 0.0, 0.0, 0.0};
     char buff[4096], *p;
-    long toe_time, tof_time, toc_time, ttr_time;
+    int32_t toe_time, tof_time, toc_time, ttr_time;
     int i, sat, prn;
 
     trace(3, "loadnav: file=%s\n", file);
 
-    if (!(fp = fopen(file, "r"))) return 0;
+    if (!(fp = fopen(file, "re"))) return 0;
 
     while (fgets(buff, sizeof(buff), fp))
         {
@@ -2997,7 +2997,7 @@ int readnav(const char *file, nav_t *nav)
                     nav->geph[prn - 1].sat = sat;
                     toe_time = tof_time = 0;
                     sscanf(p + 1,
-                        "%d,%d,%d,%d,%d,%ld,%ld,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,"
+                        "%d,%d,%d,%d,%d,%d,%d,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,"
                         "%lf,%lf,%lf,%lf",
                         &nav->geph[prn - 1].iode, &nav->geph[prn - 1].frq, &nav->geph[prn - 1].svh,
                         &nav->geph[prn - 1].sva, &nav->geph[prn - 1].age,
@@ -3015,7 +3015,7 @@ int readnav(const char *file, nav_t *nav)
                     nav->eph[sat - 1].sat = sat;
                     toe_time = toc_time = ttr_time = 0;
                     sscanf(p + 1,
-                        "%d,%d,%d,%d,%ld,%ld,%ld,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,"
+                        "%d,%d,%d,%d,%d,%d,%d,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,"
                         "%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%d,%d",
                         &nav->eph[sat - 1].iode, &nav->eph[sat - 1].iodc, &nav->eph[sat - 1].sva,
                         &nav->eph[sat - 1].svh,
@@ -3046,7 +3046,7 @@ int savenav(const char *file, const nav_t *nav)
 
     trace(3, "savenav: file=%s\n", file);
 
-    if (!(fp = fopen(file, "w"))) return 0;
+    if (!(fp = fopen(file, "we"))) return 0;
 
     for (i = 0; i < MAXSAT; i++)
         {
@@ -3057,8 +3057,8 @@ int savenav(const char *file, const nav_t *nav)
                 "%.14E,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E,"
                 "%.14E,%.14E,%.14E,%.14E,%.14E,%d,%d\n",
                 id, nav->eph[i].iode, nav->eph[i].iodc, nav->eph[i].sva,
-                nav->eph[i].svh, (int)nav->eph[i].toe.time,
+                nav->eph[i].svh, static_cast<int>(nav->eph[i].toe.time),
-                (int)nav->eph[i].toc.time, (int)nav->eph[i].ttr.time,
+                static_cast<int>(nav->eph[i].toc.time), static_cast<int>(nav->eph[i].ttr.time),
                 nav->eph[i].A, nav->eph[i].e, nav->eph[i].i0, nav->eph[i].OMG0,
                 nav->eph[i].omg, nav->eph[i].M0, nav->eph[i].deln, nav->eph[i].OMGd,
                 nav->eph[i].idot, nav->eph[i].crc, nav->eph[i].crs, nav->eph[i].cuc,
@@ -3074,8 +3074,8 @@ int savenav(const char *file, const nav_t *nav)
                 "%s,%d,%d,%d,%d,%d,%d,%d,%.14E,%.14E,%.14E,%.14E,%.14E,%.14E,"
                 "%.14E,%.14E,%.14E,%.14E,%.14E,%.14E\n",
                 id, nav->geph[i].iode, nav->geph[i].frq, nav->geph[i].svh,
-                nav->geph[i].sva, nav->geph[i].age, (int)nav->geph[i].toe.time,
+                nav->geph[i].sva, nav->geph[i].age, static_cast<int>(nav->geph[i].toe.time),
-                (int)nav->geph[i].tof.time,
+                static_cast<int>(nav->geph[i].tof.time),
                 nav->geph[i].pos[0], nav->geph[i].pos[1], nav->geph[i].pos[2],
                 nav->geph[i].vel[0], nav->geph[i].vel[1], nav->geph[i].vel[2],
                 nav->geph[i].acc[0], nav->geph[i].acc[1], nav->geph[i].acc[2],
@@ -3187,8 +3187,8 @@ void traceswap(void)
 
     rtk_lock(&lock_trace);
 
-    if ((int)(time2gpst(time, nullptr) / INT_SWAP_TRAC) ==
+    if (static_cast<int>(time2gpst(time, nullptr) / INT_SWAP_TRAC) ==
-        (int)(time2gpst(time_trace, nullptr) / INT_SWAP_TRAC))
+        static_cast<int>(time2gpst(time_trace, nullptr) / INT_SWAP_TRAC))
         {
             rtk_unlock(&lock_trace);
             return;
@@ -3202,7 +3202,7 @@ void traceswap(void)
         }
     if (fp_trace) fclose(fp_trace);
 
-    if (!(fp_trace = fopen(path, "w")))
+    if (!(fp_trace = fopen(path, "we")))
         {
             fp_trace = stderr;
         }
@@ -3216,7 +3216,7 @@ void traceopen(const char *file)
     char path[1024];
 
     reppath(file, path, time, "", "");
-    if (!*path || !(fp_trace = fopen(path, "w"))) fp_trace = stderr;
+    if (!*path || !(fp_trace = fopen(path, "we"))) fp_trace = stderr;
     if (strlen(file) < 1025)
         strcpy(file_trace, file);
     else
@@ -3447,7 +3447,7 @@ void createdir(const char *path)
 /* replace string ------------------------------------------------------------*/
 int repstr(char *str, const char *pat, const char *rep)
 {
-    int len = (int)strlen(pat);
+    int len = static_cast<int>(strlen(pat));
     char buff[1024], *p, *q, *r;
 
     for (p = str, r = buff; *p; p = q + len)
@@ -3512,13 +3512,13 @@ int reppath(const char *path, char *rpath, gtime_t time, const char *rov,
         {
             time2epoch(time, ep);
             ep0[0] = ep[0];
-            dow = (int)floor(time2gpst(time, &week) / 86400.0);
+            dow = static_cast<int>(floor(time2gpst(time, &week) / 86400.0));
-            doy = (int)floor(timediff(time, epoch2time(ep0)) / 86400.0) + 1;
+            doy = static_cast<int>(floor(timediff(time, epoch2time(ep0)) / 86400.0)) + 1;
-            sprintf(rep, "%02d", ((int)ep[3] / 3) * 3);
+            sprintf(rep, "%02d", (static_cast<int>(ep[3]) / 3) * 3);
             stat |= repstr(rpath, "%ha", rep);
-            sprintf(rep, "%02d", ((int)ep[3] / 6) * 6);
+            sprintf(rep, "%02d", (static_cast<int>(ep[3]) / 6) * 6);
             stat |= repstr(rpath, "%hb", rep);
-            sprintf(rep, "%02d", ((int)ep[3] / 12) * 12);
+            sprintf(rep, "%02d", (static_cast<int>(ep[3]) / 12) * 12);
             stat |= repstr(rpath, "%hc", rep);
             sprintf(rep, "%04.0f", ep[0]);
             stat |= repstr(rpath, "%Y", rep);
@@ -3540,9 +3540,9 @@ int reppath(const char *path, char *rpath, gtime_t time, const char *rov,
             stat |= repstr(rpath, "%W", rep);
             sprintf(rep, "%d", dow);
             stat |= repstr(rpath, "%D", rep);
-            sprintf(rep, "%c", 'a' + (int)ep[3]);
+            sprintf(rep, "%c", 'a' + static_cast<int>(ep[3]));
             stat |= repstr(rpath, "%H", rep);
-            sprintf(rep, "%02d", ((int)ep[4] / 15) * 15);
+            sprintf(rep, "%02d", (static_cast<int>(ep[4]) / 15) * 15);
             stat |= repstr(rpath, "%t", rep);
         }
     else if (strstr(rpath, "%ha") || strstr(rpath, "%hb") || strstr(rpath, "%hc") ||
@@ -3593,7 +3593,7 @@ int reppaths(const char *path, char *rpath[], int nmax, gtime_t ts,
     while (timediff(time, te) <= 0.0 && n < nmax)
         {
             reppath(path, rpath[n], time, rov, base);
-            if (n == 0 || strcmp(rpath[n], rpath[n - 1])) n++;
+            if (n == 0 || strcmp(rpath[n], rpath[n - 1]) != 0) n++;
             time = timeadd(time, tint);
         }
     for (i = 0; i < n; i++) trace(3, "reppaths: rpath=%s\n", rpath[i]);
@@ -3635,7 +3635,7 @@ double satwavelen(int sat, int frq, const nav_t *nav)
                 return SPEED_OF_LIGHT / FREQ1_BDS; /* B1 */
             if (frq == 1)
                 return SPEED_OF_LIGHT / FREQ2_BDS; /* B2 */
-            else if (frq == 2)
+            if (frq == 2)
                 return SPEED_OF_LIGHT / FREQ3_BDS; /* B3 */
         }
     else
@@ -3644,11 +3644,11 @@ double satwavelen(int sat, int frq, const nav_t *nav)
                 return SPEED_OF_LIGHT / FREQ1; /* L1/E1 */
             if (frq == 1)
                 return SPEED_OF_LIGHT / FREQ2; /* L2 */
-            else if (frq == 2)
+            if (frq == 2)
                 return SPEED_OF_LIGHT / FREQ5; /* L5/E5a */
-            else if (frq == 3)
+            if (frq == 3)
                 return SPEED_OF_LIGHT / FREQ6; /* L6/LEX */
-            else if (frq == 4)
+            if (frq == 4)
                 return SPEED_OF_LIGHT / FREQ7; /* E5b */
             else if (frq == 5)
                 return SPEED_OF_LIGHT / FREQ8; /* E5a+b */
@@ -3881,7 +3881,7 @@ double tropmodel(gtime_t time __attribute__((unused)), const double *pos, const
 
 double interpc(const double coef[], double lat)
 {
-    int i = (int)(lat / 15.0);
+    int i = static_cast<int>(lat / 15.0);
     if (i < 1)
         return coef[0];
     if (i > 4)
@@ -3994,7 +3994,7 @@ double tropmapf(gtime_t time, const double pos[], const double azel[],
 double interpvar(double ang, const double *var)
 {
     double a = ang / 5.0; /* ang=0-90 */
-    int i = (int)a;
+    int i = static_cast<int>(a);
     if (i < 0)
         return var[0];
     if (i >= 18)
@@ -4307,8 +4307,8 @@ int expath(const char *path, char *paths[], int nmax)
             if (*(d->d_name) == '.') continue;
             sprintf(s1, "^%s$", d->d_name);
             sprintf(s2, "^%s$", file);
-            for (p = s1; *p; p++) *p = (char)tolower((int)*p);
+            for (p = s1; *p; p++) *p = static_cast<char>(tolower(static_cast<int>(*p)));
-            for (p = s2; *p; p++) *p = (char)tolower((int)*p);
+            for (p = s2; *p; p++) *p = static_cast<char>(tolower(static_cast<int>(*p)));
 
             for (p = s1, q = strtok_r(s2, "*", &r); q; q = strtok_r(nullptr, "*", &r))
                 {

src/algorithms/libs/rtklib/rtklib_rtkpos.cc

@@ -151,7 +151,7 @@ int rtkopenstat(const char *file, int level)
 
     reppath(file, path, time, "", "");
 
-    if (!(fp_stat = fopen(path, "w")))
+    if (!(fp_stat = fopen(path, "we")))
         {
             trace(1, "rtkopenstat: file open error path=%s\n", path);
             return 0;
@@ -301,8 +301,8 @@ void swapsolstat(void)
     gtime_t time = utc2gpst(timeget());
     char path[1024];
 
-    if ((int)(time2gpst(time, nullptr) / INT_SWAP_STAT) ==
+    if (static_cast<int>(time2gpst(time, nullptr) / INT_SWAP_STAT) ==
-        (int)(time2gpst(time_stat, nullptr) / INT_SWAP_STAT))
+        static_cast<int>(time2gpst(time_stat, nullptr) / INT_SWAP_STAT))
         {
             return;
         }
@@ -314,7 +314,7 @@ void swapsolstat(void)
         }
     if (fp_stat) fclose(fp_stat);
 
-    if (!(fp_stat = fopen(path, "w")))
+    if (!(fp_stat = fopen(path, "we")))
         {
             trace(2, "swapsolstat: file open error path=%s\n", path);
             return;
@@ -795,7 +795,7 @@ void detslp_ll(rtk_t *rtk, const obsd_t *obs, int i, int rcv)
                 setbitu(&rtk->ssat[sat - 1].slip[f], 2, 2, obs[i].LLI[f]);
 
             /* save slip and half-cycle valid flag */
-            rtk->ssat[sat - 1].slip[f] |= (unsigned char)slip;
+            rtk->ssat[sat - 1].slip[f] |= static_cast<unsigned char>(slip);
             rtk->ssat[sat - 1].half[f] = (obs[i].LLI[f] & 2) ? 0 : 1;
         }
 }
@@ -923,7 +923,7 @@ void udbias(rtk_t *rtk, double tt, const obsd_t *obs, const int *sat,
             /* reset phase-bias if instantaneous AR or expire obs outage counter */
             for (i = 1; i <= MAXSAT; i++)
                 {
-                    reset = ++rtk->ssat[i - 1].outc[f] > (unsigned int)rtk->opt.maxout;
+                    reset = ++rtk->ssat[i - 1].outc[f] > static_cast<unsigned int>(rtk->opt.maxout);
 
                     if (rtk->opt.modear == ARMODE_INST && rtk->x[IB_RTK(i, f, &rtk->opt)] != 0.0)
                         {
@@ -1786,7 +1786,7 @@ int resamb_LAMBDA(rtk_t *rtk, double *bias, double *xa)
             trace(4, "N(2)=");
             tracemat(4, b + nb, 1, nb, 10, 3);
 
-            rtk->sol.ratio = s[0] > 0 ? (float)(s[1] / s[0]) : 0.0f;
+            rtk->sol.ratio = s[0] > 0 ? static_cast<float>(s[1] / s[0]) : 0.0f;
             if (rtk->sol.ratio > 999.9) rtk->sol.ratio = 999.9f;
 
             /* validation by popular ratio-test */
@@ -2077,22 +2077,22 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
             for (i = 0; i < 3; i++)
                 {
                     rtk->sol.rr[i] = rtk->xa[i];
-                    rtk->sol.qr[i] = (float)rtk->Pa[i + i * rtk->na];
+                    rtk->sol.qr[i] = static_cast<float>(rtk->Pa[i + i * rtk->na]);
                 }
-            rtk->sol.qr[3] = (float)rtk->Pa[1];
+            rtk->sol.qr[3] = static_cast<float>(rtk->Pa[1]);
-            rtk->sol.qr[4] = (float)rtk->Pa[1 + 2 * rtk->na];
+            rtk->sol.qr[4] = static_cast<float>(rtk->Pa[1 + 2 * rtk->na]);
-            rtk->sol.qr[5] = (float)rtk->Pa[2];
+            rtk->sol.qr[5] = static_cast<float>(rtk->Pa[2]);
         }
     else
         {
             for (i = 0; i < 3; i++)
                 {
                     rtk->sol.rr[i] = rtk->x[i];
-                    rtk->sol.qr[i] = (float)rtk->P[i + i * rtk->nx];
+                    rtk->sol.qr[i] = static_cast<float>(rtk->P[i + i * rtk->nx]);
                 }
-            rtk->sol.qr[3] = (float)rtk->P[1];
+            rtk->sol.qr[3] = static_cast<float>(rtk->P[1]);
-            rtk->sol.qr[4] = (float)rtk->P[1 + 2 * rtk->nx];
+            rtk->sol.qr[4] = static_cast<float>(rtk->P[1 + 2 * rtk->nx]);
-            rtk->sol.qr[5] = (float)rtk->P[2];
+            rtk->sol.qr[5] = static_cast<float>(rtk->P[2]);
             rtk->nfix = 0;
         }
     for (i = 0; i < n; i++)
@@ -2321,7 +2321,7 @@ int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
                     errmsg(rtk, "base station position error (%s)\n", msg);
                     return 0;
                 }
-            rtk->sol.age = (float)timediff(rtk->sol.time, solb.time);
+            rtk->sol.age = static_cast<float>(timediff(rtk->sol.time, solb.time));
 
             if (fabs(rtk->sol.age) > TTOL_MOVEB)
                 {
@@ -2335,7 +2335,7 @@ int rtkpos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
         }
     else
         {
-            rtk->sol.age = (float)timediff(obs[0].time, obs[nu].time);
+            rtk->sol.age = static_cast<float>(timediff(obs[0].time, obs[nu].time));
 
             if (fabs(rtk->sol.age) > opt->maxtdiff)
                 {

src/algorithms/libs/rtklib/rtklib_rtksvr.cc

@@ -129,7 +129,7 @@ void updatesvr(rtksvr_t *svr, int ret, obs_t *obs, nav_t *nav, int sat,
                     for (i = 0; i < obs->n; i++)
                         {
                             if (svr->rtk.opt.exsats[obs->data[i].sat - 1] == 1 ||
-                                !(satsys(obs->data[i].sat, NULL) & svr->rtk.opt.navsys)) continue;
+                                !(satsys(obs->data[i].sat, nullptr) & svr->rtk.opt.navsys)) continue;
                             svr->obs[index][iobs].data[n] = obs->data[i];
                             svr->obs[index][iobs].data[n++].rcv = index + 1;
                         }
@@ -291,7 +291,7 @@ int decoderaw(rtksvr_t *svr, int index)
 {
     obs_t *obs;
     nav_t *nav;
-    sbsmsg_t *sbsmsg = NULL;
+    sbsmsg_t *sbsmsg = nullptr;
     int i, ret = 0, sat, fobs = 0;
 
     tracet(4, "decoderaw: index=%d\n", index);
@@ -373,8 +373,8 @@ void decodefile(rtksvr_t *svr, int index)
     trop_t trop0[MAXSTA] = {{{0, 0.0}, {0.0}, {0.0}}};
     pppcorr_t pppcorr0 = {0, {{0}, {0}}, {{0.0}, {0.0}}, {0}, {0}, {0}, {0}, {stec0}, {trop0}};
 
-    nav_t nav = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+    nav_t nav = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr,
-        {0, 0, (erpd_t *){0}}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0},
+        {0, 0, (erpd_t *){nullptr}}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0}, {0.0},
         {0.0}, {0.0}, {0.0}, {0.0}, 0, {{0.0}, {0.0}}, {{0.0}, {0.0}}, {{{0.0}}, {{0.0}}, {{0.0}}},
         {0.0}, {0.0}, {*glo_fcn}, {*pcvt0}, sbssat0, {*sbsion0}, {*dgps0}, {*ssr0}, {*lexeph0},
         {{0, 0.0}, 0.0, {0.0}, {{0.0}, {0.0}}}, pppcorr0};
@@ -393,7 +393,7 @@ void decodefile(rtksvr_t *svr, int index)
             rtksvrunlock(svr);
             return;
         }
-    strncpy(file, (char *)svr->buff[index], nb - 2);
+    strncpy(file, reinterpret_cast<char *>(svr->buff[index]), nb - 2);
     file[nb - 2] = '\0';
     svr->nb[index] = 0;
 
@@ -446,7 +446,7 @@ void decodefile(rtksvr_t *svr, int index)
 /* rtk server thread ---------------------------------------------------------*/
 void *rtksvrthread(void *arg)
 {
-    auto *svr = (rtksvr_t *)arg;
+    auto *svr = static_cast<rtksvr_t *>(arg);
     obs_t obs;
     obsd_t data[MAXOBS * 2];
     double tt;
@@ -518,14 +518,14 @@ void *rtksvrthread(void *arg)
                     if (svr->rtk.sol.stat != SOLQ_NONE)
                         {
                             /* adjust current time */
-                            tt = (int)(tickget() - tick) / 1000.0 + DTTOL;
+                            tt = static_cast<int>(tickget() - tick) / 1000.0 + DTTOL;
                             timeset(gpst2utc(timeadd(svr->rtk.sol.time, tt)));
 
                             /* write solution */
                             writesol(svr, i);
                         }
                     /* if cpu overload, inclement obs outage counter and break */
-                    if ((int)(tickget() - tick) >= svr->cycle)
+                    if (static_cast<int>(tickget() - tick) >= svr->cycle)
                         {
                             svr->prcout += fobs[0] - i - 1;
 #if 0 /* omitted v.2.4.1 */
@@ -539,7 +539,7 @@ void *rtksvrthread(void *arg)
                     writesol(svr, 0);
                 }
             /* send nmea request to base/nrtk input stream */
-            if (svr->nmeacycle > 0 && (int)(tick - ticknmea) >= svr->nmeacycle)
+            if (svr->nmeacycle > 0 && static_cast<int>(tick - ticknmea) >= svr->nmeacycle)
                 {
                     if (svr->stream[1].state == 1)
                         {
@@ -554,7 +554,7 @@ void *rtksvrthread(void *arg)
                         }
                     ticknmea = tick;
                 }
-            if ((cputime = (int)(tickget() - tick)) > 0) svr->cputime = cputime;
+            if ((cputime = static_cast<int>(tickget() - tick)) > 0) svr->cputime = cputime;
 
             /* sleep until next cycle */
             sleepms(svr->cycle - cputime);
@@ -564,9 +564,9 @@ void *rtksvrthread(void *arg)
         {
             svr->nb[i] = svr->npb[i] = 0;
             free(svr->buff[i]);
-            svr->buff[i] = NULL;
+            svr->buff[i] = nullptr;
             free(svr->pbuf[i]);
-            svr->pbuf[i] = NULL;
+            svr->pbuf[i] = nullptr;
             //free_raw (svr->raw +i);
             free_rtcm(svr->rtcm + i);
         }
@@ -574,9 +574,9 @@ void *rtksvrthread(void *arg)
         {
             svr->nsb[i] = 0;
             free(svr->sbuf[i]);
-            svr->sbuf[i] = NULL;
+            svr->sbuf[i] = nullptr;
         }
-    return 0;
+    return nullptr;
 }
 
 
@@ -610,22 +610,22 @@ int rtksvrinit(rtksvr_t *svr)
     for (i = 0; i < 3; i++) svr->nb[i] = 0;
     for (i = 0; i < 2; i++) svr->nsb[i] = 0;
     for (i = 0; i < 3; i++) svr->npb[i] = 0;
-    for (i = 0; i < 3; i++) svr->buff[i] = NULL;
+    for (i = 0; i < 3; i++) svr->buff[i] = nullptr;
-    for (i = 0; i < 2; i++) svr->sbuf[i] = NULL;
+    for (i = 0; i < 2; i++) svr->sbuf[i] = nullptr;
-    for (i = 0; i < 3; i++) svr->pbuf[i] = NULL;
+    for (i = 0; i < 3; i++) svr->pbuf[i] = nullptr;
     for (i = 0; i < MAXSOLBUF; i++) svr->solbuf[i] = sol0;
     for (i = 0; i < 3; i++)
         for (j = 0; j < 10; j++) svr->nmsg[i][j] = 0;
     for (i = 0; i < 3; i++) svr->ftime[i] = time0;
     for (i = 0; i < 3; i++) svr->files[i][0] = '\0';
-    svr->moni = NULL;
+    svr->moni = nullptr;
     svr->tick = 0;
-    svr->thread = 0;
+    svr->thread = 0;  // NOLINT
     svr->cputime = svr->prcout = 0;
 
-    if (!(svr->nav.eph = (eph_t *)malloc(sizeof(eph_t) * MAXSAT * 2)) ||
+    if (!(svr->nav.eph = static_cast<eph_t *>(malloc(sizeof(eph_t) * MAXSAT * 2))) ||
-        !(svr->nav.geph = (geph_t *)malloc(sizeof(geph_t) * NSATGLO * 2)) ||
+        !(svr->nav.geph = static_cast<geph_t *>(malloc(sizeof(geph_t) * NSATGLO * 2))) ||
-        !(svr->nav.seph = (seph_t *)malloc(sizeof(seph_t) * NSATSBS * 2)))
+        !(svr->nav.seph = static_cast<seph_t *>(malloc(sizeof(seph_t) * NSATSBS * 2))))
         {
             tracet(1, "rtksvrinit: malloc error\n");
             return 0;
@@ -640,7 +640,7 @@ int rtksvrinit(rtksvr_t *svr)
     for (i = 0; i < 3; i++)
         for (j = 0; j < MAXOBSBUF; j++)
             {
-                if (!(svr->obs[i][j].data = (obsd_t *)malloc(sizeof(obsd_t) * MAXOBS)))
+                if (!(svr->obs[i][j].data = static_cast<obsd_t *>(malloc(sizeof(obsd_t) * MAXOBS))))
                     {
                         tracet(1, "rtksvrinit: malloc error\n");
                         return 0;
@@ -760,8 +760,8 @@ int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
     for (i = 0; i < 3; i++)
         { /* input/log streams */
             svr->nb[i] = svr->npb[i] = 0;
-            if (!(svr->buff[i] = (unsigned char *)malloc(buffsize)) ||
+            if (!(svr->buff[i] = static_cast<unsigned char *>(malloc(buffsize))) ||
-                !(svr->pbuf[i] = (unsigned char *)malloc(buffsize)))
+                !(svr->pbuf[i] = static_cast<unsigned char *>(malloc(buffsize))))
                 {
                     tracet(1, "rtksvrstart: malloc error\n");
                     return 0;
@@ -782,7 +782,7 @@ int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
         }
     for (i = 0; i < 2; i++)
         { /* output peek buffer */
-            if (!(svr->sbuf[i] = (unsigned char *)malloc(buffsize)))
+            if (!(svr->sbuf[i] = static_cast<unsigned char *>(malloc(buffsize))))
                 {
                     tracet(1, "rtksvrstart: malloc error\n");
                     return 0;
@@ -840,7 +840,7 @@ int rtksvrstart(rtksvr_t *svr, int cycle, int buffsize, int *strs,
             writesolhead(svr->stream + i, svr->solopt + i - 3);
         }
     /* create rtk server thread */
-    if (pthread_create(&svr->thread, NULL, rtksvrthread, svr))
+    if (pthread_create(&svr->thread, nullptr, rtksvrthread, svr))
         {
             for (i = 0; i < MAXSTRRTK; i++) strclose(svr->stream + i);
             return 0;
@@ -876,7 +876,7 @@ void rtksvrstop(rtksvr_t *svr, char **cmds)
     svr->state = 0;
 
     /* free rtk server thread */
-    pthread_join(svr->thread, NULL);
+    pthread_join(svr->thread, nullptr);
 }
 
 
@@ -979,7 +979,7 @@ int rtksvrostat(rtksvr_t *svr, int rcv, gtime_t *time, int *sat,
             el[i] = svr->rtk.ssat[sat[i] - 1].azel[1];
             for (j = 0; j < NFREQ; j++)
                 {
-                    snr[i][j] = (int)(svr->obs[rcv][0].data[i].SNR[j] * 0.25);
+                    snr[i][j] = static_cast<int>(svr->obs[rcv][0].data[i].SNR[j] * 0.25);
                 }
             if (svr->rtk.sol.stat == SOLQ_NONE || svr->rtk.sol.stat == SOLQ_SINGLE)
                 {

src/algorithms/libs/rtklib/rtklib_sbas.cc

@@ -148,7 +148,7 @@ int decode_sbstype2(const sbsmsg_t *msg, sbssat_t *sbssat)
 
     trace(4, "decode_sbstype2:\n");
 
-    if (sbssat->iodp != (int)getbitu(msg->msg, 16, 2)) return 0;
+    if (sbssat->iodp != static_cast<int>(getbitu(msg->msg, 16, 2))) return 0;
 
     type = getbitu(msg->msg, 8, 6);
     iodf = getbitu(msg->msg, 14, 2);
@@ -209,7 +209,7 @@ int decode_sbstype7(const sbsmsg_t *msg, sbssat_t *sbssat)
 
     trace(4, "decode_sbstype7\n");
 
-    if (sbssat->iodp != (int)getbitu(msg->msg, 18, 2)) return 0;
+    if (sbssat->iodp != static_cast<int>(getbitu(msg->msg, 18, 2))) return 0;
 
     sbssat->tlat = getbitu(msg->msg, 14, 4);
 
@@ -234,7 +234,7 @@ int decode_sbstype9(const sbsmsg_t *msg, nav_t *nav)
             trace(2, "invalid prn in sbas type 9: prn=%3d\n", msg->prn);
             return 0;
         }
-    t = (int)getbitu(msg->msg, 22, 13) * 16 - (int)msg->tow % 86400;
+    t = static_cast<int>(getbitu(msg->msg, 22, 13)) * 16 - msg->tow % 86400;
     if (t <= -43200)
         t += 86400;
     else if (t > 43200)
@@ -292,7 +292,7 @@ int decode_sbstype18(const sbsmsg_t *msg, sbsion_t *sbsion)
     else
         return 0;
 
-    sbsion[band].iodi = (short)getbitu(msg->msg, 22, 2);
+    sbsion[band].iodi = static_cast<int16_t>(getbitu(msg->msg, 22, 2));
 
     for (i = 1, n = 0; i <= 201; i++)
         {
@@ -355,7 +355,7 @@ int decode_longcorr1(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
         }
     sbssat->sat[n - 1].lcorr.daf0 = getbits(msg->msg, p + 47, 11) * TWO_N31;
     sbssat->sat[n - 1].lcorr.daf1 = getbits(msg->msg, p + 82, 8) * TWO_N39;
-    t = (int)getbitu(msg->msg, p + 90, 13) * 16 - (int)msg->tow % 86400;
+    t = static_cast<int>(getbitu(msg->msg, p + 90, 13)) * 16 - msg->tow % 86400;
     if (t <= -43200)
         t += 86400;
     else if (t > 43200)
@@ -374,13 +374,13 @@ int decode_longcorrh(const sbsmsg_t *msg, int p, sbssat_t *sbssat)
 
     if (getbitu(msg->msg, p, 1) == 0)
         { /* vel code=0 */
-            if (sbssat->iodp == (int)getbitu(msg->msg, p + 103, 2))
+            if (sbssat->iodp == static_cast<int>(getbitu(msg->msg, p + 103, 2)))
                 {
                     return decode_longcorr0(msg, p + 1, sbssat) &&
                            decode_longcorr0(msg, p + 52, sbssat);
                 }
         }
-    else if (sbssat->iodp == (int)getbitu(msg->msg, p + 104, 2))
+    else if (sbssat->iodp == static_cast<int>(getbitu(msg->msg, p + 104, 2)))
         {
             return decode_longcorr1(msg, p + 1, sbssat);
         }
@@ -395,7 +395,7 @@ int decode_sbstype24(const sbsmsg_t *msg, sbssat_t *sbssat)
 
     trace(4, "decode_sbstype24:\n");
 
-    if (sbssat->iodp != (int)getbitu(msg->msg, 110, 2)) return 0; /* check IODP */
+    if (sbssat->iodp != static_cast<int>(getbitu(msg->msg, 110, 2))) return 0; /* check IODP */
 
     blk = getbitu(msg->msg, 112, 2);
     iodf = getbitu(msg->msg, 114, 2);
@@ -430,7 +430,7 @@ int decode_sbstype26(const sbsmsg_t *msg, sbsion_t *sbsion)
 
     trace(4, "decode_sbstype26:\n");
 
-    if (band > MAXBAND || sbsion[band].iodi != (int)getbitu(msg->msg, 217, 2)) return 0;
+    if (band > MAXBAND || sbsion[band].iodi != static_cast<int>(getbitu(msg->msg, 217, 2))) return 0;
 
     block = getbitu(msg->msg, 18, 4);
 
@@ -529,7 +529,7 @@ void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
 
     trace(3, "readmsgs: file=%s sel=%d\n", file, sel);
 
-    if (!(fp = fopen(file, "r")))
+    if (!(fp = fopen(file, "re")))
         {
             trace(2, "sbas message file open error: %s\n", file);
             return;
@@ -575,7 +575,7 @@ void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
             if (sbs->n >= sbs->nmax)
                 {
                     sbs->nmax = sbs->nmax == 0 ? 1024 : sbs->nmax * 2;
-                    if (!(sbs_msgs = (sbsmsg_t *)realloc(sbs->msgs, sbs->nmax * sizeof(sbsmsg_t))))
+                    if (!(sbs_msgs = static_cast<sbsmsg_t *>(realloc(sbs->msgs, sbs->nmax * sizeof(sbsmsg_t)))))
                         {
                             trace(1, "readsbsmsg malloc error: nmax=%d\n", sbs->nmax);
                             free(sbs->msgs);
@@ -587,12 +587,12 @@ void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
                     sbs->msgs = sbs_msgs;
                 }
             sbs->msgs[sbs->n].week = week;
-            sbs->msgs[sbs->n].tow = (int)(tow + 0.5);
+            sbs->msgs[sbs->n].tow = static_cast<int>(tow + 0.5);
             sbs->msgs[sbs->n].prn = prn;
             for (i = 0; i < 29; i++) sbs->msgs[sbs->n].msg[i] = 0;
             for (i = 0; *(p - 1) && *p && i < 29; p += 2, i++)
                 {
-                    if (sscanf(p, "%2X", &b) == 1) sbs->msgs[sbs->n].msg[i] = (unsigned char)b;
+                    if (sscanf(p, "%2X", &b) == 1) sbs->msgs[sbs->n].msg[i] = static_cast<unsigned char>(b);
                 }
             sbs->msgs[sbs->n++].msg[28] &= 0xC0;
         }
@@ -633,7 +633,7 @@ int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
 
     for (i = 0; i < MAXEXFILE; i++)
         {
-            if (!(efiles[i] = (char *)malloc(1024)))
+            if (!(efiles[i] = static_cast<char *>(malloc(1024))))
                 {
                     for (i--; i >= 0; i--) free(efiles[i]);
                     return 0;
@@ -645,8 +645,8 @@ int sbsreadmsgt(const char *file, int sel, gtime_t ts, gtime_t te,
     for (i = 0; i < n; i++)
         {
             if (!(ext = strrchr(efiles[i], '.'))) continue;
-            if (strcmp(ext, ".sbs") && strcmp(ext, ".SBS") &&
+            if (strcmp(ext, ".sbs") != 0 && strcmp(ext, ".SBS") &&
-                strcmp(ext, ".ems") && strcmp(ext, ".EMS")) continue;
+                strcmp(ext, ".ems") != 0 && strcmp(ext, ".EMS") != 0) continue;
 
             readmsgs(efiles[i], sel, ts, te, sbs);
         }
@@ -702,38 +702,38 @@ void searchigp(gtime_t time __attribute__((unused)), const double *pos, const sb
     if (lon >= 180.0) lon -= 360.0;
     if (-55.0 <= lat && lat < 55.0)
         {
-            latp[0] = (int)floor(lat / 5.0) * 5;
+            latp[0] = static_cast<int>(floor(lat / 5.0)) * 5;
             latp[1] = latp[0] + 5;
-            lonp[0] = lonp[1] = (int)floor(lon / 5.0) * 5;
+            lonp[0] = lonp[1] = static_cast<int>(floor(lon / 5.0)) * 5;
             lonp[2] = lonp[3] = lonp[0] + 5;
             *x = (lon - lonp[0]) / 5.0;
             *y = (lat - latp[0]) / 5.0;
         }
     else
         {
-            latp[0] = (int)floor((lat - 5.0) / 10.0) * 10 + 5;
+            latp[0] = static_cast<int>(floor((lat - 5.0) / 10.0)) * 10 + 5;
             latp[1] = latp[0] + 10;
-            lonp[0] = lonp[1] = (int)floor(lon / 10.0) * 10;
+            lonp[0] = lonp[1] = static_cast<int>(floor(lon / 10.0)) * 10;
             lonp[2] = lonp[3] = lonp[0] + 10;
             *x = (lon - lonp[0]) / 10.0;
             *y = (lat - latp[0]) / 10.0;
             if (75.0 <= lat && lat < 85.0)
                 {
-                    lonp[1] = (int)floor(lon / 90.0) * 90;
+                    lonp[1] = static_cast<int>(floor(lon / 90.0)) * 90;
                     lonp[3] = lonp[1] + 90;
                 }
             else if (-85.0 <= lat && lat < -75.0)
                 {
-                    lonp[0] = (int)floor((lon - 50.0) / 90.0) * 90 + 40;
+                    lonp[0] = static_cast<int>(floor((lon - 50.0) / 90.0)) * 90 + 40;
                     lonp[2] = lonp[0] + 90;
                 }
             else if (lat >= 85.0)
                 {
-                    for (i = 0; i < 4; i++) lonp[i] = (int)floor(lon / 90.0) * 90;
+                    for (i = 0; i < 4; i++) lonp[i] = static_cast<int>(floor(lon / 90.0)) * 90;
                 }
             else if (lat < -85.0)
                 {
-                    for (i = 0; i < 4; i++) lonp[i] = (int)floor((lon - 50.0) / 90.0) * 90 + 40;
+                    for (i = 0; i < 4; i++) lonp[i] = static_cast<int>(floor((lon - 50.0) / 90.0)) * 90 + 40;
                 }
         }
     for (i = 0; i < 4; i++)
@@ -864,7 +864,7 @@ void getmet(double lat, double *met)
         for (i = 0; i < 10; i++) met[i] = metprm[4][i];
     else
         {
-            j = (int)(lat / 15.0);
+            j = static_cast<int>(lat / 15.0);
             a = (lat - j * 15.0) / 15.0;
             for (i = 0; i < 10; i++) met[i] = (1.0 - a) * metprm[j - 1][i] + a * metprm[j][i];
         }
@@ -1049,14 +1049,14 @@ int sbsdecodemsg(gtime_t time, int prn, const unsigned int *words,
 
     if (time.time == 0) return 0;
     tow = time2gpst(time, &sbsmsg->week);
-    sbsmsg->tow = (int)(tow + DTTOL);
+    sbsmsg->tow = static_cast<int>(tow + DTTOL);
     sbsmsg->prn = prn;
     for (i = 0; i < 7; i++)
         for (j = 0; j < 4; j++)
             {
-                sbsmsg->msg[i * 4 + j] = (unsigned char)(words[i] >> ((3 - j) * 8));
+                sbsmsg->msg[i * 4 + j] = static_cast<unsigned char>(words[i] >> ((3 - j) * 8));
             }
-    sbsmsg->msg[28] = (unsigned char)(words[7] >> 18) & 0xC0;
+    sbsmsg->msg[28] = static_cast<unsigned char>(words[7] >> 18) & 0xC0;
     for (i = 28; i > 0; i--) f[i] = (sbsmsg->msg[i] >> 6) + (sbsmsg->msg[i - 1] << 2);
     f[0] = sbsmsg->msg[0] >> 6;
 

src/algorithms/libs/rtklib/rtklib_solution.cc

@@ -51,7 +51,7 @@
  *
  *----------------------------------------------------------------------------*/
 
-#include <ctype.h>
+#include <cctype>
 #include "rtklib_solution.h"
 #include "rtklib_rtkcmn.h"
 #include "rtklib_rtksvr.h"
@@ -88,7 +88,7 @@ const char *opt2sep(const solopt_t *opt)
 /* separate fields -----------------------------------------------------------*/
 int tonum(char *buff, const char *sep, double *v)
 {
-    int n, len = (int)strlen(sep);
+    int n, len = static_cast<int>(strlen(sep));
     char *p, *q;
 
     for (p = buff, n = 0; n < MAXFIELD; p = q + len)
@@ -140,12 +140,12 @@ void soltocov(const sol_t *sol, double *P)
 /* covariance to solution ----------------------------------------------------*/
 void covtosol(const double *P, sol_t *sol)
 {
-    sol->qr[0] = (float)P[0]; /* xx or ee */
+    sol->qr[0] = static_cast<float>(P[0]); /* xx or ee */
-    sol->qr[1] = (float)P[4]; /* yy or nn */
+    sol->qr[1] = static_cast<float>(P[4]); /* yy or nn */
-    sol->qr[2] = (float)P[8]; /* zz or uu */
+    sol->qr[2] = static_cast<float>(P[8]); /* zz or uu */
-    sol->qr[3] = (float)P[1]; /* xy or en */
+    sol->qr[3] = static_cast<float>(P[1]); /* xy or en */
-    sol->qr[4] = (float)P[5]; /* yz or nu */
+    sol->qr[4] = static_cast<float>(P[5]); /* yz or nu */
-    sol->qr[5] = (float)P[2]; /* zx or ue */
+    sol->qr[5] = static_cast<float>(P[2]); /* zx or ue */
 }
 
 
@@ -364,7 +364,7 @@ char *decode_soltime(char *buff, const solopt_t *opt, gtime_t *time)
         strcpy(s, "\t");
     else if (*opt->sep)
         strcpy(s, opt->sep);
-    len = (int)strlen(s);
+    len = static_cast<int>(strlen(s));
 
     /* yyyy/mm/dd hh:mm:ss or yyyy mm dd hh:mm:ss */
     if (sscanf(buff, "%lf/%lf/%lf %lf:%lf:%lf", v, v + 1, v + 2, v + 3, v + 4, v + 5) >= 6)
@@ -383,7 +383,7 @@ char *decode_soltime(char *buff, const solopt_t *opt, gtime_t *time)
                     *time = utc2gpst(timeadd(*time, -9 * 3600.0));
                 }
             if (!(p = strchr(buff, ':')) || !(p = strchr(p + 1, ':'))) return nullptr;
-            for (p++; isdigit((int)*p) || *p == '.';) p++;
+            for (p++; isdigit(static_cast<int>(*p)) || *p == '.';) p++;
             return p + len;
         }
     if (opt->posf == SOLF_GSIF)
@@ -394,7 +394,7 @@ char *decode_soltime(char *buff, const solopt_t *opt, gtime_t *time)
                 }
             *time = timeadd(epoch2time(v), -12.0 * 3600.0);
             if (!(p = strchr(buff, ':')) || !(p = strchr(p + 1, ':'))) return nullptr;
-            for (p++; isdigit((int)*p) || *p == '.';) p++;
+            for (p++; isdigit(static_cast<int>(*p)) || *p == '.';) p++;
             return p + len;
         }
     /* wwww ssss */
@@ -406,7 +406,7 @@ char *decode_soltime(char *buff, const solopt_t *opt, gtime_t *time)
         }
     if (n >= 2 && 0.0 <= v[0] && v[0] <= 3000.0 && 0.0 <= v[1] && v[1] < 604800.0)
         {
-            *time = gpst2time((int)v[0], v[1]);
+            *time = gpst2time(static_cast<int>(v[0]), v[1]);
             return p;
         }
     return nullptr;
@@ -428,8 +428,8 @@ int decode_solxyz(char *buff, const solopt_t *opt, sol_t *sol)
         {
             sol->rr[j] = val[i++]; /* xyz */
         }
-    if (i < n) sol->stat = (unsigned char)val[i++];
+    if (i < n) sol->stat = static_cast<unsigned char>(val[i++]);
-    if (i < n) sol->ns = (unsigned char)val[i++];
+    if (i < n) sol->ns = static_cast<unsigned char>(val[i++]);
     if (i + 3 < n)
         {
             P[0] = val[i] * val[i];
@@ -449,8 +449,8 @@ int decode_solxyz(char *buff, const solopt_t *opt, sol_t *sol)
                 }
             covtosol(P, sol);
         }
-    if (i < n) sol->age = (float)val[i++];
+    if (i < n) sol->age = static_cast<float>(val[i++]);
-    if (i < n) sol->ratio = (float)val[i];
+    if (i < n) sol->ratio = static_cast<float>(val[i]);
 
     sol->type = 0; /* position type = xyz */
 
@@ -486,8 +486,8 @@ int decode_solllh(char *buff, const solopt_t *opt, sol_t *sol)
             i += 7;
         }
     pos2ecef(pos, sol->rr);
-    if (i < n) sol->stat = (unsigned char)val[i++];
+    if (i < n) sol->stat = static_cast<unsigned char>(val[i++]);
-    if (i < n) sol->ns = (unsigned char)val[i++];
+    if (i < n) sol->ns = static_cast<unsigned char>(val[i++]);
     if (i + 3 < n)
         {
             Q[4] = val[i] * val[i];
@@ -508,8 +508,8 @@ int decode_solllh(char *buff, const solopt_t *opt, sol_t *sol)
             covecef(pos, Q, P);
             covtosol(P, sol);
         }
-    if (i < n) sol->age = (float)val[i++];
+    if (i < n) sol->age = static_cast<float>(val[i++]);
-    if (i < n) sol->ratio = (float)val[i];
+    if (i < n) sol->ratio = static_cast<float>(val[i]);
 
     sol->type = 0; /* position type = xyz */
 
@@ -533,8 +533,8 @@ int decode_solenu(char *buff, const solopt_t *opt, sol_t *sol)
         {
             sol->rr[j] = val[i++]; /* enu */
         }
-    if (i < n) sol->stat = (unsigned char)val[i++];
+    if (i < n) sol->stat = static_cast<unsigned char>(val[i++]);
-    if (i < n) sol->ns = (unsigned char)val[i++];
+    if (i < n) sol->ns = static_cast<unsigned char>(val[i++]);
     if (i + 3 < n)
         {
             Q[0] = val[i] * val[i];
@@ -554,8 +554,8 @@ int decode_solenu(char *buff, const solopt_t *opt, sol_t *sol)
                 }
             covtosol(Q, sol);
         }
-    if (i < n) sol->age = (float)val[i++];
+    if (i < n) sol->age = static_cast<float>(val[i++]);
-    if (i < n) sol->ratio = (float)val[i];
+    if (i < n) sol->ratio = static_cast<float>(val[i]);
 
     sol->type = 1; /* position type = enu */
 
@@ -682,7 +682,7 @@ void decode_solopt(char *buff, solopt_t *opt)
 
     trace(4, "decode_solhead: buff=%s\n", buff);
 
-    if (strncmp(buff, COMMENTH, 1) && strncmp(buff, "+", 1)) return;
+    if (strncmp(buff, COMMENTH, 1) != 0 && strncmp(buff, "+", 1)) return;
 
     if (strstr(buff, "GPST"))
         opt->times = TIMES_GPST;
@@ -776,13 +776,13 @@ int inputsol(unsigned char data, gtime_t ts, gtime_t te, double tint,
     solbuf->nb = 0;
 
     /* check disconnect message */
-    if (!strcmp((char *)solbuf->buff, MSG_DISCONN))
+    if (!strcmp(reinterpret_cast<char *>(solbuf->buff), MSG_DISCONN))
         {
             trace(3, "disconnect received\n");
             return -1;
         }
     /* decode solution */
-    if ((stat = decode_sol((char *)solbuf->buff, opt, &sol, solbuf->rb)) > 0)
+    if ((stat = decode_sol(reinterpret_cast<char *>(solbuf->buff), opt, &sol, solbuf->rb)) > 0)
         {
             solbuf->time = sol.time; /* update current time */
         }
@@ -806,7 +806,7 @@ int readsoldata(FILE *fp, gtime_t ts, gtime_t te, double tint, int qflag,
     while ((c = fgetc(fp)) != EOF)
         {
             /* input solution */
-            inputsol((unsigned char)c, ts, te, tint, qflag, opt, solbuf);
+            inputsol(static_cast<unsigned char>(c), ts, te, tint, qflag, opt, solbuf);
         }
     return solbuf->n > 0;
 }
@@ -830,7 +830,7 @@ int sort_solbuf(solbuf_t *solbuf)
 
     if (solbuf->n <= 0) return 0;
 
-    if (!(solbuf_data = (sol_t *)realloc(solbuf->data, sizeof(sol_t) * solbuf->n)))
+    if (!(solbuf_data = static_cast<sol_t *>(realloc(solbuf->data, sizeof(sol_t) * solbuf->n))))
         {
             trace(1, "sort_solbuf: memory allocation error\n");
             free(solbuf->data);
@@ -871,7 +871,7 @@ int readsolt(char *files[], int nfile, gtime_t ts, gtime_t te,
 
     for (i = 0; i < nfile; i++)
         {
-            if (!(fp = fopen(files[i], "rb")))
+            if (!(fp = fopen(files[i], "rbe")))
                 {
                     trace(1, "readsolt: file open error %s\n", files[i]);
                     continue;
@@ -931,7 +931,7 @@ int addsol(solbuf_t *solbuf, const sol_t *sol)
     if (solbuf->n >= solbuf->nmax)
         {
             solbuf->nmax = solbuf->nmax == 0 ? 8192 : solbuf->nmax * 2;
-            if (!(solbuf_data = (sol_t *)realloc(solbuf->data, sizeof(sol_t) * solbuf->nmax)))
+            if (!(solbuf_data = static_cast<sol_t *>(realloc(solbuf->data, sizeof(sol_t) * solbuf->nmax))))
                 {
                     trace(1, "addsol: memory allocation error\n");
                     free(solbuf->data);
@@ -985,7 +985,7 @@ void initsolbuf(solbuf_t *solbuf, int cyclic, int nmax)
     if (cyclic)
         {
             if (nmax <= 2) nmax = 2;
-            if (!(solbuf->data = (sol_t *)malloc(sizeof(sol_t) * nmax)))
+            if (!(solbuf->data = static_cast<sol_t *>(malloc(sizeof(sol_t) * nmax))))
                 {
                     trace(1, "initsolbuf: memory allocation error\n");
                     return;
@@ -1038,7 +1038,7 @@ int sort_solstat(solstatbuf_t *statbuf)
 
     if (statbuf->n <= 0) return 0;
 
-    if (!(statbuf_data = (solstat_t *)realloc(statbuf->data, sizeof(solstat_t) * statbuf->n)))
+    if (!(statbuf_data = static_cast<solstat_t *>(realloc(statbuf->data, sizeof(solstat_t) * statbuf->n))))
         {
             trace(1, "sort_solstat: memory allocation error\n");
             free(statbuf->data);
@@ -1084,18 +1084,18 @@ int decode_solstat(char *buff, solstat_t *stat)
         }
     *stat = stat0;
     stat->time = gpst2time(week, tow);
-    stat->sat = (unsigned char)sat;
+    stat->sat = static_cast<unsigned char>(sat);
-    stat->frq = (unsigned char)frq;
+    stat->frq = static_cast<unsigned char>(frq);
-    stat->az = (float)(az * D2R);
+    stat->az = static_cast<float>(az * D2R);
-    stat->el = (float)(el * D2R);
+    stat->el = static_cast<float>(el * D2R);
-    stat->resp = (float)resp;
+    stat->resp = static_cast<float>(resp);
-    stat->resc = (float)resc;
+    stat->resc = static_cast<float>(resc);
-    stat->flag = (unsigned char)((vsat << 5) + (slip << 3) + fix);
+    stat->flag = static_cast<unsigned char>((vsat << 5) + (slip << 3) + fix);
-    stat->snr = (unsigned char)(snr * 4.0 + 0.5);
+    stat->snr = static_cast<unsigned char>(snr * 4.0 + 0.5);
-    stat->lock = (unsigned short)lock;
+    stat->lock = static_cast<uint16_t>(lock);
-    stat->outc = (unsigned short)outc;
+    stat->outc = static_cast<uint16_t>(outc);
-    stat->slipc = (unsigned short)slipc;
+    stat->slipc = static_cast<uint16_t>(slipc);
-    stat->rejc = (unsigned short)rejc;
+    stat->rejc = static_cast<uint16_t>(rejc);
     return 1;
 }
 
@@ -1110,8 +1110,8 @@ void addsolstat(solstatbuf_t *statbuf, const solstat_t *stat)
     if (statbuf->n >= statbuf->nmax)
         {
             statbuf->nmax = statbuf->nmax == 0 ? 8192 : statbuf->nmax * 2;
-            if (!(statbuf_data = (solstat_t *)realloc(statbuf->data, sizeof(solstat_t) *
+            if (!(statbuf_data = static_cast<solstat_t *>(realloc(statbuf->data, sizeof(solstat_t) *
-                                                                         statbuf->nmax)))
+                                                                         statbuf->nmax))))
                 {
                     trace(1, "addsolstat: memory allocation error\n");
                     free(statbuf->data);
@@ -1174,7 +1174,7 @@ int readsolstatt(char *files[], int nfile, gtime_t ts, gtime_t te,
     for (i = 0; i < nfile; i++)
         {
             sprintf(path, "%s.stat", files[i]);
-            if (!(fp = fopen(path, "r")))
+            if (!(fp = fopen(path, "re")))
                 {
                     trace(1, "readsolstatt: file open error %s\n", path);
                     continue;
@@ -1205,7 +1205,7 @@ int outecef(unsigned char *buff, const char *s, const sol_t *sol,
     const solopt_t *opt)
 {
     const char *sep = opt2sep(opt);
-    char *p = (char *)buff;
+    char *p = reinterpret_cast<char *>(buff);
 
     trace(3, "outecef:\n");
 
@@ -1214,7 +1214,7 @@ int outecef(unsigned char *buff, const char *s, const sol_t *sol,
         sol->ns, sep, SQRT_SOL(sol->qr[0]), sep, SQRT_SOL(sol->qr[1]), sep, SQRT_SOL(sol->qr[2]),
         sep, sqvar(sol->qr[3]), sep, sqvar(sol->qr[4]), sep, sqvar(sol->qr[5]),
         sep, sol->age, sep, sol->ratio);
-    return p - (char *)buff;
+    return p - reinterpret_cast<char *>(buff);
 }
 
 
@@ -1224,7 +1224,7 @@ int outpos(unsigned char *buff, const char *s, const sol_t *sol,
 {
     double pos[3], dms1[3], dms2[3], P[9], Q[9];
     const char *sep = opt2sep(opt);
-    char *p = (char *)buff;
+    char *p = reinterpret_cast<char *>(buff);
 
     trace(3, "outpos  :\n");
 
@@ -1249,7 +1249,7 @@ int outpos(unsigned char *buff, const char *s, const sol_t *sol,
         sep, pos[2], sep, sol->stat, sep, sol->ns, sep, SQRT_SOL(Q[4]), sep,
         SQRT_SOL(Q[0]), sep, SQRT_SOL(Q[8]), sep, sqvar(Q[1]), sep, sqvar(Q[2]),
         sep, sqvar(Q[5]), sep, sol->age, sep, sol->ratio);
-    return p - (char *)buff;
+    return p - reinterpret_cast<char *>(buff);
 }
 
 
@@ -1260,7 +1260,7 @@ int outenu(unsigned char *buff, const char *s, const sol_t *sol,
     double pos[3], rr[3], enu[3], P[9], Q[9];
     int i;
     const char *sep = opt2sep(opt);
-    char *p = (char *)buff;
+    char *p = reinterpret_cast<char *>(buff);
 
     trace(3, "outenu  :\n");
 
@@ -1273,7 +1273,7 @@ int outenu(unsigned char *buff, const char *s, const sol_t *sol,
         s, sep, enu[0], sep, enu[1], sep, enu[2], sep, sol->stat, sep, sol->ns, sep,
         SQRT_SOL(Q[0]), sep, SQRT_SOL(Q[4]), sep, SQRT_SOL(Q[8]), sep, sqvar(Q[1]),
         sep, sqvar(Q[5]), sep, sqvar(Q[2]), sep, sol->age, sep, sol->ratio);
-    return p - (char *)buff;
+    return p - reinterpret_cast<char *>(buff);
 }
 
 
@@ -1283,16 +1283,16 @@ int outnmea_rmc(unsigned char *buff, const sol_t *sol)
     static double dirp = 0.0;
     gtime_t time;
     double ep[6], pos[3], enuv[3], dms1[3], dms2[3], vel, dir, amag = 0.0;
-    char *p = (char *)buff, *q, sum, *emag = (char *)"E";
+    char *p = reinterpret_cast<char *>(buff), *q, sum, *emag = (char *)"E";
 
     trace(3, "outnmea_rmc:\n");
 
     if (sol->stat <= SOLQ_NONE)
         {
             p += sprintf(p, "$GPRMC,,,,,,,,,,,,");
-            for (q = (char *)buff + 1, sum = 0; *q; q++) sum ^= *q;
+            for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++) sum ^= *q;
             p += sprintf(p, "*%02X%c%c", sum, 0x0D, 0x0A);
-            return p - (char *)buff;
+            return p - reinterpret_cast<char *>(buff);
         }
     time = gpst2utc(sol->time);
     if (time.sec >= 0.995)
@@ -1317,11 +1317,11 @@ int outnmea_rmc(unsigned char *buff, const sol_t *sol)
     p += sprintf(p, "$GPRMC,%02.0f%02.0f%05.2f,A,%02.0f%010.7f,%s,%03.0f%010.7f,%s,%4.2f,%4.2f,%02.0f%02.0f%02d,%.1f,%s,%s",
         ep[3], ep[4], ep[5], dms1[0], dms1[1] + dms1[2] / 60.0, pos[0] >= 0 ? "N" : "S",
         dms2[0], dms2[1] + dms2[2] / 60.0, pos[1] >= 0 ? "E" : "W", vel / KNOT2M, dir,
-        ep[2], ep[1], (int)ep[0] % 100, amag, emag,
+        ep[2], ep[1], static_cast<int>(ep[0]) % 100, amag, emag,
         sol->stat == SOLQ_DGPS || sol->stat == SOLQ_FLOAT || sol->stat == SOLQ_FIX ? "D" : "A");
-    for (q = (char *)buff + 1, sum = 0; *q; q++) sum ^= *q; /* check-sum */
+    for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++) sum ^= *q; /* check-sum */
     p += sprintf(p, "*%02X%c%c", sum, 0x0D, 0x0A);
-    return p - (char *)buff;
+    return p - reinterpret_cast<char *>(buff);
 }
 
 
@@ -1331,16 +1331,16 @@ int outnmea_gga(unsigned char *buff, const sol_t *sol)
     gtime_t time;
     double h, ep[6], pos[3], dms1[3], dms2[3], dop = 1.0;
     int solq;
-    char *p = (char *)buff, *q, sum;
+    char *p = reinterpret_cast<char *>(buff), *q, sum;
 
     trace(3, "outnmea_gga:\n");
 
     if (sol->stat <= SOLQ_NONE)
         {
             p += sprintf(p, "$GPGGA,,,,,,,,,,,,,,");
-            for (q = (char *)buff + 1, sum = 0; *q; q++) sum ^= *q;
+            for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++) sum ^= *q;
             p += sprintf(p, "*%02X%c%c", sum, 0x0D, 0x0A);
-            return p - (char *)buff;
+            return p - reinterpret_cast<char *>(buff);
         }
     for (solq = 0; solq < 8; solq++)
         if (solq_nmea[solq] == sol->stat) break;
@@ -1360,9 +1360,9 @@ int outnmea_gga(unsigned char *buff, const sol_t *sol)
         ep[3], ep[4], ep[5], dms1[0], dms1[1] + dms1[2] / 60.0, pos[0] >= 0 ? "N" : "S",
         dms2[0], dms2[1] + dms2[2] / 60.0, pos[1] >= 0 ? "E" : "W", solq,
         sol->ns, dop, pos[2] - h, h, sol->age);
-    for (q = (char *)buff + 1, sum = 0; *q; q++) sum ^= *q; /* check-sum */
+    for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++) sum ^= *q; /* check-sum */
     p += sprintf(p, "*%02X%c%c", sum, 0x0D, 0x0A);
-    return p - (char *)buff;
+    return p - reinterpret_cast<char *>(buff);
 }
 
 
@@ -1372,16 +1372,16 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
 {
     double azel[MAXSAT * 2], dop[4];
     int i, sat, sys, nsat, prn[MAXSAT];
-    char *p = (char *)buff, *q, *s, sum;
+    char *p = reinterpret_cast<char *>(buff), *q, *s, sum;
 
     trace(3, "outnmea_gsa:\n");
 
     if (sol->stat <= SOLQ_NONE)
         {
             p += sprintf(p, "$GPGSA,A,1,,,,,,,,,,,,,,,");
-            for (q = (char *)buff + 1, sum = 0; *q; q++) sum ^= *q;
+            for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++) sum ^= *q;
             p += sprintf(p, "*%02X%c%c", sum, 0x0D, 0x0A);
-            return p - (char *)buff;
+            return p - reinterpret_cast<char *>(buff);
         }
 
     /* GPGSA: gps/sbas */
@@ -1458,7 +1458,7 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
             for (q = s + 1, sum = 0; *q; q++) sum ^= *q; /* check-sum */
             p += sprintf(p, "*%02X%c%c", sum, 0x0D, 0x0A);
         }
-    return p - (char *)buff;
+    return p - reinterpret_cast<char *>(buff);
 }
 
 
@@ -1468,16 +1468,16 @@ int outnmea_gsv(unsigned char *buff, const sol_t *sol,
 {
     double az, el, snr;
     int i, j, k, n, sat, prn, sys, nmsg, sats[MAXSAT];
-    char *p = (char *)buff, *q, *s, sum;
+    char *p = reinterpret_cast<char *>(buff), *q, *s, sum;
 
     trace(3, "outnmea_gsv:\n");
 
     if (sol->stat <= SOLQ_NONE)
         {
             p += sprintf(p, "$GPGSV,1,1,0,,,,,,,,,,,,,,,,");
-            for (q = (char *)buff + 1, sum = 0; *q; q++) sum ^= *q;
+            for (q = reinterpret_cast<char *>(buff) + 1, sum = 0; *q; q++) sum ^= *q;
             p += sprintf(p, "*%02X%c%c", sum, 0x0D, 0x0A);
-            return p - (char *)buff;
+            return p - reinterpret_cast<char *>(buff);
         }
     /* GPGSV: gps/sbas */
     for (sat = 1, n = 0; sat < MAXSAT && n < 12; sat++)
@@ -1574,7 +1574,7 @@ int outnmea_gsv(unsigned char *buff, const sol_t *sol,
             for (q = s + 1, sum = 0; *q; q++) sum ^= *q; /* check-sum */
             p += sprintf(p, "*%02X%c%c", sum, 0x0D, 0x0A);
         }
-    return p - (char *)buff;
+    return p - reinterpret_cast<char *>(buff);
 }
 
 
@@ -1601,7 +1601,7 @@ int outprcopts(unsigned char *buff, const prcopt_t *opt)
     const char *s8[] = {"off", "continuous", "instantaneous", "fix and hold", ""};
     const char *s9[] = {"off", "on", "auto calib", "external calib", ""};
     int i;
-    char *p = (char *)buff;
+    char *p = reinterpret_cast<char *>(buff);
 
     trace(3, "outprcopts:\n");
 
@@ -1660,7 +1660,7 @@ int outprcopts(unsigned char *buff, const prcopt_t *opt)
                 i + 1, opt->anttype[i], opt->antdel[i][0], opt->antdel[i][1],
                 opt->antdel[i][2]);
         }
-    return p - (char *)buff;
+    return p - reinterpret_cast<char *>(buff);
 }
 
 
@@ -1674,7 +1674,7 @@ int outsolheads(unsigned char *buff, const solopt_t *opt)
 {
     const char *s1[] = {"WGS84", "Tokyo"}, *s2[] = {"ellipsoidal", "geodetic"};
     const char *s3[] = {"GPST", "UTC ", "JST "}, *sep = opt2sep(opt);
-    char *p = (char *)buff;
+    char *p = reinterpret_cast<char *>(buff);
     int timeu = opt->timeu < 0 ? 0 : (opt->timeu > 20 ? 20 : opt->timeu);
 
     trace(3, "outsolheads:\n");
@@ -1725,7 +1725,7 @@ int outsolheads(unsigned char *buff, const solopt_t *opt)
                 "Q", sep, "ns", sep, "sde(m)", sep, "sdn(m)", sep, "sdu(m)", sep,
                 "sden(m)", sep, "sdnu(m)", sep, "sdue(m)", sep, "age(s)", sep, "ratio");
         }
-    return p - (char *)buff;
+    return p - reinterpret_cast<char *>(buff);
 }
 
 

src/algorithms/libs/rtklib/rtklib_stream.cc

@@ -53,12 +53,12 @@
 #include <rtklib_stream.h>
 #include <rtklib_rtkcmn.h>
 #include <rtklib_solution.h>
-#include <ctype.h>
+#include <cctype>
 #include <fcntl.h>
 #include <unistd.h>
 #include <sys/stat.h>
 #include <sys/time.h>
-#include <errno.h>
+#include <cerrno>
 #include <termios.h>
 #include <sys/socket.h>
 #include <netinet/tcp.h>
@@ -90,13 +90,15 @@ serial_t *openserial(const char *path, int mode, char *msg)
 
     const speed_t bs[] = {
         B300, B600, B1200, B2400, B4800, B9600, B19200, B38400, B57600, B115200, B230400};
-    struct termios ios;
+    struct termios ios
+    {
+    };
     int rw = 0;
     tracet(3, "openserial: path=%s mode=%d\n", path, mode);
 
-    if (!(serial = (serial_t *)malloc(sizeof(serial_t)))) return NULL;
+    if (!(serial = static_cast<serial_t *>(malloc(sizeof(serial_t))))) return nullptr;
 
-    if ((p = strchr((char *)path, ':')))
+    if ((p = strchr(const_cast<char *>(path), ':')))
         {
             strncpy(port, path, p - path);
             port[p - path] = '\0';
@@ -112,9 +114,9 @@ serial_t *openserial(const char *path, int mode, char *msg)
             sprintf(msg, "bitrate error (%d)", brate);
             tracet(1, "openserial: %s path=%s\n", msg, path);
             free(serial);
-            return NULL;
+            return nullptr;
         }
-    parity = (char)toupper((int)parity);
+    parity = static_cast<char>(toupper(static_cast<int>(parity)));
 
     // sprintf(dev, "/dev/%s", port); This line triggers a warning. Replaced by:
     std::string s_aux = "/dev/" + std::string(port);
@@ -135,7 +137,7 @@ serial_t *openserial(const char *path, int mode, char *msg)
             sprintf(msg, "device open error (%d)", errno);
             tracet(1, "openserial: %s dev=%s\n", msg, dev);
             free(serial);
-            return NULL;
+            return nullptr;
         }
     tcgetattr(serial->dev, &ios);
     ios.c_iflag = 0;
@@ -277,7 +279,7 @@ int openfile_(file_t *file, gtime_t time, char *msg)
         }
     else if (file->mode & STR_MODE_W)
         { /* remove time-tag */
-            if ((fp = fopen(tagpath, "rb")))
+            if ((fp = fopen(tagpath, "rbe")))
                 {
                     fclose(fp);
                     if (remove(tagpath) != 0) trace(1, "Error removing file");
@@ -295,7 +297,7 @@ void closefile_(file_t *file)
     if (file->fp_tag) fclose(file->fp_tag);
     if (file->fp_tmp) fclose(file->fp_tmp);
     if (file->fp_tag_tmp) fclose(file->fp_tag_tmp);
-    file->fp = file->fp_tag = file->fp_tmp = file->fp_tag_tmp = NULL;
+    file->fp = file->fp_tag = file->fp_tmp = file->fp_tag_tmp = nullptr;
 }
 
 
@@ -310,10 +312,10 @@ file_t *openfile(const char *path, int mode, char *msg)
 
     tracet(3, "openfile: path=%s mode=%d\n", path, mode);
 
-    if (!(mode & (STR_MODE_R | STR_MODE_W))) return NULL;
+    if (!(mode & (STR_MODE_R | STR_MODE_W))) return nullptr;
 
     /* file options */
-    for (p = (char *)path; (p = strstr(p, "::")); p += 2)
+    for (p = const_cast<char *>(path); (p = strstr(p, "::")); p += 2)
         { /* file options */
             if (*(p + 2) == 'T')
                 timetag = 1;
@@ -327,9 +329,9 @@ file_t *openfile(const char *path, int mode, char *msg)
     if (start <= 0.0) start = 0.0;
     if (swapintv <= 0.0) swapintv = 0.0;
 
-    if (!(file = (file_t *)malloc(sizeof(file_t)))) return NULL;
+    if (!(file = static_cast<file_t *>(malloc(sizeof(file_t))))) return nullptr;
 
-    file->fp = file->fp_tag = file->fp_tmp = file->fp_tag_tmp = NULL;
+    file->fp = file->fp_tag = file->fp_tmp = file->fp_tag_tmp = nullptr;
     if (strlen(path) < MAXSTRPATH) strcpy(file->path, path);
     if ((p = strstr(file->path, "::"))) *p = '\0';
     file->openpath[0] = '\0';
@@ -350,7 +352,7 @@ file_t *openfile(const char *path, int mode, char *msg)
     if (!openfile_(file, time, msg))
         {
             free(file);
-            return NULL;
+            return nullptr;
         }
     return file;
 }
@@ -399,7 +401,7 @@ void swapclose(file_t *file)
     tracet(3, "swapclose: fp_tmp=%d\n", file->fp_tmp);
     if (file->fp_tmp) fclose(file->fp_tmp);
     if (file->fp_tag_tmp) fclose(file->fp_tag_tmp);
-    file->fp_tmp = file->fp_tag_tmp = NULL;
+    file->fp_tmp = file->fp_tag_tmp = nullptr;
 }
 
 
@@ -427,7 +429,7 @@ int readfile(file_t *file, unsigned char *buff, int nmax, char *msg)
             /* input from stdin */
             FD_ZERO(&rs);
             FD_SET(0, &rs);
-            if (!select(1, &rs, NULL, NULL, &tv)) return 0;
+            if (!select(1, &rs, nullptr, nullptr, &tv)) return 0;
             if ((nr = read(0, buff, nmax)) < 0) return 0;
             return nr;
         }
@@ -435,11 +437,11 @@ int readfile(file_t *file, unsigned char *buff, int nmax, char *msg)
         {
             if (file->repmode)
                 { /* slave */
-                    t = (unsigned int)(tick_master + file->offset);
+                    t = (tick_master + file->offset);
                 }
             else
                 { /* master */
-                    t = (unsigned int)((tickget() - file->tick) * file->speed + file->start * 1000.0);
+                    t = static_cast<unsigned int>((tickget() - file->tick) * file->speed + file->start * 1000.0);
                 }
             for (;;)
                 { /* seek file position */
@@ -452,23 +454,23 @@ int readfile(file_t *file, unsigned char *buff, int nmax, char *msg)
                         }
                     if (file->repmode || file->speed > 0.0)
                         {
-                            if ((int)(tick - t) < 1) continue;
+                            if (static_cast<int>(tick - t) < 1) continue;
                         }
                     if (!file->repmode) tick_master = tick;
 
-                    sprintf(msg, "T%+.1fs", (int)tick < 0 ? 0.0 : (int)tick / 1000.0);
+                    sprintf(msg, "T%+.1fs", static_cast<int>(tick) < 0 ? 0.0 : static_cast<int>(tick) / 1000.0);
 
-                    if ((int)(fpos - file->fpos) >= nmax)
+                    if (static_cast<int>(fpos - file->fpos) >= nmax)
                         {
                             if (fseek(file->fp, fpos, SEEK_SET) != 0) trace(1, "Error fseek");
                             file->fpos = fpos;
                             return 0;
                         }
-                    nmax = (int)(fpos - file->fpos);
+                    nmax = static_cast<int>(fpos - file->fpos);
 
                     if (file->repmode || file->speed > 0.0)
                         {
-                            if (fseek(file->fp_tag, -(long)(sizeof(tick) + sizeof(fpos)), SEEK_CUR) != 0) trace(1, "Error fseek");
+                            if (fseek(file->fp_tag, -static_cast<int64_t>(sizeof(tick) + sizeof(fpos)), SEEK_CUR) != 0) trace(1, "Error fseek");
                         }
                     break;
                 }
@@ -480,7 +482,7 @@ int readfile(file_t *file, unsigned char *buff, int nmax, char *msg)
             if (nr <= 0) sprintf(msg, "end");
         }
     tracet(5, "readfile: fp=%d nr=%d fpos=%d\n", file->fp, nr, file->fpos);
-    return (int)nr;
+    return nr;
 }
 
 
@@ -546,7 +548,7 @@ int writefile(file_t *file, unsigned char *buff, int n, char *msg)
         }
     tracet(5, "writefile: fp=%d ns=%d tick=%5d fpos=%d\n", file->fp, ns, tick, fpos);
 
-    return (int)ns;
+    return static_cast<int>(ns);
 }
 
 
@@ -556,7 +558,7 @@ void syncfile(file_t *file1, file_t *file2)
     if (!file1->fp_tag || !file2->fp_tag) return;
     file1->repmode = 0;
     file2->repmode = 1;
-    file2->offset = (int)(file1->tick_f - file2->tick_f);
+    file2->offset = static_cast<int>(file1->tick_f - file2->tick_f);
 }
 
 
@@ -622,21 +624,21 @@ int setsock(socket_t sock, char *msg)
 
     tracet(3, "setsock: sock=%d\n", sock);
 
-    if (setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (const char *)&tv, sizeof(tv)) == -1 ||
+    if (setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, reinterpret_cast<const char *>(&tv), sizeof(tv)) == -1 ||
-        setsockopt(sock, SOL_SOCKET, SO_SNDTIMEO, (const char *)&tv, sizeof(tv)) == -1)
+        setsockopt(sock, SOL_SOCKET, SO_SNDTIMEO, reinterpret_cast<const char *>(&tv), sizeof(tv)) == -1)
         {
             sprintf(msg, "sockopt error: notimeo");
             tracet(1, "setsock: setsockopt error 1 sock=%d err=%d\n", sock, errsock());
             closesocket(sock);
             return 0;
         }
-    if (setsockopt(sock, SOL_SOCKET, SO_RCVBUF, (const char *)&bs, sizeof(bs)) == -1 ||
+    if (setsockopt(sock, SOL_SOCKET, SO_RCVBUF, reinterpret_cast<const char *>(&bs), sizeof(bs)) == -1 ||
-        setsockopt(sock, SOL_SOCKET, SO_SNDBUF, (const char *)&bs, sizeof(bs)) == -1)
+        setsockopt(sock, SOL_SOCKET, SO_SNDBUF, reinterpret_cast<const char *>(&bs), sizeof(bs)) == -1)
         {
             tracet(1, "setsock: setsockopt error 2 sock=%d err=%d bs=%d\n", sock, errsock(), bs);
             sprintf(msg, "sockopt error: bufsiz");
         }
-    if (setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (const char *)&mode, sizeof(mode)) == -1)
+    if (setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, reinterpret_cast<const char *>(&mode), sizeof(mode)) == -1)
         {
             tracet(1, "setsock: setsockopt error 3 sock=%d err=%d\n", sock, errsock());
             sprintf(msg, "sockopt error: nodelay");
@@ -652,7 +654,7 @@ socket_t accept_nb(socket_t sock, struct sockaddr *addr, socklen_t *len)
     fd_set rs;
     FD_ZERO(&rs);
     FD_SET(sock, &rs);
-    if (!select(sock + 1, &rs, NULL, NULL, &tv)) return 0;
+    if (!select(sock + 1, &rs, nullptr, nullptr, &tv)) return 0;
     return accept(sock, addr, len);
 }
 
@@ -673,7 +675,7 @@ int connect_nb(socket_t sock, struct sockaddr *addr, socklen_t len)
             FD_ZERO(&rs);
             FD_SET(sock, &rs);
             ws = rs;
-            if (select(sock + 1, &rs, &ws, NULL, &tv) == 0) return 0;
+            if (select(sock + 1, &rs, &ws, nullptr, &tv) == 0) return 0;
         }
     return 1;
 }
@@ -686,8 +688,8 @@ int recv_nb(socket_t sock, unsigned char *buff, int n)
     fd_set rs;
     FD_ZERO(&rs);
     FD_SET(sock, &rs);
-    if (!select(sock + 1, &rs, NULL, NULL, &tv)) return 0;
+    if (!select(sock + 1, &rs, nullptr, nullptr, &tv)) return 0;
-    return recv(sock, (char *)buff, n, 0);
+    return recv(sock, reinterpret_cast<char *>(buff), n, 0);
 }
 
 
@@ -698,8 +700,8 @@ int send_nb(socket_t sock, unsigned char *buff, int n)
     fd_set ws;
     FD_ZERO(&ws);
     FD_SET(sock, &ws);
-    if (!select(sock + 1, NULL, &ws, NULL, &tv)) return 0;
+    if (!select(sock + 1, nullptr, &ws, nullptr, &tv)) return 0;
-    return send(sock, (char *)buff, n, 0);
+    return send(sock, reinterpret_cast<char *>(buff), n, 0);
 }
 
 
@@ -714,7 +716,7 @@ int gentcp(tcp_t *tcp, int type, char *msg)
     tracet(3, "gentcp: type=%d\n", type);
 
     /* generate socket */
-    if ((tcp->sock = socket(AF_INET, SOCK_STREAM, 0)) == (socket_t)-1)
+    if ((tcp->sock = socket(AF_INET, SOCK_STREAM, 0)) == -1)
         {
             sprintf(msg, "socket error (%d)", errsock());
             tracet(1, "gentcp: socket error err=%d\n", errsock());
@@ -738,7 +740,7 @@ int gentcp(tcp_t *tcp, int type, char *msg)
             setsockopt(tcp->sock, SOL_SOCKET, SO_REUSEADDR, (const char *)&opt,
                 sizeof(opt));
 #endif
-            if (bind(tcp->sock, (struct sockaddr *)&tcp->addr, sizeof(tcp->addr)) == -1)
+            if (bind(tcp->sock, reinterpret_cast<struct sockaddr *>(&tcp->addr), sizeof(tcp->addr)) == -1)
                 {
                     sprintf(msg, "bind error (%d) : %d", errsock(), tcp->port);
                     tracet(1, "gentcp: bind error port=%d err=%d\n", tcp->port, errsock());
@@ -788,20 +790,20 @@ tcpsvr_t *opentcpsvr(const char *path, char *msg)
     tcpsvr0 = {{0, {0}, 0, {0, 0, 0, {0}}, 0, 0, 0, 0}, {{0, {0}, 0, {0, 0, 0, {0}}, 0, 0, 0, 0}}};
     tracet(3, "opentcpsvr: path=%s\n", path);
 
-    if (!(tcpsvr = (tcpsvr_t *)malloc(sizeof(tcpsvr_t)))) return NULL;
+    if (!(tcpsvr = static_cast<tcpsvr_t *>(malloc(sizeof(tcpsvr_t))))) return nullptr;
     *tcpsvr = tcpsvr0;
-    decodetcppath(path, tcpsvr->svr.saddr, port, NULL, NULL, NULL, NULL);
+    decodetcppath(path, tcpsvr->svr.saddr, port, nullptr, nullptr, nullptr, nullptr);
     if (sscanf(port, "%d", &tcpsvr->svr.port) < 1)
         {
             sprintf(msg, "port error: %s", port);
             tracet(1, "opentcpsvr: port error port=%s\n", port);
             free(tcpsvr);
-            return NULL;
+            return nullptr;
         }
     if (!gentcp(&tcpsvr->svr, 0, msg))
         {
             free(tcpsvr);
-            return NULL;
+            return nullptr;
         }
     tcpsvr->svr.tcon = 0;
     return tcpsvr;
@@ -866,7 +868,9 @@ void updatetcpsvr(tcpsvr_t *tcpsvr, char *msg)
 /* accept client connection --------------------------------------------------*/
 int accsock(tcpsvr_t *tcpsvr, char *msg)
 {
-    struct sockaddr_in addr;
+    struct sockaddr_in addr
+    {
+    };
     socket_t sock;
     socklen_t len = sizeof(addr);
     int i, err;
@@ -877,7 +881,7 @@ int accsock(tcpsvr_t *tcpsvr, char *msg)
         if (tcpsvr->cli[i].state == 0) break;
     if (i >= MAXCLI) return 0; /* too many client */
 
-    if ((sock = accept_nb(tcpsvr->svr.sock, (struct sockaddr *)&addr, &len)) == (socket_t)-1)
+    if ((sock = accept_nb(tcpsvr->svr.sock, reinterpret_cast<struct sockaddr *>(&addr), &len)) == -1)
         {
             err = errsock();
             sprintf(msg, "accept error (%d)", err);
@@ -981,12 +985,12 @@ int consock(tcpcli_t *tcpcli, char *msg)
 
     /* wait re-connect */
     if (tcpcli->svr.tcon < 0 || (tcpcli->svr.tcon > 0 &&
-                                    (int)(tickget() - tcpcli->svr.tdis) < tcpcli->svr.tcon))
+                                    static_cast<int>(tickget() - tcpcli->svr.tdis) < tcpcli->svr.tcon))
         {
             return 0;
         }
     /* non-block connect */
-    if ((stat = connect_nb(tcpcli->svr.sock, (struct sockaddr *)&tcpcli->svr.addr,
+    if ((stat = connect_nb(tcpcli->svr.sock, reinterpret_cast<struct sockaddr *>(&tcpcli->svr.addr),
              sizeof(tcpcli->svr.addr))) == -1)
         {
             err = errsock();
@@ -1018,15 +1022,15 @@ tcpcli_t *opentcpcli(const char *path, char *msg)
 
     tracet(3, "opentcpcli: path=%s\n", path);
 
-    if (!(tcpcli = (tcpcli_t *)malloc(sizeof(tcpcli_t)))) return NULL;
+    if (!(tcpcli = static_cast<tcpcli_t *>(malloc(sizeof(tcpcli_t))))) return nullptr;
     *tcpcli = tcpcli0;
-    decodetcppath(path, tcpcli->svr.saddr, port, NULL, NULL, NULL, NULL);
+    decodetcppath(path, tcpcli->svr.saddr, port, nullptr, nullptr, nullptr, nullptr);
     if (sscanf(port, "%d", &tcpcli->svr.port) < 1)
         {
             sprintf(msg, "port error: %s", port);
             tracet(1, "opentcp: port error port=%s\n", port);
             free(tcpcli);
-            return NULL;
+            return nullptr;
         }
     tcpcli->svr.tcon = 0;
     tcpcli->toinact = toinact;
@@ -1062,7 +1066,7 @@ int waittcpcli(tcpcli_t *tcpcli, char *msg)
     if (tcpcli->svr.state == 2)
         { /* connect */
             if (tcpcli->toinact > 0 &&
-                (int)(tickget() - tcpcli->svr.tact) > tcpcli->toinact)
+                static_cast<int>(tickget() - tcpcli->svr.tact) > tcpcli->toinact)
                 {
                     sprintf(msg, "timeout");
                     tracet(2, "waittcpcli: inactive timeout sock=%d\n", tcpcli->svr.sock);
@@ -1164,7 +1168,7 @@ int reqntrip_s(ntrip_t *ntrip, char *msg)
     p += sprintf(p, "STR: %s\r\n", ntrip->str);
     p += sprintf(p, "\r\n");
 
-    if (writetcpcli(ntrip->tcp, (unsigned char *)buff, p - buff, msg) != p - buff) return 0;
+    if (writetcpcli(ntrip->tcp, reinterpret_cast<unsigned char *>(buff), p - buff, msg) != p - buff) return 0;
 
     tracet(2, "reqntrip_s: send request state=%d ns=%d\n", ntrip->state, p - buff);
     tracet(5, "reqntrip_s: n=%d buff=\n%s\n", p - buff, buff);
@@ -1192,12 +1196,12 @@ int reqntrip_c(ntrip_t *ntrip, char *msg)
         {
             sprintf(user, "%s:%s", ntrip->user, ntrip->passwd);
             p += sprintf(p, "Authorization: Basic ");
-            p += encbase64(p, (unsigned char *)user, strlen(user));
+            p += encbase64(p, reinterpret_cast<unsigned char *>(user), strlen(user));
             p += sprintf(p, "\r\n");
         }
     p += sprintf(p, "\r\n");
 
-    if (writetcpcli(ntrip->tcp, (unsigned char *)buff, p - buff, msg) != p - buff) return 0;
+    if (writetcpcli(ntrip->tcp, reinterpret_cast<unsigned char *>(buff), p - buff, msg) != p - buff) return 0;
 
     tracet(2, "reqntrip_c: send request state=%d ns=%d\n", ntrip->state, p - buff);
     tracet(5, "reqntrip_c: n=%d buff=\n%s\n", p - buff, buff);
@@ -1216,9 +1220,9 @@ int rspntrip_s(ntrip_t *ntrip, char *msg)
     ntrip->buff[ntrip->nb] = '0';
     tracet(5, "rspntrip_s: n=%d buff=\n%s\n", ntrip->nb, ntrip->buff);
 
-    if ((p = strstr((char *)ntrip->buff, NTRIP_RSP_OK_SVR)))
+    if ((p = strstr(reinterpret_cast<char *>(ntrip->buff), NTRIP_RSP_OK_SVR)))
         { /* ok */
-            q = (char *)ntrip->buff;
+            q = reinterpret_cast<char *>(ntrip->buff);
             p += strlen(NTRIP_RSP_OK_SVR);
             ntrip->nb -= p - q;
             for (i = 0; i < ntrip->nb; i++) *q++ = *p++;
@@ -1227,11 +1231,11 @@ int rspntrip_s(ntrip_t *ntrip, char *msg)
             tracet(2, "rspntrip_s: response ok nb=%d\n", ntrip->nb);
             return 1;
         }
-    if ((p = strstr((char *)ntrip->buff, NTRIP_RSP_ERROR)))
+    if ((p = strstr(reinterpret_cast<char *>(ntrip->buff), NTRIP_RSP_ERROR)))
         { /* error */
             nb = ntrip->nb < MAXSTATMSG ? ntrip->nb : MAXSTATMSG;
             // strncpy(msg, (char *)ntrip->buff, nb); This line triggers a warning. Replaced by;
-            std::string s_aux((char *)ntrip->buff);
+            std::string s_aux(reinterpret_cast<char *>(ntrip->buff));
             s_aux.resize(nb, '\0');
             for (int i = 0; i < nb; i++) msg[i] = s_aux[i];
 
@@ -1266,9 +1270,9 @@ int rspntrip_c(ntrip_t *ntrip, char *msg)
     ntrip->buff[ntrip->nb] = '0';
     tracet(5, "rspntrip_c: n=%d buff=\n%s\n", ntrip->nb, ntrip->buff);
 
-    if ((p = strstr((char *)ntrip->buff, NTRIP_RSP_OK_CLI)))
+    if ((p = strstr(reinterpret_cast<char *>(ntrip->buff), NTRIP_RSP_OK_CLI)))
         { /* ok */
-            q = (char *)ntrip->buff;
+            q = reinterpret_cast<char *>(ntrip->buff);
             p += strlen(NTRIP_RSP_OK_CLI);
             ntrip->nb -= p - q;
             for (i = 0; i < ntrip->nb; i++) *q++ = *p++;
@@ -1277,7 +1281,7 @@ int rspntrip_c(ntrip_t *ntrip, char *msg)
             tracet(2, "rspntrip_c: response ok nb=%d\n", ntrip->nb);
             return 1;
         }
-    if ((p = strstr((char *)ntrip->buff, NTRIP_RSP_SRCTBL)))
+    if ((p = strstr(reinterpret_cast<char *>(ntrip->buff), NTRIP_RSP_SRCTBL)))
         { /* source table */
             if (!*ntrip->mntpnt)
                 { /* source table request */
@@ -1293,7 +1297,7 @@ int rspntrip_c(ntrip_t *ntrip, char *msg)
             ntrip->state = 0;
             discontcp(&ntrip->tcp->svr, ntrip->tcp->tirecon);
         }
-    else if ((p = strstr((char *)ntrip->buff, NTRIP_RSP_HTTP)))
+    else if ((p = strstr(reinterpret_cast<char *>(ntrip->buff), NTRIP_RSP_HTTP)))
         { /* http response */
             if ((q = strchr(p, '\r')))
                 *q = '\0';
@@ -1342,8 +1346,8 @@ int waitntrip(ntrip_t *ntrip, char *msg)
         }
     if (ntrip->state == 1)
         { /* read response */
-            p = (char *)ntrip->buff + ntrip->nb;
+            p = reinterpret_cast<char *>(ntrip->buff) + ntrip->nb;
-            if ((n = readtcpcli(ntrip->tcp, (unsigned char *)p, NTRIP_MAXRSP - ntrip->nb - 1, msg)) == 0)
+            if ((n = readtcpcli(ntrip->tcp, reinterpret_cast<unsigned char *>(p), NTRIP_MAXRSP - ntrip->nb - 1, msg)) == 0)
                 {
                     tracet(5, "waitntrip: readtcp n=%d\n", n);
                     return 0;
@@ -1367,7 +1371,7 @@ ntrip_t *openntrip(const char *path, int type, char *msg)
 
     tracet(3, "openntrip: path=%s type=%d\n", path, type);
 
-    if (!(ntrip = (ntrip_t *)malloc(sizeof(ntrip_t)))) return NULL;
+    if (!(ntrip = static_cast<ntrip_t *>(malloc(sizeof(ntrip_t))))) return nullptr;
 
     ntrip->state = 0;
     ntrip->type = type; /* 0:server, 1:client */
@@ -1402,7 +1406,7 @@ ntrip_t *openntrip(const char *path, int type, char *msg)
         {
             tracet(1, "openntrip: opentcp error\n");
             free(ntrip);
-            return NULL;
+            return nullptr;
         }
     return ntrip;
 }
@@ -1534,7 +1538,7 @@ gtime_t nextdltime(const int *topts, int stat)
 /* ftp thread ----------------------------------------------------------------*/
 void *ftpthread(void *arg)
 {
-    auto *ftp = (ftp_t *)arg;
+    auto *ftp = static_cast<ftp_t *>(arg);
     FILE *fp;
     gtime_t time;
     char remote[1024], local[1024], tmpfile[1024], errfile[1024], *p;
@@ -1548,7 +1552,7 @@ void *ftpthread(void *arg)
             tracet(1, "no local directory\n");
             ftp->error = 11;
             ftp->state = 3;
-            return 0;
+            return nullptr;
         }
     /* replace keyword in file path and local path */
     time = timeadd(utc2gpst(timeget()), ftp->topts[0]);
@@ -1578,13 +1582,13 @@ void *ftpthread(void *arg)
         {
             *p = '\0';
         }
-    if ((fp = fopen(tmpfile, "rb")))
+    if ((fp = fopen(tmpfile, "rbe")))
         {
             fclose(fp);
             strcpy(ftp->local, tmpfile);
             tracet(3, "ftpthread: file exists %s\n", ftp->local);
             ftp->state = 2;
-            return 0;
+            return nullptr;
         }
     /* proxy settings for wget (ref [2]) */
     if (*proxyaddr)
@@ -1633,7 +1637,7 @@ void *ftpthread(void *arg)
             tracet(1, "execcmd error: cmd=%s ret=%d\n", cmd, ret);
             ftp->error = ret;
             ftp->state = 3;
-            return 0;
+            return nullptr;
         }
     if (remove(errfile) != 0) trace(1, "Error removing file");
 
@@ -1652,14 +1656,14 @@ void *ftpthread(void *arg)
                     tracet(1, "file uncompact error: %s\n", local);
                     ftp->error = 12;
                     ftp->state = 3;
-                    return 0;
+                    return nullptr;
                 }
         }
     if (strlen(local) < 1024) strcpy(ftp->local, local);
     ftp->state = 2; /* ftp completed */
 
     tracet(3, "ftpthread: complete cmd=%s\n", cmd);
-    return 0;
+    return nullptr;
 }
 
 
@@ -1672,12 +1676,12 @@ ftp_t *openftp(const char *path, int type, char *msg)
 
     msg[0] = '\0';
 
-    if (!(ftp = (ftp_t *)malloc(sizeof(ftp_t)))) return NULL;
+    if (!(ftp = static_cast<ftp_t *>(malloc(sizeof(ftp_t))))) return nullptr;
 
     ftp->state = 0;
     ftp->proto = type;
     ftp->error = 0;
-    ftp->thread = 0;
+    ftp->thread = 0;  // NOLINT
     ftp->local[0] = '\0';
 
     /* decode ftp path */
@@ -1718,7 +1722,7 @@ int readftp(ftp_t *ftp, unsigned char *buff, int n, char *msg)
             ftp->state = 1;
             sprintf(msg, "%s://%s", ftp->proto ? "http" : "ftp", ftp->addr);
 
-            if (pthread_create(&ftp->thread, NULL, ftpthread, ftp))
+            if (pthread_create(&ftp->thread, nullptr, ftpthread, ftp))
                 {
                     tracet(1, "readftp: ftp thread create error\n");
                     ftp->state = 3;
@@ -1739,9 +1743,9 @@ int readftp(ftp_t *ftp, unsigned char *buff, int n, char *msg)
         }
     /* return local file path if ftp completed */
     p = buff;
-    q = (unsigned char *)ftp->local;
+    q = reinterpret_cast<unsigned char *>(ftp->local);
-    while (*q && (int)(p - buff) < n) *p++ = *q++;
+    while (*q && static_cast<int>(p - buff) < n) *p++ = *q++;
-    p += sprintf((char *)p, "\r\n");
+    p += sprintf(reinterpret_cast<char *>(p), "\r\n");
 
     /* set next download time */
     ftp->tnext = nextdltime(ftp->topts, 1);
@@ -1749,7 +1753,7 @@ int readftp(ftp_t *ftp, unsigned char *buff, int n, char *msg)
 
     strcpy(msg, "");
 
-    return (int)(p - buff);
+    return static_cast<int>(p - buff);
 }
 
 
@@ -1786,7 +1790,7 @@ void strinit(stream_t *stream)
     stream->inb = stream->inr = stream->outb = stream->outr = 0;
     stream->tick = stream->tact = stream->inbt = stream->outbt = 0;
     initlock(&stream->lock);
-    stream->port = NULL;
+    stream->port = nullptr;
     stream->path[0] = '\0';
     stream->msg[0] = '\0';
 }
@@ -1838,7 +1842,7 @@ int stropen(stream_t *stream, int type, int mode, const char *path)
     stream->tick = tickget();
     stream->inbt = stream->outbt = 0;
     stream->msg[0] = '\0';
-    stream->port = NULL;
+    stream->port = nullptr;
     switch (type)
         {
         case STR_SERIAL:
@@ -1870,7 +1874,7 @@ int stropen(stream_t *stream, int type, int mode, const char *path)
             return 1;
         }
     stream->state = !stream->port ? -1 : 1;
-    return stream->port != NULL;
+    return stream->port != nullptr;
 }
 
 
@@ -1888,28 +1892,28 @@ void strclose(stream_t *stream)
             switch (stream->type)
                 {
                 case STR_SERIAL:
-                    closeserial((serial_t *)stream->port);
+                    closeserial(static_cast<serial_t *>(stream->port));
                     break;
                 case STR_FILE:
-                    closefile((file_t *)stream->port);
+                    closefile(static_cast<file_t *>(stream->port));
                     break;
                 case STR_TCPSVR:
-                    closetcpsvr((tcpsvr_t *)stream->port);
+                    closetcpsvr(static_cast<tcpsvr_t *>(stream->port));
                     break;
                 case STR_TCPCLI:
-                    closetcpcli((tcpcli_t *)stream->port);
+                    closetcpcli(static_cast<tcpcli_t *>(stream->port));
                     break;
                 case STR_NTRIPSVR:
-                    closentrip((ntrip_t *)stream->port);
+                    closentrip(static_cast<ntrip_t *>(stream->port));
                     break;
                 case STR_NTRIPCLI:
-                    closentrip((ntrip_t *)stream->port);
+                    closentrip(static_cast<ntrip_t *>(stream->port));
                     break;
                 case STR_FTP:
-                    closeftp((ftp_t *)stream->port);
+                    closeftp(static_cast<ftp_t *>(stream->port));
                     break;
                 case STR_HTTP:
-                    closeftp((ftp_t *)stream->port);
+                    closeftp(static_cast<ftp_t *>(stream->port));
                     break;
                 }
         }
@@ -1923,7 +1927,7 @@ void strclose(stream_t *stream)
     stream->inr = stream->outr = 0;
     stream->path[0] = '\0';
     stream->msg[0] = '\0';
-    stream->port = NULL;
+    stream->port = nullptr;
 }
 
 
@@ -1938,8 +1942,8 @@ void strsync(stream_t *stream1, stream_t *stream2)
 {
     file_t *file1, *file2;
     if (stream1->type != STR_FILE || stream2->type != STR_FILE) return;
-    file1 = (file_t *)stream1->port;
+    file1 = static_cast<file_t *>(stream1->port);
-    file2 = (file_t *)stream2->port;
+    file2 = static_cast<file_t *>(stream2->port);
     if (file1 && file2) syncfile(file1, file2);
 }
 
@@ -1977,25 +1981,25 @@ int strread(stream_t *stream, unsigned char *buff, int n)
     switch (stream->type)
         {
         case STR_SERIAL:
-            nr = readserial((serial_t *)stream->port, buff, n, msg);
+            nr = readserial(static_cast<serial_t *>(stream->port), buff, n, msg);
             break;
         case STR_FILE:
-            nr = readfile((file_t *)stream->port, buff, n, msg);
+            nr = readfile(static_cast<file_t *>(stream->port), buff, n, msg);
             break;
         case STR_TCPSVR:
-            nr = readtcpsvr((tcpsvr_t *)stream->port, buff, n, msg);
+            nr = readtcpsvr(static_cast<tcpsvr_t *>(stream->port), buff, n, msg);
             break;
         case STR_TCPCLI:
-            nr = readtcpcli((tcpcli_t *)stream->port, buff, n, msg);
+            nr = readtcpcli(static_cast<tcpcli_t *>(stream->port), buff, n, msg);
             break;
         case STR_NTRIPCLI:
-            nr = readntrip((ntrip_t *)stream->port, buff, n, msg);
+            nr = readntrip(static_cast<ntrip_t *>(stream->port), buff, n, msg);
             break;
         case STR_FTP:
-            nr = readftp((ftp_t *)stream->port, buff, n, msg);
+            nr = readftp(static_cast<ftp_t *>(stream->port), buff, n, msg);
             break;
         case STR_HTTP:
-            nr = readftp((ftp_t *)stream->port, buff, n, msg);
+            nr = readftp(static_cast<ftp_t *>(stream->port), buff, n, msg);
             break;
         default:
             strunlock(stream);
@@ -2005,7 +2009,7 @@ int strread(stream_t *stream, unsigned char *buff, int n)
     tick = tickget();
     if (nr > 0) stream->tact = tick;
 
-    if ((int)(tick - stream->tick) >= tirate)
+    if (static_cast<int>(tick - stream->tick) >= tirate)
         {
             stream->inr = (stream->inb - stream->inbt) * 8000 / (tick - stream->tick);
             stream->tick = tick;
@@ -2039,20 +2043,20 @@ int strwrite(stream_t *stream, unsigned char *buff, int n)
     switch (stream->type)
         {
         case STR_SERIAL:
-            ns = writeserial((serial_t *)stream->port, buff, n, msg);
+            ns = writeserial(static_cast<serial_t *>(stream->port), buff, n, msg);
             break;
         case STR_FILE:
-            ns = writefile((file_t *)stream->port, buff, n, msg);
+            ns = writefile(static_cast<file_t *>(stream->port), buff, n, msg);
             break;
         case STR_TCPSVR:
-            ns = writetcpsvr((tcpsvr_t *)stream->port, buff, n, msg);
+            ns = writetcpsvr(static_cast<tcpsvr_t *>(stream->port), buff, n, msg);
             break;
         case STR_TCPCLI:
-            ns = writetcpcli((tcpcli_t *)stream->port, buff, n, msg);
+            ns = writetcpcli(static_cast<tcpcli_t *>(stream->port), buff, n, msg);
             break;
         case STR_NTRIPCLI:
         case STR_NTRIPSVR:
-            ns = writentrip((ntrip_t *)stream->port, buff, n, msg);
+            ns = writentrip(static_cast<ntrip_t *>(stream->port), buff, n, msg);
             break;
         case STR_FTP:
         case STR_HTTP:
@@ -2064,7 +2068,7 @@ int strwrite(stream_t *stream, unsigned char *buff, int n)
     tick = tickget();
     if (ns > 0) stream->tact = tick;
 
-    if ((int)(tick - stream->tick) > tirate)
+    if (static_cast<int>(tick - stream->tick) > tirate)
         {
             stream->outr = (stream->outb - stream->outbt) * 8000 / (tick - stream->tick);
             stream->tick = tick;
@@ -2104,32 +2108,32 @@ int strstat(stream_t *stream, char *msg)
     switch (stream->type)
         {
         case STR_SERIAL:
-            state = stateserial((serial_t *)stream->port);
+            state = stateserial(static_cast<serial_t *>(stream->port));
             break;
         case STR_FILE:
-            state = statefile((file_t *)stream->port);
+            state = statefile(static_cast<file_t *>(stream->port));
             break;
         case STR_TCPSVR:
-            state = statetcpsvr((tcpsvr_t *)stream->port);
+            state = statetcpsvr(static_cast<tcpsvr_t *>(stream->port));
             break;
         case STR_TCPCLI:
-            state = statetcpcli((tcpcli_t *)stream->port);
+            state = statetcpcli(static_cast<tcpcli_t *>(stream->port));
             break;
         case STR_NTRIPSVR:
         case STR_NTRIPCLI:
-            state = statentrip((ntrip_t *)stream->port);
+            state = statentrip(static_cast<ntrip_t *>(stream->port));
             break;
         case STR_FTP:
-            state = stateftp((ftp_t *)stream->port);
+            state = stateftp(static_cast<ftp_t *>(stream->port));
             break;
         case STR_HTTP:
-            state = stateftp((ftp_t *)stream->port);
+            state = stateftp(static_cast<ftp_t *>(stream->port));
             break;
         default:
             strunlock(stream);
             return 0;
         }
-    if (state == 2 && (int)(tickget() - stream->tact) <= TINTACT) state = 3;
+    if (state == 2 && static_cast<int>(tickget() - stream->tact) <= TINTACT) state = 3;
     strunlock(stream);
     return state;
 }
@@ -2198,11 +2202,11 @@ void strsettimeout(stream_t *stream, int toinact, int tirecon)
 
     if (stream->type == STR_TCPCLI)
         {
-            tcpcli = (tcpcli_t *)stream->port;
+            tcpcli = static_cast<tcpcli_t *>(stream->port);
         }
     else if (stream->type == STR_NTRIPCLI || stream->type == STR_NTRIPSVR)
         {
-            tcpcli = ((ntrip_t *)stream->port)->tcp;
+            tcpcli = (static_cast<ntrip_t *>(stream->port))->tcp;
         }
     else
         return;
@@ -2245,7 +2249,7 @@ gtime_t strgettime(stream_t *stream)
 {
     file_t *file;
     if (stream->type == STR_FILE && (stream->mode & STR_MODE_R) &&
-        (file = (file_t *)stream->port))
+        (file = static_cast<file_t *>(stream->port)))
         {
             return timeadd(file->time, file->start); /* replay start time */
         }
@@ -2286,15 +2290,15 @@ int gen_hex(const char *msg, unsigned char *buff)
     trace(4, "gen_hex: msg=%s\n", msg);
 
     strncpy(mbuff, msg, 1023);
-    for (p = strtok(mbuff, " "); p && narg < 256; p = strtok(NULL, " "))
+    for (p = strtok(mbuff, " "); p && narg < 256; p = strtok(nullptr, " "))
         {
             args[narg++] = p;
         }
     for (i = 0; i < narg; i++)
         {
-            if (sscanf(args[i], "%x", &byte)) *q++ = (unsigned char)byte;
+            if (sscanf(args[i], "%x", &byte)) *q++ = static_cast<unsigned char>(byte);
         }
-    return (int)(q - buff);
+    return static_cast<int>(q - buff);
 }
 
 
@@ -2317,7 +2321,7 @@ void strsendcmd(stream_t *str, const char *cmd)
         {
             for (q = p;; q++)
                 if (*q == '\r' || *q == '\n' || *q == '\0') break;
-            n = (int)(q - p);
+            n = static_cast<int>(q - p);
             strncpy(msg, p, n);
             msg[n] = '\0';
 
@@ -2357,8 +2361,8 @@ void strsendcmd(stream_t *str, const char *cmd)
                 }
             else
                 {
-                    strwrite(str, (unsigned char *)msg, n);
+                    strwrite(str, reinterpret_cast<unsigned char *>(msg), n);
-                    strwrite(str, (unsigned char *)cmdend, 2);
+                    strwrite(str, reinterpret_cast<unsigned char *>(cmdend), 2);
                 }
             if (*q == '\0')
                 break;

src/algorithms/libs/short_x2_to_cshort.cc

@@ -41,8 +41,8 @@ short_x2_to_cshort_sptr make_short_x2_to_cshort()
 
 
 short_x2_to_cshort::short_x2_to_cshort() : sync_block("short_x2_to_cshort",
-                                               gr::io_signature::make(2, 2, sizeof(short)),
+                                               gr::io_signature::make(2, 2, sizeof(int16_t)),
-                                               gr::io_signature::make(1, 1, sizeof(lv_16sc_t)))  // lv_8sc_t is a Volk's typedef for std::complex<signed char>
+                                               gr::io_signature::make(1, 1, sizeof(lv_16sc_t)))
 {
     const int alignment_multiple = volk_get_alignment() / sizeof(lv_16sc_t);
     set_alignment(std::max(1, alignment_multiple));
@@ -53,12 +53,12 @@ int short_x2_to_cshort::work(int noutput_items,
     gr_vector_const_void_star &input_items,
     gr_vector_void_star &output_items)
 {
-    const auto *in0 = reinterpret_cast<const short *>(input_items[0]);
+    const auto *in0 = reinterpret_cast<const int16_t *>(input_items[0]);
-    const auto *in1 = reinterpret_cast<const short *>(input_items[1]);
+    const auto *in1 = reinterpret_cast<const int16_t *>(input_items[1]);
     auto *out = reinterpret_cast<lv_16sc_t *>(output_items[0]);
     // This could be put into a volk kernel
-    short real_part;
+    int16_t real_part;
-    short imag_part;
+    int16_t imag_part;
     for (int number = 0; number < noutput_items; number++)
         {
             // lv_cmake(r, i) defined at volk/volk_complex.h

src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc

@@ -411,18 +411,11 @@ bool hybrid_observables_cc::interp_trk_obs(Gnss_Synchro &interpolated_obs, const
                         }
                     return false;
                 }
-            else
+            // std::cout << "ALERT: Channel " << ch << " interp buff idx " << nearest_element
-                {
+            //           << " ,diff: " << old_abs_diff << " samples (" << static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->at(ch, nearest_element).fs) << " s)\n";
-                    // std::cout << "ALERT: Channel " << ch << " interp buff idx " << nearest_element
+            // usleep(1000);
-                    //           << " ,diff: " << old_abs_diff << " samples (" << static_cast<double>(old_abs_diff) / static_cast<double>(d_gnss_synchro_history->at(ch, nearest_element).fs) << " s)\n";
-                    // usleep(1000);
-                    return false;
-                }
-        }
-    else
-        {
-            return false;
         }
+    return false;
 }
 
 
@@ -549,7 +542,7 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused)
             int32_t n_valid = 0;
             for (uint32_t n = 0; n < d_nchannels_out; n++)
                 {
-                    Gnss_Synchro interpolated_gnss_synchro;
+                    Gnss_Synchro interpolated_gnss_synchro{};
                     if (!interp_trk_obs(interpolated_gnss_synchro, n, d_Rx_clock_buffer.front() + T_rx_TOW_offset_ms * T_rx_clock_step_samples))
                         {
                             // Produce an empty observation

src/algorithms/resampler/adapters/direct_resampler_conditioner.cc

@@ -38,6 +38,7 @@
 #include <gnuradio/blocks/file_sink.h>
 #include <volk/volk.h>
 #include <cmath>
+#include <cstdint>
 #include <limits>
 
 using google::LogMessage;
@@ -94,7 +95,7 @@ DirectResamplerConditioner::DirectResamplerConditioner(
     else
         {
             LOG(WARNING) << item_type_ << " unrecognized item type for resampler";
-            item_size_ = sizeof(short);
+            item_size_ = sizeof(int16_t);
         }
     if (dump_)
         {

src/algorithms/signal_generator/adapters/signal_generator.cc

@@ -37,7 +37,7 @@
 #include "Galileo_E5a.h"
 #include "GLONASS_L1_L2_CA.h"
 #include <glog/logging.h>
-
+#include <cstdint>
 #include <utility>
 
 
@@ -104,11 +104,11 @@ SignalGenerator::SignalGenerator(ConfigurationInterface* configuration,
         {
             if (signal1[0].at(0) == '1')
                 {
-                    vector_length = round((float)fs_in / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
+                    vector_length = round(static_cast<float>(fs_in) / (GLONASS_L1_CA_CODE_RATE_HZ / GLONASS_L1_CA_CODE_LENGTH_CHIPS));
                 }
             else
                 {
-                    vector_length = round((float)fs_in / (GLONASS_L2_CA_CODE_RATE_HZ / GLONASS_L2_CA_CODE_LENGTH_CHIPS));
+                    vector_length = round(static_cast<float>(fs_in) / (GLONASS_L2_CA_CODE_RATE_HZ / GLONASS_L2_CA_CODE_LENGTH_CHIPS));
                 }
         }
 
@@ -128,7 +128,7 @@ SignalGenerator::SignalGenerator(ConfigurationInterface* configuration,
     else
         {
             LOG(WARNING) << item_type_ << " unrecognized item type for resampler";
-            item_size_ = sizeof(short);
+            item_size_ = sizeof(int16_t);
         }
 
     if (dump_)

src/algorithms/signal_source/adapters/labsat_signal_source.cc

@@ -32,7 +32,7 @@
 #include "configuration_interface.h"
 #include "labsat23_source.h"
 #include <glog/logging.h>
-
+#include <cstdint>
 #include <utility>
 
 
@@ -63,7 +63,7 @@ LabsatSignalSource::LabsatSignalSource(ConfigurationInterface* configuration,
     else
         {
             LOG(WARNING) << item_type_ << " unrecognized item type for LabSat source";
-            item_size_ = sizeof(short);
+            item_size_ = sizeof(int16_t);
         }
     if (dump_)
         {

src/algorithms/signal_source/adapters/rtl_tcp_signal_source.cc

@@ -36,6 +36,7 @@
 #include "GPS_L1_CA.h"
 #include <boost/format.hpp>
 #include <glog/logging.h>
+#include <cstdint>
 #include <iostream>
 #include <utility>
 
@@ -63,7 +64,7 @@ RtlTcpSignalSource::RtlTcpSignalSource(ConfigurationInterface* configuration,
 
     // rtl_tcp PARAMETERS
     std::string default_address = "127.0.0.1";
-    short default_port = 1234;
+    int16_t default_port = 1234;
     AGC_enabled_ = configuration->property(role + ".AGC_enabled", true);
     freq_ = configuration->property(role + ".freq", GPS_L1_FREQ_HZ);
     gain_ = configuration->property(role + ".gain", 40.0);
@@ -77,7 +78,7 @@ RtlTcpSignalSource::RtlTcpSignalSource(ConfigurationInterface* configuration,
 
     if (item_type_ == "short")
         {
-            item_size_ = sizeof(short);
+            item_size_ = sizeof(int16_t);
         }
     else if (item_type_ == "gr_complex")
         {
@@ -118,7 +119,7 @@ RtlTcpSignalSource::RtlTcpSignalSource(ConfigurationInterface* configuration,
     else
         {
             LOG(WARNING) << item_type_ << " unrecognized item type. Using short.";
-            item_size_ = sizeof(short);
+            item_size_ = sizeof(int16_t);
         }
 
     if (samples_ != 0)

src/algorithms/signal_source/adapters/two_bit_packed_file_signal_source.cc

@@ -90,7 +90,7 @@ TwoBitPackedFileSignalSource::TwoBitPackedFileSignalSource(ConfigurationInterfac
             // well read them in as bytes.
             if (big_endian_items_)
                 {
-                    item_size_ = sizeof(short);
+                    item_size_ = sizeof(int16_t);
                 }
             else
                 {

src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc

@@ -369,121 +369,118 @@ int labsat23_source::general_work(int noutput_items,
                     std::cout << "Labsat file header error: section 2 is not available." << std::endl;
                     return -1;
                 }
-            else
+            std::cout << "Labsat file read error: file is empty." << std::endl;
-                {
+            return -1;
-                    std::cout << "Labsat file read error: file is empty." << std::endl;
-                    return -1;
-                }
         }
-    else
+
+
+    // ready to start reading samples
+    switch (d_bits_per_sample)
         {
-            // ready to start reading samples
+        case 2:
-            switch (d_bits_per_sample)
+            {
-                {
+                switch (d_channel_selector)
-                case 2:
                     {
-                        switch (d_channel_selector)
+                    case 0:
-                            {
+                        // dual channel 2 bits per complex sample
-                            case 0:
-                                // dual channel 2 bits per complex sample
-                                break;
-                            default:
-                                // single channel 2 bits per complex sample (1 bit I + 1 bit Q, 8 samples per int16)
-                                int n_int16_to_read = noutput_items / 8;
-                                if (n_int16_to_read > 0)
-                                    {
-                                        int16_t memblock[n_int16_to_read];
-                                        binary_input_file->read(reinterpret_cast<char *>(memblock), n_int16_to_read * 2);
-                                        n_int16_to_read = binary_input_file->gcount() / 2;  //from bytes to int16
-                                        if (n_int16_to_read > 0)
-                                            {
-                                                int output_pointer = 0;
-                                                for (int i = 0; i < n_int16_to_read; i++)
-                                                    {
-                                                        decode_samples_one_channel(memblock[i], &out[output_pointer], d_bits_per_sample);
-                                                        output_pointer += 8;
-                                                    }
-                                                return output_pointer;
-                                            }
-
-                                        // trigger the read of the next file in the sequence
-                                        std::cout << "End of current file, reading the next Labsat file in sequence: " << generate_filename() << std::endl;
-
-                                        d_current_file_number++;
-                                        binary_input_file->close();
-                                        binary_input_file->open(generate_filename().c_str(), std::ios::in | std::ios::binary);
-                                        if (binary_input_file->is_open())
-                                            {
-                                                std::cout << "Labsat file source is reading samples from " << generate_filename() << std::endl;
-                                            }
-                                        else
-                                            {
-                                                std::cout << "Last file reached, LabSat source stop" << std::endl;
-                                                return -1;
-                                            }
-                                    }
-                                else
-                                    {
-                                        return 0;
-                                    }
-                            };
                         break;
-                    }
+                    default:
-                case 4:
+                        // single channel 2 bits per complex sample (1 bit I + 1 bit Q, 8 samples per int16)
-                    {
+                        int n_int16_to_read = noutput_items / 8;
-                        switch (d_channel_selector)
+                        if (n_int16_to_read > 0)
                             {
-                            case 0:
+                                int16_t memblock[n_int16_to_read];
-                                // dual channel
+                                binary_input_file->read(reinterpret_cast<char *>(memblock), n_int16_to_read * 2);
-                                break;
+                                n_int16_to_read = binary_input_file->gcount() / 2;  //from bytes to int16
-                            default:
-                                // single channel 4 bits per complex sample (2 bit I + 2 bit Q, 4 samples per int16)
-                                int n_int16_to_read = noutput_items / 4;
                                 if (n_int16_to_read > 0)
                                     {
-                                        int16_t memblock[n_int16_to_read];
+                                        int output_pointer = 0;
-                                        binary_input_file->read(reinterpret_cast<char *>(memblock), n_int16_to_read * 2);
+                                        for (int i = 0; i < n_int16_to_read; i++)
-                                        n_int16_to_read = binary_input_file->gcount() / 2;  //from bytes to int16
-                                        if (n_int16_to_read > 0)
                                             {
-                                                int output_pointer = 0;
+                                                decode_samples_one_channel(memblock[i], &out[output_pointer], d_bits_per_sample);
-                                                for (int i = 0; i < n_int16_to_read; i++)
+                                                output_pointer += 8;
-                                                    {
-                                                        decode_samples_one_channel(memblock[i], &out[output_pointer], d_bits_per_sample);
-                                                        output_pointer += 4;
-                                                    }
-                                                return output_pointer;
                                             }
+                                        return output_pointer;
+                                    }
 
-                                        // trigger the read of the next file in the sequence
+                                // trigger the read of the next file in the sequence
-                                        std::cout << "End of current file, reading the next Labsat file in sequence: " << generate_filename() << std::endl;
+                                std::cout << "End of current file, reading the next Labsat file in sequence: " << generate_filename() << std::endl;
 
-                                        d_current_file_number++;
+                                d_current_file_number++;
-                                        binary_input_file->close();
+                                binary_input_file->close();
-                                        binary_input_file->open(generate_filename().c_str(), std::ios::in | std::ios::binary);
+                                binary_input_file->open(generate_filename().c_str(), std::ios::in | std::ios::binary);
-                                        if (binary_input_file->is_open())
+                                if (binary_input_file->is_open())
-                                            {
+                                    {
-                                                std::cout << "Labsat file source is reading samples from " << generate_filename() << std::endl;
+                                        std::cout << "Labsat file source is reading samples from " << generate_filename() << std::endl;
-                                            }
-                                        else
-                                            {
-                                                std::cout << "Last file reached, LabSat source stop" << std::endl;
-                                                return -1;
-                                            }
                                     }
                                 else
                                     {
-                                        return 0;
+                                        std::cout << "Last file reached, LabSat source stop" << std::endl;
+                                        return -1;
                                     }
                             }
-                        break;
+                        else
-                    }
+                            {
-                default:
+                                return 0;
+                            }
+                    };
+                break;
+            }
+        case 4:
+            {
+                switch (d_channel_selector)
                     {
-                        return -1;
+                    case 0:
+                        // dual channel
+                        break;
+                    default:
+                        // single channel 4 bits per complex sample (2 bit I + 2 bit Q, 4 samples per int16)
+                        int n_int16_to_read = noutput_items / 4;
+                        if (n_int16_to_read > 0)
+                            {
+                                int16_t memblock[n_int16_to_read];
+                                binary_input_file->read(reinterpret_cast<char *>(memblock), n_int16_to_read * 2);
+                                n_int16_to_read = binary_input_file->gcount() / 2;  //from bytes to int16
+                                if (n_int16_to_read > 0)
+                                    {
+                                        int output_pointer = 0;
+                                        for (int i = 0; i < n_int16_to_read; i++)
+                                            {
+                                                decode_samples_one_channel(memblock[i], &out[output_pointer], d_bits_per_sample);
+                                                output_pointer += 4;
+                                            }
+                                        return output_pointer;
+                                    }
+
+                                // trigger the read of the next file in the sequence
+                                std::cout << "End of current file, reading the next Labsat file in sequence: " << generate_filename() << std::endl;
+
+                                d_current_file_number++;
+                                binary_input_file->close();
+                                binary_input_file->open(generate_filename().c_str(), std::ios::in | std::ios::binary);
+                                if (binary_input_file->is_open())
+                                    {
+                                        std::cout << "Labsat file source is reading samples from " << generate_filename() << std::endl;
+                                    }
+                                else
+                                    {
+                                        std::cout << "Last file reached, LabSat source stop" << std::endl;
+                                        return -1;
+                                    }
+                            }
+                        else
+                            {
+                                return 0;
+                            }
                     }
-                }
+                break;
+            }
+        default:
+            {
+                return -1;
+            }
         }
+
     std::cout << "Warning!!" << std::endl;
     return 0;
 }

src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc

@@ -51,7 +51,7 @@ enum
 
 rtl_tcp_signal_source_c_sptr
 rtl_tcp_make_signal_source_c(const std::string &address,
-    short port,
+    int16_t port,
     bool flip_iq)
 {
     return gnuradio::get_initial_sptr(new rtl_tcp_signal_source_c(address,
@@ -61,7 +61,7 @@ rtl_tcp_make_signal_source_c(const std::string &address,
 
 
 rtl_tcp_signal_source_c::rtl_tcp_signal_source_c(const std::string &address,
-    short port,
+    int16_t port,
     bool flip_iq)
     : gr::sync_block("rtl_tcp_signal_source_c",
           gr::io_signature::make(0, 0, 0),

src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.h

@@ -45,6 +45,7 @@
 #include <boost/array.hpp>
 #include <boost/circular_buffer.hpp>
 #include <gnuradio/sync_block.h>
+#include <cstdint>
 #include <string>
 
 class rtl_tcp_signal_source_c;
@@ -54,7 +55,7 @@ typedef boost::shared_ptr<rtl_tcp_signal_source_c>
 
 rtl_tcp_signal_source_c_sptr
 rtl_tcp_make_signal_source_c(const std::string &address,
-    short port,
+    int16_t port,
     bool flip_iq = false);
 
 /*!
@@ -81,11 +82,11 @@ private:
 
     friend rtl_tcp_signal_source_c_sptr
     rtl_tcp_make_signal_source_c(const std::string &address,
-        short port,
+        int16_t port,
         bool flip_iq);
 
     rtl_tcp_signal_source_c(const std::string &address,
-        short port,
+        int16_t port,
         bool flip_iq);
 
     rtl_tcp_dongle_info info_;

src/algorithms/signal_source/gnuradio_blocks/unpack_2bit_samples.cc

@@ -62,9 +62,9 @@ bool systemIsBigEndian()
 
 bool systemBytesAreBigEndian()
 {
-    byte_and_samples b;
+    byte_and_samples b{};
     b.byte = static_cast<int8_t>(0x01);
-    if (*(char *)&b.byte == 1)
+    if (*reinterpret_cast<char *>(&b.byte) == 1)
         return false;
 
     return true;
@@ -158,7 +158,7 @@ int unpack_2bit_samples::work(int noutput_items,
     // 1) The samples in a byte are in big endian order
     // 2) The samples in a byte are in little endian order
 
-    byte_and_samples raw_byte;
+    byte_and_samples raw_byte{};
     int n = 0;
 
     if (!reverse_interleaving_)

src/algorithms/signal_source/gnuradio_blocks/unpack_byte_2bit_cpx_samples.cc

@@ -35,6 +35,7 @@
 
 #include "unpack_byte_2bit_cpx_samples.h"
 #include <gnuradio/io_signature.h>
+#include <cstdint>
 
 struct byte_2bit_struct
 {
@@ -49,8 +50,8 @@ unpack_byte_2bit_cpx_samples_sptr make_unpack_byte_2bit_cpx_samples()
 
 
 unpack_byte_2bit_cpx_samples::unpack_byte_2bit_cpx_samples() : sync_interpolator("unpack_byte_2bit_cpx_samples",
-                                                                   gr::io_signature::make(1, 1, sizeof(signed char)),
+                                                                   gr::io_signature::make(1, 1, sizeof(int8_t)),
-                                                                   gr::io_signature::make(1, 1, sizeof(short)),
+                                                                   gr::io_signature::make(1, 1, sizeof(int16_t)),
                                                                    4)
 {
 }
@@ -63,10 +64,10 @@ int unpack_byte_2bit_cpx_samples::work(int noutput_items,
     gr_vector_const_void_star &input_items,
     gr_vector_void_star &output_items)
 {
-    const auto *in = reinterpret_cast<const signed char *>(input_items[0]);
+    const auto *in = reinterpret_cast<const int8_t *>(input_items[0]);
-    auto *out = reinterpret_cast<short *>(output_items[0]);
+    auto *out = reinterpret_cast<int16_t *>(output_items[0]);
 
-    byte_2bit_struct sample;
+    byte_2bit_struct sample{};
     int n = 0;
     for (int i = 0; i < noutput_items / 4; i++)
         {
@@ -76,34 +77,34 @@ int unpack_byte_2bit_cpx_samples::work(int noutput_items,
             //*     Least Significant Nibble - Sample n+1
             //*     Packing order in Nibble Q1 Q0 I1 I0
             //normal
-            //  signed char c = in[i];
+            //  int8_t c = in[i];
             //  //Q[n]
             //  sample.two_bit_sample = (c>>6) & 3;
-            //  out[n++] = (2*(short)sample.two_bit_sample+1);
+            //  out[n++] = (2*(int16_t)sample.two_bit_sample+1);
             //  //I[n]
             //  sample.two_bit_sample = (c>>4) & 3;
-            //  out[n++] = (2*(short)sample.two_bit_sample+1);
+            //  out[n++] = (2*(int16_t)sample.two_bit_sample+1);
             //  //Q[n+1]
             //  sample.two_bit_sample = (c>>2) & 3;
-            //  out[n++] = (2*(short)sample.two_bit_sample+1);
+            //  out[n++] = (2*(int16_t)sample.two_bit_sample+1);
             //  //I[n+1]
             //  sample.two_bit_sample = c & 3;
-            //  out[n++] = (2*(short)sample.two_bit_sample+1);
+            //  out[n++] = (2*(int16_t)sample.two_bit_sample+1);
 
             //I/Q swap
-            signed char c = in[i];
+            int8_t c = in[i];
             //I[n]
             sample.two_bit_sample = (c >> 4) & 3;
-            out[n++] = (2 * static_cast<short>(sample.two_bit_sample) + 1);
+            out[n++] = (2 * static_cast<int16_t>(sample.two_bit_sample) + 1);
             //Q[n]
             sample.two_bit_sample = (c >> 6) & 3;
-            out[n++] = (2 * static_cast<short>(sample.two_bit_sample) + 1);
+            out[n++] = (2 * static_cast<int16_t>(sample.two_bit_sample) + 1);
             //I[n+1]
             sample.two_bit_sample = c & 3;
-            out[n++] = (2 * static_cast<short>(sample.two_bit_sample) + 1);
+            out[n++] = (2 * static_cast<int16_t>(sample.two_bit_sample) + 1);
             //Q[n+1]
             sample.two_bit_sample = (c >> 2) & 3;
-            out[n++] = (2 * static_cast<short>(sample.two_bit_sample) + 1);
+            out[n++] = (2 * static_cast<int16_t>(sample.two_bit_sample) + 1);
         }
     return noutput_items;
 }

src/algorithms/signal_source/gnuradio_blocks/unpack_byte_2bit_samples.cc

@@ -62,7 +62,7 @@ int unpack_byte_2bit_samples::work(int noutput_items,
     const auto *in = reinterpret_cast<const signed char *>(input_items[0]);
     auto *out = reinterpret_cast<float *>(output_items[0]);
 
-    byte_2bit_struct sample;
+    byte_2bit_struct sample{};
     int n = 0;
     for (int i = 0; i < noutput_items / 4; i++)
         {

src/algorithms/signal_source/libs/rtl_tcp_dongle_info.h

@@ -42,7 +42,7 @@
 class rtl_tcp_dongle_info
 {
 private:
-    char magic_[4];
+    char magic_[4]{};
     uint32_t tuner_type_;
     uint32_t tuner_gain_count_;
 

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc

@@ -463,7 +463,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
     auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);            // Get the output buffer pointer
     const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]);  // Get the input buffer pointer
 
-    Gnss_Synchro current_symbol;  // structure to save the synchronization information and send the output object to the next block
+    Gnss_Synchro current_symbol{};  // structure to save the synchronization information and send the output object to the next block
     // 1. Copy the current tracking output
     current_symbol = in[0][0];
     // add new symbol to the symbol queue

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h

@@ -125,7 +125,7 @@ private:
 
     // vars for Viterbi decoder
     int32_t *out0, *out1, *state0, *state1;
-    int32_t g_encoder[2];
+    int32_t g_encoder[2]{};
     const int32_t nn = 2;  // Coding rate 1/n
     const int32_t KK = 7;  // Constraint Length
     int32_t mm = KK - 1;

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc

@@ -74,7 +74,7 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc(
     // preamble bits to sampled symbols
     d_preambles_symbols = static_cast<int32_t *>(malloc(sizeof(int32_t) * d_symbols_per_preamble));
     int32_t n = 0;
-    for (unsigned short d_preambles_bit : d_preambles_bits)
+    for (uint16_t d_preambles_bit : d_preambles_bits)
         {
             for (uint32_t j = 0; j < GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT; j++)
                 {
@@ -268,7 +268,7 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
     auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);            // Get the output buffer pointer
     const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]);  // Get the input buffer pointer
 
-    Gnss_Synchro current_symbol;  // structure to save the synchronization information and send the output object to the next block
+    Gnss_Synchro current_symbol{};  // structure to save the synchronization information and send the output object to the next block
     // 1. Copy the current tracking output
     current_symbol = in[0][0];
     d_symbol_history.push_back(current_symbol);  // add new symbol to the symbol queue

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.h

@@ -82,7 +82,7 @@ private:
     double d_preamble_time_samples;
 
     //!< Preamble decoding
-    uint16_t d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
+    uint16_t d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS]{};
     int32_t *d_preambles_symbols;
     uint32_t d_samples_per_symbol;
     int32_t d_symbols_per_preamble;

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc

@@ -74,7 +74,7 @@ glonass_l2_ca_telemetry_decoder_cc::glonass_l2_ca_telemetry_decoder_cc(
     // preamble bits to sampled symbols
     d_preambles_symbols = static_cast<int32_t *>(malloc(sizeof(int32_t) * d_symbols_per_preamble));
     int32_t n = 0;
-    for (unsigned short d_preambles_bit : d_preambles_bits)
+    for (uint16_t d_preambles_bit : d_preambles_bits)
         {
             for (uint32_t j = 0; j < GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT; j++)
                 {
@@ -268,7 +268,7 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu
     auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);            // Get the output buffer pointer
     const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]);  // Get the input buffer pointer
 
-    Gnss_Synchro current_symbol;  // structure to save the synchronization information and send the output object to the next block
+    Gnss_Synchro current_symbol{};  // structure to save the synchronization information and send the output object to the next block
     // 1. Copy the current tracking output
     current_symbol = in[0][0];
     d_symbol_history.push_back(current_symbol);  // add new symbol to the symbol queue

src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.h

@@ -80,7 +80,7 @@ private:
     double d_preamble_time_samples;
 
     //!< Preamble decoding
-    uint16_t d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS];
+    uint16_t d_preambles_bits[GLONASS_GNAV_PREAMBLE_LENGTH_BITS]{};
     int32_t *d_preambles_symbols;
     uint32_t d_samples_per_symbol;
     int32_t d_symbols_per_preamble;

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc

@@ -67,7 +67,7 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
     // preamble bits to sampled symbols
     d_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(GPS_CA_PREAMBLE_LENGTH_SYMBOLS * sizeof(int32_t), volk_gnsssdr_get_alignment()));
     int32_t n = 0;
-    for (unsigned short preambles_bit : preambles_bits)
+    for (uint16_t preambles_bit : preambles_bits)
         {
             for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
                 {
@@ -316,7 +316,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
     auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);            // Get the output buffer pointer
     const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]);  // Get the input buffer pointer
 
-    Gnss_Synchro current_symbol;  // structure to save the synchronization information and send the output object to the next block
+    Gnss_Synchro current_symbol{};  // structure to save the synchronization information and send the output object to the next block
     // 1. Copy the current tracking output
     current_symbol = in[0][0];
 

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h

@@ -82,7 +82,7 @@ private:
 
     // symbols
     boost::circular_buffer<Gnss_Synchro> d_symbol_history;
-    float d_subframe_symbols[GPS_SUBFRAME_MS];  // symbols per subframe
+    float d_subframe_symbols[GPS_SUBFRAME_MS]{};  // symbols per subframe
     int d_current_subframe_symbol;
 
     // bits and frame

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc

@@ -143,7 +143,7 @@ int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
     consume_each(1);  // one by one
 
     // UPDATE GNSS SYNCHRO DATA
-    Gnss_Synchro current_synchro_data;  // structure to save the synchronization information and send the output object to the next block
+    Gnss_Synchro current_synchro_data{};  // structure to save the synchronization information and send the output object to the next block
 
     // 1. Copy the current tracking output
     current_synchro_data = in[0];

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.h

@@ -91,7 +91,7 @@ private:
     std::string d_dump_filename;
     std::ofstream d_dump_file;
 
-    cnav_msg_decoder_t d_cnav_decoder;
+    cnav_msg_decoder_t d_cnav_decoder{};
 
     int32_t d_state;
     int32_t d_crc_error_count;

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc

@@ -145,7 +145,7 @@ int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((u
     const auto *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]);  // Get the input buffer pointer
 
     // UPDATE GNSS SYNCHRO DATA
-    Gnss_Synchro current_synchro_data;  //structure to save the synchronization information and send the output object to the next block
+    Gnss_Synchro current_synchro_data{};  //structure to save the synchronization information and send the output object to the next block
     // 1. Copy the current tracking output
     current_synchro_data = in[0];
     consume_each(1);  //one by one

src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h

@@ -83,14 +83,14 @@ private:
     std::string d_dump_filename;
     std::ofstream d_dump_file;
 
-    cnav_msg_decoder_t d_cnav_decoder;
+    cnav_msg_decoder_t d_cnav_decoder{};
 
     uint32_t d_TOW_at_current_symbol_ms;
     uint32_t d_TOW_at_Preamble_ms;
     bool d_flag_valid_word;
 
     Gps_CNAV_Navigation_Message d_CNAV_Message;
-    double bits_NH[GPS_L5i_NH_CODE_LENGTH];
+    double bits_NH[GPS_L5i_NH_CODE_LENGTH]{};
     std::deque<double> sym_hist;
     bool sync_NH;
     bool new_sym;

src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc

@@ -425,7 +425,7 @@ int sbas_l1_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
     auto *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);            // Get the output buffer pointer
     const auto *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]);  // Get the input buffer pointer
 
-    Gnss_Synchro current_symbol;  // structure to save the synchronization information and send the output object to the next block
+    Gnss_Synchro current_symbol{};  // structure to save the synchronization information and send the output object to the next block
     // 1. Copy the current tracking output
     current_symbol = in[0];
     // copy correlation samples into samples vector

src/algorithms/tracking/adapters/glonass_l1_ca_dll_pll_c_aid_tracking.cc

@@ -224,11 +224,8 @@ gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_left_block()
         {
             return tracking_sc;
         }
-    else
+    LOG(WARNING) << item_type_ << " unknown tracking item type";
-        {
+    return nullptr;
-            LOG(WARNING) << item_type_ << " unknown tracking item type";
-            return nullptr;
-        }
 }
 
 
@@ -242,9 +239,8 @@ gr::basic_block_sptr GlonassL1CaDllPllCAidTracking::get_right_block()
         {
             return tracking_sc;
         }
-    else
+
-        {
+
-            LOG(WARNING) << item_type_ << " unknown tracking item type";
+    LOG(WARNING) << item_type_ << " unknown tracking item type";
-            return nullptr;
+    return nullptr;
-        }
 }

src/algorithms/tracking/adapters/glonass_l2_ca_dll_pll_c_aid_tracking.cc

@@ -222,11 +222,8 @@ gr::basic_block_sptr GlonassL2CaDllPllCAidTracking::get_left_block()
         {
             return tracking_sc;
         }
-    else
+    LOG(WARNING) << item_type_ << " unknown tracking item type";
-        {
+    return nullptr;
-            LOG(WARNING) << item_type_ << " unknown tracking item type";
-            return nullptr;
-        }
 }
 
 
@@ -240,9 +237,6 @@ gr::basic_block_sptr GlonassL2CaDllPllCAidTracking::get_right_block()
         {
             return tracking_sc;
         }
-    else
+    LOG(WARNING) << item_type_ << " unknown tracking item type";
-        {
+    return nullptr;
-            LOG(WARNING) << item_type_ << " unknown tracking item type";
-            return nullptr;
-        }
 }

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc

@@ -218,11 +218,8 @@ gr::basic_block_sptr GpsL1CaDllPllCAidTracking::get_left_block()
         {
             return tracking_sc;
         }
-    else
+    LOG(WARNING) << item_type_ << " unknown tracking item type";
-        {
+    return nullptr;
-            LOG(WARNING) << item_type_ << " unknown tracking item type";
-            return nullptr;
-        }
 }
 
 gr::basic_block_sptr GpsL1CaDllPllCAidTracking::get_right_block()
@@ -235,9 +232,6 @@ gr::basic_block_sptr GpsL1CaDllPllCAidTracking::get_right_block()
         {
             return tracking_sc;
         }
-    else
+    LOG(WARNING) << item_type_ << " unknown tracking item type";
-        {
+    return nullptr;
-            LOG(WARNING) << item_type_ << " unknown tracking item type";
-            return nullptr;
-        }
 }

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

@@ -133,7 +133,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
                     // preamble bits to sampled symbols
                     d_gps_l1ca_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(GPS_CA_PREAMBLE_LENGTH_SYMBOLS * sizeof(int32_t), volk_gnsssdr_get_alignment()));
                     int32_t n = 0;
-                    for (unsigned short preambles_bit : preambles_bits)
+                    for (uint16_t preambles_bit : preambles_bits)
                         {
                             for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
                                 {

src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc

@@ -572,9 +572,9 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::set_channel(uint32_t channel)
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
                             LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
                         }
-                    catch (const std::ifstream::failure *e)
+                    catch (const std::ifstream::failure &e)
                         {
-                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
                         }
                 }
         }
@@ -913,9 +913,9 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
                     uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
                     d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(uint32_t));
                 }
-            catch (const std::ifstream::failure *e)
+            catch (const std::ifstream::failure &e)
                 {
-                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+                    LOG(WARNING) << "Exception writing trk dump file " << e.what();
                 }
         }
 

src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc

@@ -563,9 +563,9 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(uint32_t channel)
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
                             LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
                         }
-                    catch (const std::ifstream::failure *e)
+                    catch (const std::ifstream::failure &e)
                         {
-                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
                         }
                 }
         }
@@ -902,9 +902,9 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
                     uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
                     d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(uint32_t));
                 }
-            catch (const std::ifstream::failure *e)
+            catch (const std::ifstream::failure &e)
                 {
-                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+                    LOG(WARNING) << "Exception writing trk dump file " << e.what();
                 }
         }
 

src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc

@@ -569,9 +569,9 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_cc::set_channel(uint32_t channel)
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
                             LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
                         }
-                    catch (const std::ifstream::failure *e)
+                    catch (const std::ifstream::failure &e)
                         {
-                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
                         }
                 }
         }
@@ -910,9 +910,9 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
                     uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
                     d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(uint32_t));
                 }
-            catch (const std::ifstream::failure *e)
+            catch (const std::ifstream::failure &e)
                 {
-                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+                    LOG(WARNING) << "Exception writing trk dump file " << e.what();
                 }
         }
 

src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc

@@ -562,9 +562,9 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_sc::set_channel(uint32_t channel)
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
                             LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
                         }
-                    catch (const std::ifstream::failure *e)
+                    catch (const std::ifstream::failure &e)
                         {
-                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
                         }
                 }
         }
@@ -901,9 +901,9 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
                     uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
                     d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(uint32_t));
                 }
-            catch (const std::ifstream::failure *e)
+            catch (const std::ifstream::failure &e)
                 {
-                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+                    LOG(WARNING) << "Exception writing trk dump file " << e.what();
                 }
         }
 

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc

@@ -551,9 +551,9 @@ void gps_l1_ca_dll_pll_c_aid_tracking_cc::set_channel(uint32_t channel)
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
                             LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
                         }
-                    catch (const std::ifstream::failure *e)
+                    catch (const std::ifstream::failure &e)
                         {
-                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
                         }
                 }
         }
@@ -891,9 +891,9 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attrib
                     uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
                     d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(uint32_t));
                 }
-            catch (const std::ifstream::failure *e)
+            catch (const std::ifstream::failure &e)
                 {
-                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+                    LOG(WARNING) << "Exception writing trk dump file " << e.what();
                 }
         }
 

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc

@@ -553,9 +553,9 @@ void gps_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(uint32_t channel)
                             d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
                             LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
                         }
-                    catch (const std::ifstream::failure *e)
+                    catch (const std::ifstream::failure &e)
                         {
-                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what();
+                            LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
                         }
                 }
         }
@@ -892,9 +892,9 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attrib
                     uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
                     d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(uint32_t));
                 }
-            catch (const std::ifstream::failure *e)
+            catch (const std::ifstream::failure &e)
                 {
-                    LOG(WARNING) << "Exception writing trk dump file " << e->what();
+                    LOG(WARNING) << "Exception writing trk dump file " << e.what();
                 }
         }
 

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc

@@ -517,7 +517,7 @@ int32_t Gps_L1_Ca_Kf_Tracking_cc::save_matfile()
     filename.erase(filename.length() - 4, 4);
     filename.append(".mat");
     matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
-    if (reinterpret_cast<long *>(matfp) != nullptr)
+    if (reinterpret_cast<int64_t *>(matfp) != nullptr)
         {
             size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
             matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE, 0);

src/algorithms/tracking/libs/dll_pll_conf.h

@@ -65,7 +65,7 @@ public:
     double carrier_lock_th;
     bool track_pilot;
     char system;
-    char signal[3];
+    char signal[3]{};
 
     Dll_Pll_Conf();
 };

src/algorithms/tracking/libs/tcp_communication.cc

@@ -35,9 +35,7 @@
 #include <string>
 
 
-tcp_communication::tcp_communication() : tcp_socket_(io_service_)
+tcp_communication::tcp_communication() : tcp_socket_(io_service_) {}  // NOLINT
-{
-}
 
 
 tcp_communication::~tcp_communication() = default;

src/algorithms/tracking/libs/tracking_loop_filter.cc

@@ -52,6 +52,7 @@ Tracking_loop_filter::Tracking_loop_filter(float update_interval,
     update_coefficients();
 }
 
+
 Tracking_loop_filter::Tracking_loop_filter()
     : d_loop_order(2),
       d_current_index(0),
@@ -64,10 +65,9 @@ Tracking_loop_filter::Tracking_loop_filter()
     update_coefficients();
 }
 
-Tracking_loop_filter::~Tracking_loop_filter()
+
-{
+Tracking_loop_filter::~Tracking_loop_filter() = default;
-    // Don't need to do anything here
+
-}
 
 float Tracking_loop_filter::apply(float current_input)
 {
@@ -108,6 +108,7 @@ float Tracking_loop_filter::apply(float current_input)
     return result;
 }
 
+
 void Tracking_loop_filter::update_coefficients(void)
 {
     // Analog gains:
@@ -216,17 +217,20 @@ void Tracking_loop_filter::update_coefficients(void)
         };
 }
 
+
 void Tracking_loop_filter::set_noise_bandwidth(float noise_bandwidth)
 {
     d_noise_bandwidth = noise_bandwidth;
     update_coefficients();
 }
 
+
 float Tracking_loop_filter::get_noise_bandwidth(void) const
 {
     return d_noise_bandwidth;
 }
 
+
 void Tracking_loop_filter::set_update_interval(float update_interval)
 {
     d_update_interval = update_interval;
@@ -238,17 +242,20 @@ float Tracking_loop_filter::get_update_interval(void) const
     return d_update_interval;
 }
 
+
 void Tracking_loop_filter::set_include_last_integrator(bool include_last_integrator)
 {
     d_include_last_integrator = include_last_integrator;
     update_coefficients();
 }
 
+
 bool Tracking_loop_filter::get_include_last_integrator(void) const
 {
     return d_include_last_integrator;
 }
 
+
 void Tracking_loop_filter::set_order(int loop_order)
 {
     if (loop_order < 1 or loop_order > MAX_LOOP_ORDER)
@@ -264,11 +271,13 @@ void Tracking_loop_filter::set_order(int loop_order)
     update_coefficients();
 }
 
+
 int Tracking_loop_filter::get_order(void) const
 {
     return d_loop_order;
 }
 
+
 void Tracking_loop_filter::initialize(float initial_output)
 {
     d_inputs.assign(MAX_LOOP_HISTORY_LENGTH, 0.0);

src/core/libs/INIReader.cc

@@ -64,16 +64,16 @@ int INIReader::ParseError()
 }
 
 
-std::string INIReader::Get(std::string section, std::string name, std::string default_value)
+std::string INIReader::Get(const std::string& section, const std::string& name, std::string default_value)
 {
-    std::string key = MakeKey(std::move(section), std::move(name));
+    std::string key = MakeKey(section, name);
     return _values.count(key) ? _values[key] : default_value;
 }
 
 
-int64_t INIReader::GetInteger(std::string section, std::string name, int64_t default_value)
+int64_t INIReader::GetInteger(const std::string& section, const std::string& name, int64_t default_value)
 {
-    std::string valstr = Get(std::move(section), std::move(name), "");
+    std::string valstr = Get(section, name, "");
     const char* value = valstr.c_str();
     char* end;
     // This parses "1234" (decimal) and also "0x4D2" (hex)
@@ -86,7 +86,7 @@ std::string INIReader::MakeKey(const std::string& section, const std::string& na
 {
     std::string key = section + "." + name;
     // Convert to lower case to make lookups case-insensitive
-    for (char & i : key)
+    for (char& i : key)
         i = tolower(i);
     return key;
 }

src/core/libs/INIReader.h

@@ -66,11 +66,11 @@ public:
     int ParseError();
 
     //! Get a string value from INI file, returning default_value if not found.
-    std::string Get(std::string section, std::string name,
+    std::string Get(const std::string& section, const std::string& name,
         std::string default_value);
 
     //! Get an integer (long) value from INI file, returning default_value if not found.
-    int64_t GetInteger(std::string section, std::string name, int64_t default_value);
+    int64_t GetInteger(const std::string& section, const std::string& name, int64_t default_value);
 
 private:
     int _error;

src/core/libs/gnss_sdr_supl_client.h

@@ -74,9 +74,9 @@ private:
     int lac;
     int ci;
     // assistance protocol structure
-    supl_ctx_t ctx;
+    supl_ctx_t ctx{};
     // assistance data
-    supl_assist_t assist;
+    supl_assist_t assist{};
     bool read_gal_almanac_from_gsa(const std::string& file_name);
 
 public:

src/core/libs/string_converter.cc

@@ -50,10 +50,8 @@ bool StringConverter::convert(const std::string& value, bool default_value)
         {
             return false;
         }
-    else
+
-        {
+    return default_value;
-            return default_value;
-        }
 }
 
 

src/core/libs/supl/asn-rrlp/converter-sample.c

@@ -788,7 +788,7 @@ static int argument_is_stdin(char *av[], int idx) {
 static FILE *argument_to_file(char *av[], int idx) {
 	return argument_is_stdin(av, idx)
 		? stdin
-		: fopen(av[idx], "r");
+		: fopen(av[idx], "re");
 }
 
 static char *argument_to_name(char *av[], int idx) {

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

@@ -2,7 +2,7 @@
 #include <asn_internal.h>
 #include <per_encoder.h>
 
-static asn_enc_rval_t uper_encode_internal(asn_TYPE_descriptor_t *td, asn_per_constraints_t *, void *sptr, asn_app_consume_bytes_f *cb, void *app_key);
+static asn_enc_rval_t uper_encode_internal(asn_TYPE_descriptor_t *td, asn_per_constraints_t * /*constraints*/, void *sptr, asn_app_consume_bytes_f *cb, void *app_key);
 
 asn_enc_rval_t
 uper_encode(asn_TYPE_descriptor_t *td, void *sptr, asn_app_consume_bytes_f *cb, void *app_key) {

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

@@ -17,7 +17,7 @@ typedef struct uper_ugot_key
 
 static int uper_ugot_refill(asn_per_data_t *pd);
 static int per_skip_bits(asn_per_data_t *pd, int skip_nbits);
-static asn_dec_rval_t uper_sot_suck(asn_codec_ctx_t *, asn_TYPE_descriptor_t *td, asn_per_constraints_t *constraints, void **sptr, asn_per_data_t *pd);
+static asn_dec_rval_t uper_sot_suck(asn_codec_ctx_t * /*ctx*/, asn_TYPE_descriptor_t *td, asn_per_constraints_t *constraints, void **sptr, asn_per_data_t *pd);
 
 int asn_debug_indent;
 

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

@@ -2,7 +2,7 @@
 #include <asn_internal.h>
 #include <per_encoder.h>
 
-static asn_enc_rval_t uper_encode_internal(asn_TYPE_descriptor_t *td, asn_per_constraints_t *, void *sptr, asn_app_consume_bytes_f *cb, void *app_key);
+static asn_enc_rval_t uper_encode_internal(asn_TYPE_descriptor_t *td, asn_per_constraints_t * /*constraints*/, void *sptr, asn_app_consume_bytes_f *cb, void *app_key);
 
 asn_enc_rval_t
 uper_encode(asn_TYPE_descriptor_t *td, void *sptr, asn_app_consume_bytes_f *cb, void *app_key) {

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

@@ -17,7 +17,7 @@ typedef struct uper_ugot_key
 
 static int uper_ugot_refill(asn_per_data_t *pd);
 static int per_skip_bits(asn_per_data_t *pd, int skip_nbits);
-static asn_dec_rval_t uper_sot_suck(asn_codec_ctx_t *, asn_TYPE_descriptor_t *td, asn_per_constraints_t *constraints, void **sptr, asn_per_data_t *pd);
+static asn_dec_rval_t uper_sot_suck(asn_codec_ctx_t * /*ctx*/, asn_TYPE_descriptor_t *td, asn_per_constraints_t *constraints, void **sptr, asn_per_data_t *pd);
 
 int asn_debug_indent;
 

src/core/libs/supl/supl.c

@@ -949,4 +949,3 @@ void EXPORT supl_set_debug(FILE *log, int flags) {
   if (flags & SUPL_DEBUG_DEBUG) debug.debug = 1;
 #endif
 }
-

src/core/monitor/gnss_synchro_udp_sink.cc

@@ -35,7 +35,7 @@
 #include <sstream>
 #include <iostream>
 
-Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const unsigned short& port) : socket{io_service}
+Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port) : socket{io_service}
 {
     for (auto address : addresses)
         {