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Fix possible container overflow detected in ASAN mode

This commit is contained in:
Carles Fernandez 2021-09-29 10:26:40 +02:00
parent 46f3be9cff
commit d7198845c0
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
2 changed files with 54 additions and 54 deletions
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96
src/algorithms/PVT/libs/rtcm.cc
View File

@ -40,7 +40,7 @@ Rtcm::Rtcm(uint16_t port)
RTCM_port = port;
preamble = std::bitset<8>("11010011");
reserved_field = std::bitset<6>("000000");
rtcm_message_queue = std::make_shared<Concurrent_Queue<std::string> >();
rtcm_message_queue = std::make_shared<Concurrent_Queue<std::string>>();
boost::asio::ip::tcp::endpoint endpoint(boost::asio::ip::tcp::v4(), RTCM_port);
servers.emplace_back(io_context, endpoint);
server_is_running = false;
@ -175,8 +175,7 @@ std::string Rtcm::bin_to_binary_data(const std::string& s) const
{
std::string s_aux;
const auto remainder = static_cast<int32_t>(std::fmod(s.length(), 8));
std::vector<uint8_t> c;
c.reserve(s.length());
std::vector<uint8_t> c(s.length());
uint32_t k = 0;
if (remainder != 0)
@ -628,8 +627,8 @@ std::string Rtcm::print_MT1003(const Gps_Ephemeris& ephL1, const Gps_CNAV_Epheme
}
// Get common observables
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> > common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> >::const_iterator common_observables_iter;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>> common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>>::const_iterator common_observables_iter;
std::map<int32_t, Gnss_Synchro> observablesL1_with_L2;
for (observables_iter = observablesL1.cbegin();
@ -737,8 +736,8 @@ std::string Rtcm::print_MT1004(const Gps_Ephemeris& ephL1, const Gps_CNAV_Epheme
}
// Get common observables
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> > common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> >::const_iterator common_observables_iter;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>> common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>>::const_iterator common_observables_iter;
std::map<int32_t, Gnss_Synchro> observablesL1_with_L2;
for (observables_iter = observablesL1.cbegin();
@ -1310,8 +1309,8 @@ std::string Rtcm::print_MT1011(const Glonass_Gnav_Ephemeris& ephL1, const Glonas
}
// Get common observables
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> > common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> >::const_iterator common_observables_iter;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>> common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>>::const_iterator common_observables_iter;
std::map<int32_t, Gnss_Synchro> observablesL1_with_L2;
for (observables_iter = observablesL1.begin();
@ -1421,8 +1420,8 @@ std::string Rtcm::print_MT1012(const Glonass_Gnav_Ephemeris& ephL1, const Glonas
}
// Get common observables
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> > common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro> >::const_iterator common_observables_iter;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>> common_observables;
std::vector<std::pair<Gnss_Synchro, Gnss_Synchro>>::const_iterator common_observables_iter;
std::map<int32_t, Gnss_Synchro> observablesL1_with_L2;
for (observables_iter = observablesL1.begin();
@ -2382,10 +2381,11 @@ std::string Rtcm::get_MSM_1_content_sat_data(const std::map<int32_t, Gnss_Synchr
const uint32_t num_satellites = DF394.count();
const uint32_t numobs = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(numobs);
std::map<int32_t, Gnss_Synchro>::const_iterator gnss_synchro_iter;
std::vector<uint32_t> pos;
auto pos = std::vector<uint32_t>();
pos.reserve(numobs);
std::vector<uint32_t>::iterator it;
@ -2401,7 +2401,7 @@ std::string Rtcm::get_MSM_1_content_sat_data(const std::map<int32_t, Gnss_Synchr
}
}
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
for (uint32_t nsat = 0; nsat < num_satellites; nsat++)
{
@ -2418,7 +2418,7 @@ std::string Rtcm::get_MSM_1_content_signal_data(const std::map<int32_t, Gnss_Syn
std::string signal_data;
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -2429,9 +2429,9 @@ std::string Rtcm::get_MSM_1_content_signal_data(const std::map<int32_t, Gnss_Syn
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -2527,7 +2527,7 @@ std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -2538,9 +2538,9 @@ std::string Rtcm::get_MSM_2_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -2642,7 +2642,7 @@ std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -2653,9 +2653,9 @@ std::string Rtcm::get_MSM_3_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -2754,10 +2754,10 @@ std::string Rtcm::get_MSM_4_content_sat_data(const std::map<int32_t, Gnss_Synchr
const uint32_t num_satellites = DF394.count();
const uint32_t numobs = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(numobs);
std::map<int32_t, Gnss_Synchro>::const_iterator gnss_synchro_iter;
std::vector<uint32_t> pos;
auto pos = std::vector<uint32_t>();
pos.reserve(numobs);
std::vector<uint32_t>::iterator it;
@ -2773,7 +2773,7 @@ std::string Rtcm::get_MSM_4_content_sat_data(const std::map<int32_t, Gnss_Synchr
}
}
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
for (uint32_t nsat = 0; nsat < num_satellites; nsat++)
{
@ -2803,7 +2803,7 @@ std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -2814,9 +2814,9 @@ std::string Rtcm::get_MSM_4_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -2919,10 +2919,10 @@ std::string Rtcm::get_MSM_5_content_sat_data(const std::map<int32_t, Gnss_Synchr
const uint32_t num_satellites = DF394.count();
const uint32_t numobs = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(numobs);
std::map<int32_t, Gnss_Synchro>::const_iterator gnss_synchro_iter;
std::vector<uint32_t> pos;
auto pos = std::vector<uint32_t>();
pos.reserve(numobs);
std::vector<uint32_t>::iterator it;
@ -2938,7 +2938,7 @@ std::string Rtcm::get_MSM_5_content_sat_data(const std::map<int32_t, Gnss_Synchr
}
}
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(observables_vector);
for (uint32_t nsat = 0; nsat < num_satellites; nsat++)
{
@ -2973,7 +2973,7 @@ std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -2984,9 +2984,9 @@ std::string Rtcm::get_MSM_5_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -3095,7 +3095,7 @@ std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -3106,9 +3106,9 @@ std::string Rtcm::get_MSM_6_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -3216,7 +3216,7 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV,
const uint32_t Ncells = observables.size();
std::vector<std::pair<int32_t, Gnss_Synchro> > observables_vector;
auto observables_vector = std::vector<std::pair<int32_t, Gnss_Synchro>>();
observables_vector.reserve(Ncells);
std::map<int32_t, Gnss_Synchro>::const_iterator map_iter;
@ -3227,9 +3227,9 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV,
observables_vector.emplace_back(*map_iter);
}
std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_signal = Rtcm::sort_by_signal(observables_vector);
std::reverse(ordered_by_signal.begin(), ordered_by_signal.end());
const std::vector<std::pair<int32_t, Gnss_Synchro> > ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
const std::vector<std::pair<int32_t, Gnss_Synchro>> ordered_by_PRN_pos = Rtcm::sort_by_PRN_mask(ordered_by_signal);
for (uint32_t cell = 0; cell < Ncells; cell++)
{
@ -3256,10 +3256,10 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV,
// Some utilities
// *****************************************************************************************************
std::vector<std::pair<int32_t, Gnss_Synchro> > Rtcm::sort_by_PRN_mask(const std::vector<std::pair<int32_t, Gnss_Synchro> >& synchro_map) const
std::vector<std::pair<int32_t, Gnss_Synchro>> Rtcm::sort_by_PRN_mask(const std::vector<std::pair<int32_t, Gnss_Synchro>>& synchro_map) const
{
std::vector<std::pair<int32_t, Gnss_Synchro> >::const_iterator synchro_map_iter;
std::vector<std::pair<int32_t, Gnss_Synchro> > my_vec;
std::vector<std::pair<int32_t, Gnss_Synchro>>::const_iterator synchro_map_iter;
std::vector<std::pair<int32_t, Gnss_Synchro>> my_vec;
struct
{
bool operator()(const std::pair<int32_t, Gnss_Synchro>& a, const std::pair<int32_t, Gnss_Synchro>& b)
@ -3285,10 +3285,10 @@ std::vector<std::pair<int32_t, Gnss_Synchro> > Rtcm::sort_by_PRN_mask(const std:
}
std::vector<std::pair<int32_t, Gnss_Synchro> > Rtcm::sort_by_signal(const std::vector<std::pair<int32_t, Gnss_Synchro> >& synchro_map) const
std::vector<std::pair<int32_t, Gnss_Synchro>> Rtcm::sort_by_signal(const std::vector<std::pair<int32_t, Gnss_Synchro>>& synchro_map) const
{
std::vector<std::pair<int32_t, Gnss_Synchro> >::const_iterator synchro_map_iter;
std::vector<std::pair<int32_t, Gnss_Synchro> > my_vec;
std::vector<std::pair<int32_t, Gnss_Synchro>>::const_iterator synchro_map_iter;
std::vector<std::pair<int32_t, Gnss_Synchro>> my_vec;
struct
{
@ -5152,7 +5152,7 @@ std::string Rtcm::set_DF396(const std::map<int32_t, Gnss_Synchro>& observables)
std::string s("");
return s;
}
std::vector<std::vector<bool> > matrix(num_signals, std::vector<bool>());
std::vector<std::vector<bool>> matrix(num_signals, std::vector<bool>());
std::string sig;
std::vector<uint32_t> list_of_sats;

12
src/algorithms/PVT/libs/rtcm.h
View File

@ -481,8 +481,8 @@ private:
//
static std::map<std::string, int> galileo_signal_map;
static std::map<std::string, int> gps_signal_map;
std::vector<std::pair<int32_t, Gnss_Synchro> > sort_by_signal(const std::vector<std::pair<int32_t, Gnss_Synchro> >& synchro_map) const;
std::vector<std::pair<int32_t, Gnss_Synchro> > sort_by_PRN_mask(const std::vector<std::pair<int32_t, Gnss_Synchro> >& synchro_map) const;
std::vector<std::pair<int32_t, Gnss_Synchro>> sort_by_signal(const std::vector<std::pair<int32_t, Gnss_Synchro>>& synchro_map) const;
std::vector<std::pair<int32_t, Gnss_Synchro>> sort_by_PRN_mask(const std::vector<std::pair<int32_t, Gnss_Synchro>>& synchro_map) const;
boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const;
boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris& eph, double obs_time) const;
boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const;
@ -630,7 +630,7 @@ private:
}
private:
std::set<std::shared_ptr<RtcmListener> > participants_;
std::set<std::shared_ptr<RtcmListener>> participants_;
enum
{
max_recent_msgs = 1
@ -840,7 +840,7 @@ private:
class Queue_Reader
{
public:
Queue_Reader(b_io_context& io_context, std::shared_ptr<Concurrent_Queue<std::string> >& queue, int32_t port) : queue_(queue)
Queue_Reader(b_io_context& io_context, std::shared_ptr<Concurrent_Queue<std::string>>& queue, int32_t port) : queue_(queue)
{
boost::asio::ip::tcp::resolver resolver(io_context);
std::string host("localhost");
@ -871,7 +871,7 @@ private:
private:
std::shared_ptr<Tcp_Internal_Client> c;
std::shared_ptr<Concurrent_Queue<std::string> >& queue_;
std::shared_ptr<Concurrent_Queue<std::string>>& queue_;
};
@ -946,7 +946,7 @@ private:
};
b_io_context io_context;
std::shared_ptr<Concurrent_Queue<std::string> > rtcm_message_queue;
std::shared_ptr<Concurrent_Queue<std::string>> rtcm_message_queue;
std::thread t;
std::thread tq;
std::list<Rtcm::Tcp_Server> servers;