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Code Issues Releases Wiki Activity

Reduce number of warnings raised by bugprone-* clang-tidy checks

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This commit is contained in:
Carles Fernandez
2020-07-10 00:37:55 +02:00
parent a597478b24
commit c04948fd02
135 changed files with 981 additions and 1533 deletions
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28
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@@ -48,10 +48,10 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
{
Pvt_Conf pvt_output_parameters = Pvt_Conf();
// dump parameters
std::string default_dump_filename = "./pvt.dat";
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
const std::string default_dump_filename("./pvt.dat");
const std::string default_nmea_dump_filename("./nmea_pvt.nmea");
const std::string default_nmea_dump_devname("/dev/tty1");
const std::string default_rtcm_dump_devname("/dev/pts/1");
DLOG(INFO) << "role " << role;
pvt_output_parameters.dump = configuration->property(role + ".dump", false);
pvt_output_parameters.dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
@@ -73,27 +73,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
// RINEX version
pvt_output_parameters.rinex_version = configuration->property(role + ".rinex_version", 3);
if (FLAGS_RINEX_version == "3.01")
if (FLAGS_RINEX_version == "3.01" || FLAGS_RINEX_version == "3.02" || FLAGS_RINEX_version == "3")
{
pvt_output_parameters.rinex_version = 3;
}
else if (FLAGS_RINEX_version == "3.02")
{
pvt_output_parameters.rinex_version = 3;
}
else if (FLAGS_RINEX_version == "3")
{
pvt_output_parameters.rinex_version = 3;
}
else if (FLAGS_RINEX_version == "2.11")
{
pvt_output_parameters.rinex_version = 2;
}
else if (FLAGS_RINEX_version == "2.10")
{
pvt_output_parameters.rinex_version = 2;
}
else if (FLAGS_RINEX_version == "2")
else if (FLAGS_RINEX_version == "2.10" || FLAGS_RINEX_version == "2.11" || FLAGS_RINEX_version == "2")
{
pvt_output_parameters.rinex_version = 2;
}

112
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@@ -1090,17 +1090,11 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
switch (d_type_of_rx)
{
case 1: // GPS L1 C/A only
d_rp->log_rinex_nav(d_rp->navFile, new_eph);
break;
case 8: // L1+L5
d_rp->log_rinex_nav(d_rp->navFile, new_eph);
break;
case 9: // GPS L1 C/A + Galileo E1B
d_rp->log_rinex_nav(d_rp->navMixFile, new_eph, new_gal_eph);
break;
case 9: // GPS L1 C/A + Galileo E1B
case 10: // GPS L1 C/A + Galileo E5a
d_rp->log_rinex_nav(d_rp->navMixFile, new_eph, new_gal_eph);
break;
case 11: // GPS L1 C/A + Galileo E5b
d_rp->log_rinex_nav(d_rp->navMixFile, new_eph, new_gal_eph);
break;
@@ -1125,8 +1119,6 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
}
break;
case 32: // L1+E1+L5+E5a
d_rp->log_rinex_nav(d_rp->navMixFile, new_eph, new_gal_eph);
break;
case 33: // L1+E1+E5a
d_rp->log_rinex_nav(d_rp->navMixFile, new_eph, new_gal_eph);
break;
@@ -1201,11 +1193,7 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
switch (d_type_of_rx)
{
case 2: // GPS L2C only
d_rp->log_rinex_nav(d_rp->navFile, new_cnav_eph);
break;
case 3: // GPS L5 only
d_rp->log_rinex_nav(d_rp->navFile, new_cnav_eph);
break;
case 7: // GPS L1 C/A + GPS L2C
d_rp->log_rinex_nav(d_rp->navFile, new_cnav_eph);
break;
@@ -1213,8 +1201,6 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
d_rp->log_rinex_nav(d_rp->navMixFile, new_cnav_eph, new_gal_eph);
break;
case 28: // GPS L2C + GLONASS L1 C/A
d_rp->log_rinex_nav(d_rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
case 31: // GPS L2C + GLONASS L2 C/A
d_rp->log_rinex_nav(d_rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
@@ -1303,20 +1289,12 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
switch (d_type_of_rx)
{
case 4: // Galileo E1B only
d_rp->log_rinex_nav(d_rp->navGalFile, new_gal_eph);
break;
case 5: // Galileo E5a only
d_rp->log_rinex_nav(d_rp->navGalFile, new_gal_eph);
break;
case 6: // Galileo E5b only
d_rp->log_rinex_nav(d_rp->navGalFile, new_gal_eph);
break;
case 9: // GPS L1 C/A + Galileo E1B
d_rp->log_rinex_nav(d_rp->navMixFile, new_eph, new_gal_eph);
break;
case 9: // GPS L1 C/A + Galileo E1B
case 10: // GPS L1 C/A + Galileo E5a
d_rp->log_rinex_nav(d_rp->navMixFile, new_eph, new_gal_eph);
break;
case 11: // GPS L1 C/A + Galileo E5b
d_rp->log_rinex_nav(d_rp->navMixFile, new_eph, new_gal_eph);
break;
@@ -1327,17 +1305,11 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
d_rp->log_rinex_nav(d_rp->navGalFile, new_gal_eph);
break;
case 27: // Galileo E1B + GLONASS L1 C/A
d_rp->log_rinex_nav(d_rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 30: // Galileo E1B + GLONASS L2 C/A
d_rp->log_rinex_nav(d_rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 32: // L1+E1+L5+E5a
d_rp->log_rinex_nav(d_rp->navMixFile, new_eph, new_gal_eph);
break;
case 33: // L1+E1+E5a
d_rp->log_rinex_nav(d_rp->navMixFile, new_eph, new_gal_eph);
break;
case 32: // L1+E1+L5+E5a
case 33: // L1+E1+E5a
case 1001: // L1+E1+L2+L5+E5a
d_rp->log_rinex_nav(d_rp->navMixFile, new_eph, new_gal_eph);
break;
@@ -1463,11 +1435,7 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
switch (d_type_of_rx)
{
case 23: // GLONASS L1 C/A
d_rp->log_rinex_nav(d_rp->navGloFile, new_glo_eph);
break;
case 24: // GLONASS L2 C/A
d_rp->log_rinex_nav(d_rp->navGloFile, new_glo_eph);
break;
case 25: // GLONASS L1 C/A + GLONASS L2 C/A
d_rp->log_rinex_nav(d_rp->navGloFile, new_glo_eph);
break;
@@ -1574,8 +1542,6 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
switch (d_type_of_rx)
{
case 500: // BDS B1I only
d_rp->log_rinex_nav(d_rp->navFile, new_bds_eph);
break;
case 600: // BDS B3I only
d_rp->log_rinex_nav(d_rp->navFile, new_bds_eph);
break;
@@ -1830,17 +1796,11 @@ void rtklib_pvt_gs::apply_rx_clock_offset(std::map<int, Gnss_Synchro>& observabl
switch (d_mapStringValues[observables_iter->second.Signal])
{
case evGPS_1C:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1 * TWO_PI;
break;
case evGPS_L5:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ5 * TWO_PI;
break;
case evSBAS_1C:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1 * TWO_PI;
break;
case evGAL_1B:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ1 * TWO_PI;
break;
case evGPS_L5:
case evGAL_5X:
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * FREQ5 * TWO_PI;
break;
@@ -1932,17 +1892,11 @@ void rtklib_pvt_gs::initialize_and_apply_carrier_phase_offset()
switch (d_mapStringValues[observables_iter->second.Signal])
{
case evGPS_1C:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ1;
break;
case evGPS_L5:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ5;
break;
case evSBAS_1C:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ1;
break;
case evGAL_1B:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ1;
break;
case evGPS_L5:
case evGAL_5X:
wavelength_m = SPEED_OF_LIGHT_M_S / FREQ5;
break;
@@ -2688,35 +2642,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
break;
case 503: // BeiDou B1I + GLONASS L1 C/A
if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
// d_rp->rinex_obs_header(d_rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
// d_rp->rinex_nav_header(d_rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
// d_rp->log_rinex_nav(d_rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map);
d_rinex_header_written = true; // do not write header anymore
}
break;
case 504: // BeiDou B1I + GPS L1 C/A + Galileo E1B
if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
// d_rp->rinex_obs_header(d_rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
// d_rp->rinex_nav_header(d_rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
// d_rp->log_rinex_nav(d_rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map);
d_rinex_header_written = true; // do not write header anymore
}
break;
case 505: // BeiDou B1I + GPS L1 C/A + GLONASS L1 C/A + Galileo E1B
if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
// d_rp->rinex_obs_header(d_rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B1");
// d_rp->rinex_nav_header(d_rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
// d_rp->log_rinex_nav(d_rp->navFile, d_user_pvt_solver->beidou_dnav_ephemeris_map);
d_rinex_header_written = true; // do not write header anymore
}
break;
case 506: // BeiDou B1I + Beidou B3I
if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
@@ -2738,23 +2665,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
break;
case 601: // BeiDou B3I + GPS L2C
if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
d_rp->rinex_obs_header(d_rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B3");
// d_rp->rinex_nav_header(d_rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
d_rinex_header_written = true; // do not write header anymore
}
break;
case 602: // BeiDou B3I + GLONASS L2 C/A
if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
d_rp->rinex_obs_header(d_rp->obsFile, beidou_dnav_ephemeris_iter->second, d_rx_time, "B3");
// d_rp->rinex_nav_header(d_rp->navFile, d_user_pvt_solver->beidou_dnav_iono, d_user_pvt_solver->beidou_dnav_utc_model);
d_rinex_header_written = true; // do not write header anymore
}
break;
case 603: // BeiDou B3I + GPS L2C + GLONASS L2 C/A
if (beidou_dnav_ephemeris_iter != d_user_pvt_solver->beidou_dnav_ephemeris_map.cend())
{
@@ -2818,17 +2729,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
break;
case 2: // GPS L2C only
if (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend())
{
d_rp->log_rinex_obs(d_rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, d_gnss_observables_map);
}
if (!d_rinex_header_updated and (d_user_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
{
d_rp->update_obs_header(d_rp->obsFile, d_user_pvt_solver->gps_cnav_utc_model);
d_rp->update_nav_header(d_rp->navFile, d_user_pvt_solver->gps_cnav_utc_model, d_user_pvt_solver->gps_cnav_iono);
d_rinex_header_updated = true;
}
break;
case 3: // GPS L5
if (gps_cnav_ephemeris_iter != d_user_pvt_solver->gps_cnav_ephemeris_map.cend())
{

13
src/algorithms/PVT/libs/nmea_printer.cc
View File

@@ -379,15 +379,10 @@ std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_
std::stringstream sentence_str;
boost::posix_time::time_duration td = d_position_UTC_time.time_of_day();
int utc_hours;
int utc_mins;
int utc_seconds;
int utc_milliseconds;
utc_hours = td.hours();
utc_mins = td.minutes();
utc_seconds = td.seconds();
utc_milliseconds = td.total_milliseconds() - td.total_seconds() * 1000;
int utc_hours = td.hours();
int utc_mins = td.minutes();
int utc_seconds = td.seconds();
auto utc_milliseconds = static_cast<int>(td.total_milliseconds() - td.total_seconds() * 1000);
if (utc_hours < 10)
{

42
src/algorithms/PVT/libs/rinex_printer.cc
View File

@@ -916,7 +916,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Galileo_Iono& gali
{
} // Avoid compiler warning
// Avoid compiler warning, there is not time system correction between Galileo and GLONASS
if (galileo_utc_model.A_0G_10)
if (galileo_utc_model.A_0G_10 > 0.0)
{
}
std::string line;
@@ -1884,7 +1884,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Beidou_Dnav_Iono&
// -------- Line 6 leap seconds
// For leap second information, see https://endruntechnologies.com/support/leap-seconds
line.clear();
line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_DeltaT_LS), 6);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DeltaT_LS), 6);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.d_DeltaT_LSF), 6);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_LSF), 6);
line += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DN), 6);
@@ -2282,7 +2282,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_M
// -------- Line 6 leap seconds
// For leap second information, see https://endruntechnologies.com/support/leap-seconds
line.clear();
line += Rinex_Printer::rightJustify(std::to_string(bds_dnav_utc_model.d_DeltaT_LS), 6);
line += Rinex_Printer::rightJustify(std::to_string(bds_dnav_utc_model.i_DeltaT_LS), 6);
line += Rinex_Printer::rightJustify(std::to_string(bds_dnav_utc_model.d_DeltaT_LSF), 6);
line += Rinex_Printer::rightJustify(std::to_string(bds_dnav_utc_model.i_WN_LSF), 6);
line += Rinex_Printer::rightJustify(std::to_string(bds_dnav_utc_model.i_DN), 6);
@@ -3504,7 +3504,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Galileo_Iono& gal
{
} // Avoid compiler warning
// Avoid compiler warning, there is not time system correction between Galileo and GLONASS
if (galileo_utc_model.A_0G_10)
if (galileo_utc_model.A_0G_10 > 0.0)
{
}
std::vector<std::string> data;
@@ -3655,7 +3655,7 @@ void Rinex_Printer::update_nav_header(std::fstream& out, const Beidou_Dnav_Utc_M
}
else if (line_str.find("LEAP SECONDS", 59) != std::string::npos)
{
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.d_DeltaT_LS), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DeltaT_LS), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.d_DeltaT_LSF), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_LSF), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DN), 6);
@@ -4838,7 +4838,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Bei
void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string& glonass_bands)
{
if (eph.d_m)
if (eph.d_m > 0.0)
{
} // Avoid compiler warning
std::string line;
@@ -5171,7 +5171,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephem
void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glonass_bands)
{
if (glonass_gnav_eph.d_m)
if (glonass_gnav_eph.d_m > 0.0)
{
} // avoid warning, not needed
std::string line;
@@ -5527,7 +5527,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glonass_bands)
{
if (glonass_gnav_eph.d_m)
if (glonass_gnav_eph.d_m > 0.0)
{
} // avoid warning, not needed
std::string line;
@@ -5847,7 +5847,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& galileo_bands, const std::string& glonass_bands)
{
if (glonass_gnav_eph.d_m)
if (glonass_gnav_eph.d_m > 0.0)
{
} // avoid warning, not needed
std::string line;
@@ -6679,7 +6679,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, const double d_TOW_first_observation, const std::string& gps_bands)
{
if (eph_cnav.d_i_0)
if (eph_cnav.d_i_0 > 0.0)
{
} // avoid warning, not needed
std::string line;
@@ -7890,7 +7890,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation, const std::string& galileo_bands)
{
if (galileo_eph.e_1)
if (galileo_eph.e_1 > 0.0)
{
} // avoid warning, not needed
std::string line;
@@ -8415,7 +8415,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Beidou_Dnav_Epheme
void Rinex_Printer::update_obs_header(std::fstream& out __attribute__((unused)), const Glonass_Gnav_Utc_Model& utc_model)
{
if (utc_model.d_N_4)
if (utc_model.d_N_4 > 0.0)
{
// do nothing
}
@@ -8644,7 +8644,7 @@ void Rinex_Printer::update_obs_header(std::fstream& out, const Beidou_Dnav_Utc_M
if (line_str.find("TIME OF FIRST OBS", 59) != std::string::npos)
{
data.push_back(line_str);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.d_DeltaT_LS), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DeltaT_LS), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.d_DeltaT_LSF), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_WN_LSF), 6);
line_aux += Rinex_Printer::rightJustify(std::to_string(utc_model.i_DN), 6);
@@ -8940,7 +8940,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeri
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
if (glonass_gnav_eph.d_m)
if (glonass_gnav_eph.d_m > 0.0)
{
} // avoid warning, not needed
std::string line;
@@ -9285,7 +9285,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
if (glonass_gnav_eph.d_m)
if (glonass_gnav_eph.d_m > 0.0)
{
} // avoid warning, not needed
std::string line;
@@ -9543,7 +9543,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& g
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double galileo_obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
if (glonass_gnav_eph.d_m)
if (glonass_gnav_eph.d_m > 0.0)
{
} // avoid warning, not needed
std::string line;
@@ -10176,7 +10176,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, bool triple_band)
{
if (eph_cnav.d_i_0)
if (eph_cnav.d_i_0 > 0.0)
{
} // avoid warning, not needed
// RINEX observations timestamps are GPS timestamps.
@@ -10658,7 +10658,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
if (galileo_eph.e_1)
if (galileo_eph.e_1 > 0.0)
{
} // avoid warning, not needed
std::string line;
@@ -10930,7 +10930,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, const Galileo_Ephemeris& galileo_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
if (galileo_eph.e_1)
if (galileo_eph.e_1 > 0.0)
{
} // avoid warning, not needed
std::string line;
@@ -11224,10 +11224,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Galileo_Ephemeris& galileo_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables, bool triple_band)
{
if (galileo_eph.e_1)
if (galileo_eph.e_1 > 0.0)
{
} // avoid warning, not needed
if (gps_cnav_eph.d_e_eccentricity)
if (gps_cnav_eph.d_e_eccentricity > 0.0)
{
} // avoid warning, not needed
std::string line;

72
src/algorithms/PVT/libs/rtcm.cc
View File

@@ -23,6 +23,9 @@
#include "GPS_L2C.h"
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "Galileo_E5b.h"
#include "Galileo_FNAV.h"
#include "Galileo_INAV.h"
#include <boost/algorithm/string.hpp> // for to_upper_copy
#include <boost/crc.hpp>
#include <boost/date_time/gregorian/gregorian.hpp>
@@ -1896,7 +1899,7 @@ int32_t Rtcm::read_MT1020(const std::string& message, Glonass_Gnav_Ephemeris& gl
glonass_gnav_eph.d_B_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
glonass_gnav_eph.d_P_2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
glonass_gnav_eph.d_P_2 = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
glonass_gnav_eph.d_t_b = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 7))) * 15 * 60.0;
@@ -1930,7 +1933,7 @@ int32_t Rtcm::read_MT1020(const std::string& message, Glonass_Gnav_Ephemeris& gl
glonass_gnav_eph.d_AZn = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 5))) * TWO_N30;
index += 5;
glonass_gnav_eph.d_P_3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
glonass_gnav_eph.d_P_3 = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
glonass_gnav_eph.d_gamma_n = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 11))) * TWO_N30;
@@ -1939,7 +1942,7 @@ int32_t Rtcm::read_MT1020(const std::string& message, Glonass_Gnav_Ephemeris& gl
glonass_gnav_eph.d_P = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
index += 2;
glonass_gnav_eph.d_l3rd_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
glonass_gnav_eph.d_l3rd_n = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
glonass_gnav_eph.d_tau_n = static_cast<double>(Rtcm::bin_to_sint(message_bin.substr(index, 22))) * TWO_N30;
@@ -1951,7 +1954,7 @@ int32_t Rtcm::read_MT1020(const std::string& message, Glonass_Gnav_Ephemeris& gl
glonass_gnav_eph.d_E_n = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 5)));
index += 5;
glonass_gnav_eph.d_P_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
glonass_gnav_eph.d_P_4 = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
glonass_gnav_eph.d_F_T = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 4)));
@@ -2007,12 +2010,7 @@ std::string Rtcm::print_MT1029(uint32_t ref_id, const Gps_Ephemeris& gps_eph, do
std::string text_binary;
for (char c : message)
{
if (isgraph(c))
{
i++;
first = true;
}
else if (c == ' ')
if (isgraph(c) || c == ' ')
{
i++;
first = true;
@@ -4529,14 +4527,14 @@ int32_t Rtcm::set_DF107(const Glonass_Gnav_Ephemeris& glonass_gnav_eph)
int32_t Rtcm::set_DF108(const Glonass_Gnav_Ephemeris& glonass_gnav_eph)
{
DF108 = std::bitset<1>(glonass_gnav_eph.d_B_n);
DF108 = std::bitset<1>(static_cast<bool>(glonass_gnav_eph.d_B_n));
return 0;
}
int32_t Rtcm::set_DF109(const Glonass_Gnav_Ephemeris& glonass_gnav_eph)
{
DF109 = std::bitset<1>(glonass_gnav_eph.d_P_2);
DF109 = std::bitset<1>(static_cast<bool>(glonass_gnav_eph.d_P_2));
return 0;
}
@@ -5289,11 +5287,7 @@ int32_t Rtcm::set_DF397(const Gnss_Synchro& gnss_synchro)
uint32_t int_ms = 0;
if (rough_range_s == 0.0)
{
int_ms = 255;
}
else if ((rough_range_s < 0.0) || (rough_range_s > meters_to_miliseconds * 255.0))
if (rough_range_s == 0.0 || ((rough_range_s < 0.0) || (rough_range_s > meters_to_miliseconds * 255.0)))
{
int_ms = 255;
}
@@ -5349,7 +5343,7 @@ int32_t Rtcm::set_DF399(const Gnss_Synchro& gnss_synchro)
}
if (sig == "7X")
{
lambda = SPEED_OF_LIGHT_M_S / 1.207140e9; // Galileo_E1b_FREQ_HZ;
lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5B_FREQ_HZ;
}
double rough_phase_range_rate_ms = std::round(-gnss_synchro.Carrier_Doppler_hz * lambda);
@@ -5376,11 +5370,7 @@ int32_t Rtcm::set_DF400(const Gnss_Synchro& gnss_synchro)
psrng_s = gnss_synchro.Pseudorange_m - rough_range_m;
if (psrng_s == 0)
{
fine_pseudorange = -16384;
}
else if (std::fabs(psrng_s) > 292.7)
if (psrng_s == 0 || (std::fabs(psrng_s) > 292.7))
{
fine_pseudorange = -16384; // 4000h: invalid value
}
@@ -5424,7 +5414,7 @@ int32_t Rtcm::set_DF401(const Gnss_Synchro& gnss_synchro)
}
if ((sig == "7X") && (sys == "E"))
{
lambda = SPEED_OF_LIGHT_M_S / 1.207140e9; // Galileo_E1b_FREQ_HZ;
lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5B_FREQ_HZ;
}
if ((sig == "1C") && (sys == "R"))
{
@@ -5447,11 +5437,7 @@ int32_t Rtcm::set_DF401(const Gnss_Synchro& gnss_synchro)
}
phrng_m -= cp;
if (phrng_m == 0.0)
{
fine_phaserange = -2097152;
}
else if (std::fabs(phrng_m) > 1171.0)
if (phrng_m == 0.0 || (std::fabs(phrng_m) > 1171.0))
{
fine_phaserange = -2097152;
}
@@ -5484,11 +5470,7 @@ int32_t Rtcm::set_DF402(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& e
{
lock_time_period_s = Rtcm::lock_time(ephFNAV, obs_time, gnss_synchro);
}
if ((sig_ == "1C") && (sys == "R"))
{
lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
}
if ((sig_ == "2C") && (sys == "R"))
if (((sig_ == "1C") && (sys == "R")) || ((sig_ == "2C") && (sys == "R")))
{
lock_time_period_s = Rtcm::lock_time(ephGNAV, obs_time, gnss_synchro);
}
@@ -5533,7 +5515,7 @@ int32_t Rtcm::set_DF404(const Gnss_Synchro& gnss_synchro)
}
if ((sig_ == "7X") && (sys_ == "E"))
{
lambda = SPEED_OF_LIGHT_M_S / 1.207140e9; // Galileo_E1b_FREQ_HZ;
lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5B_FREQ_HZ;
}
if ((sig_ == "1C") && (sys_ == "R"))
{
@@ -5547,11 +5529,7 @@ int32_t Rtcm::set_DF404(const Gnss_Synchro& gnss_synchro)
double rough_phase_range_rate = std::round(-gnss_synchro.Carrier_Doppler_hz * lambda);
double phrr = (-gnss_synchro.Carrier_Doppler_hz * lambda - rough_phase_range_rate);
if (phrr == 0.0)
{
fine_phaserange_rate = -16384;
}
else if (std::fabs(phrr) > 1.6384)
if (phrr == 0.0 || (std::fabs(phrr) > 1.6384))
{
fine_phaserange_rate = -16384;
}
@@ -5574,11 +5552,7 @@ int32_t Rtcm::set_DF405(const Gnss_Synchro& gnss_synchro)
psrng_s = gnss_synchro.Pseudorange_m - rough_range_m;
if (psrng_s == 0.0)
{
fine_pseudorange = -524288;
}
else if (std::fabs(psrng_s) > 292.7)
if (psrng_s == 0.0 || (std::fabs(psrng_s) > 292.7))
{
fine_pseudorange = -524288;
}
@@ -5620,7 +5594,7 @@ int32_t Rtcm::set_DF406(const Gnss_Synchro& gnss_synchro)
}
if ((sig_ == "7X") && (sys_ == "E"))
{
lambda = SPEED_OF_LIGHT_M_S / 1.207140e9; // Galileo_E1b_FREQ_HZ;
lambda = SPEED_OF_LIGHT_M_S / GALILEO_E5B_FREQ_HZ;
}
if ((sig_ == "1C") && (sys_ == "R"))
{
@@ -5642,11 +5616,7 @@ int32_t Rtcm::set_DF406(const Gnss_Synchro& gnss_synchro)
}
phrng_m -= cp;
if (phrng_m == 0.0)
{
fine_phaserange_ex = -8388608;
}
else if (std::fabs(phrng_m) > 1171.0)
if (phrng_m == 0.0 || (std::fabs(phrng_m) > 1171.0))
{
fine_phaserange_ex = -8388608;
}

4
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@@ -890,7 +890,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
nav_data.utc_cmp[1] = beidou_dnav_utc_model.d_A1_UTC;
nav_data.utc_cmp[2] = 0.0; // ??
nav_data.utc_cmp[3] = 0.0; // ??
nav_data.leaps = beidou_dnav_utc_model.d_DeltaT_LS;
nav_data.leaps = beidou_dnav_utc_model.i_DeltaT_LS;
}
/* update carrier wave length using native function call in RTKlib */
@@ -928,7 +928,7 @@ 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;
int index_aux = 0;
for (auto &i : rtk_.ssat)
{
if (i.vs == 1)