mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-24 22:13:15 +00:00
const correctness
marking as const the member functions that do not modify member parameters. Two warnings of unused variables removed.
This commit is contained in:
Carles Fernandez
parent
6e39d8f32e
commit
dd22536c9b
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@ -36,6 +36,7 @@
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#include <sstream> // for std::stringstream
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#include <thread>
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#include <boost/algorithm/string.hpp> // for to_upper_copy
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#include <boost/crc.hpp>
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#include <boost/dynamic_bitset.hpp>
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#include <gflags/gflags.h>
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#include <glog/logging.h>
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@ -47,9 +48,6 @@ DEFINE_int32(RTCM_Port, 2101 , "TCP port of the RTCM message server");
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// 2101 is the standard RTCM port according to the Internet Assigned Numbers Authority (IANA)
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// https://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xml
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DEFINE_string(Remote_RTCM_Server, "localhost", "Remote RTCM server address");
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DEFINE_int32(Remote_RTCM_Port, 2101 , "Remote TCP port of the RTCM message server");
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Rtcm::Rtcm()
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{
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@ -71,7 +69,7 @@ Rtcm::~Rtcm()
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// *****************************************************************************************************
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//
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// TCP Server / Client helper classes
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// TCP Server helper classes
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//
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// *****************************************************************************************************
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void Rtcm::run_server()
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@ -116,7 +114,7 @@ void Rtcm::send_message(const std::string & msg)
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}
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bool Rtcm::is_server_running()
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bool Rtcm::is_server_running() const
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{
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return server_is_running;
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}
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@ -128,10 +126,10 @@ bool Rtcm::is_server_running()
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//
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// *****************************************************************************************************
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std::string Rtcm::add_CRC (const std::string& message_without_crc)
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std::string Rtcm::add_CRC (const std::string & message_without_crc) const
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{
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// ****** Computes Qualcomm CRC-24Q ******
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crc_24_q_type CRC_RTCM;
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boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_RTCM;
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// 1) Converts the string to a vector of unsigned char:
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boost::dynamic_bitset<unsigned char> frame_bits(message_without_crc);
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std::vector<unsigned char> bytes;
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@ -140,7 +138,7 @@ std::string Rtcm::add_CRC (const std::string& message_without_crc)
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// 2) Computes CRC
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CRC_RTCM.process_bytes(bytes.data(), bytes.size());
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crc_frame = std::bitset<24>(CRC_RTCM.checksum());
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std::bitset<24> crc_frame = std::bitset<24>(CRC_RTCM.checksum());
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// 3) Builds the complete message
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std::string complete_message = message_without_crc + crc_frame.to_string();
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@ -148,9 +146,9 @@ std::string Rtcm::add_CRC (const std::string& message_without_crc)
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}
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bool Rtcm::check_CRC(const std::string & message)
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bool Rtcm::check_CRC(const std::string & message) const
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{
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crc_24_q_type CRC_RTCM_CHECK;
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boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_RTCM_CHECK;
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// Convert message to binary
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std::string message_bin = Rtcm::hex_to_bin(message);
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// Check CRC
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@ -176,7 +174,7 @@ bool Rtcm::check_CRC(const std::string & message)
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}
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std::string Rtcm::bin_to_hex(const std::string& s)
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std::string Rtcm::bin_to_hex(const std::string& s) const
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{
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std::string s_aux;
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std::stringstream ss;
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@ -202,7 +200,7 @@ std::string Rtcm::bin_to_hex(const std::string& s)
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}
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std::string Rtcm::hex_to_bin(const std::string& s)
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std::string Rtcm::hex_to_bin(const std::string& s) const
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{
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std::string s_aux;
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s_aux.clear();
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@ -220,7 +218,7 @@ std::string Rtcm::hex_to_bin(const std::string& s)
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}
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unsigned long int Rtcm::bin_to_uint(const std::string& s)
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unsigned long int Rtcm::bin_to_uint(const std::string& s) const
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{
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if(s.length() > 32)
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{
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@ -232,7 +230,7 @@ unsigned long int Rtcm::bin_to_uint(const std::string& s)
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}
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long int Rtcm::bin_to_int(const std::string& s)
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long int Rtcm::bin_to_int(const std::string& s) const
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{
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if(s.length() > 32)
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{
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@ -257,7 +255,7 @@ long int Rtcm::bin_to_int(const std::string& s)
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}
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double Rtcm::bin_to_double(const std::string& s)
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double Rtcm::bin_to_double(const std::string& s) const
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{
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double reading;
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if(s.length() > 64)
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@ -288,7 +286,7 @@ double Rtcm::bin_to_double(const std::string& s)
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}
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unsigned long int Rtcm::hex_to_uint(const std::string& s)
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unsigned long int Rtcm::hex_to_uint(const std::string& s) const
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{
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if(s.length() > 32)
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{
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@ -300,7 +298,7 @@ unsigned long int Rtcm::hex_to_uint(const std::string& s)
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}
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long int Rtcm::hex_to_int(const std::string& s)
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long int Rtcm::hex_to_int(const std::string& s) const
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{
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if(s.length() > 32)
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{
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@ -312,11 +310,11 @@ long int Rtcm::hex_to_int(const std::string& s)
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}
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std::string Rtcm::build_message(std::string data)
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std::string Rtcm::build_message(const std::string & data) const
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{
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unsigned int msg_length_bits = data.length();
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unsigned int msg_length_bytes = std::ceil(static_cast<float>(msg_length_bits) / 8.0);
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message_length = std::bitset<10>(msg_length_bytes);
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std::bitset<10> message_length = std::bitset<10>(msg_length_bytes);
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unsigned int zeros_to_fill = 8 * msg_length_bytes - msg_length_bits;
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std::string b(zeros_to_fill, '0');
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std::string msg_content = data + b;
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@ -1449,7 +1447,6 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
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clock_steering_indicator,
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external_clock_indicator,
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smooth_int,
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sync_flag,
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divergence_free,
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more_messages);
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@ -1471,7 +1468,6 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number, const Gps_Ephemeris &
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool sync_flag,
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bool divergence_free,
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bool more_messages)
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{
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@ -1632,7 +1628,6 @@ std::string Rtcm::print_MSM_2( const Gps_Ephemeris & gps_eph,
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clock_steering_indicator,
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external_clock_indicator,
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smooth_int,
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sync_flag,
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divergence_free,
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more_messages);
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@ -1725,7 +1720,6 @@ std::string Rtcm::print_MSM_3( const Gps_Ephemeris & gps_eph,
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clock_steering_indicator,
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external_clock_indicator,
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smooth_int,
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sync_flag,
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divergence_free,
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more_messages);
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@ -1820,7 +1814,6 @@ std::string Rtcm::print_MSM_4( const Gps_Ephemeris & gps_eph,
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clock_steering_indicator,
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external_clock_indicator,
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smooth_int,
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sync_flag,
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divergence_free,
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more_messages);
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@ -1958,7 +1951,6 @@ std::string Rtcm::print_MSM_5( const Gps_Ephemeris & gps_eph,
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clock_steering_indicator,
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external_clock_indicator,
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smooth_int,
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sync_flag,
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divergence_free,
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more_messages);
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@ -2106,7 +2098,6 @@ std::string Rtcm::print_MSM_6( const Gps_Ephemeris & gps_eph,
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clock_steering_indicator,
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external_clock_indicator,
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smooth_int,
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sync_flag,
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divergence_free,
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more_messages);
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@ -2205,7 +2196,6 @@ std::string Rtcm::print_MSM_7( const Gps_Ephemeris & gps_eph,
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clock_steering_indicator,
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external_clock_indicator,
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smooth_int,
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sync_flag,
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divergence_free,
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more_messages);
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@ -2270,7 +2260,7 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV, co
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// Some utilities
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// *****************************************************************************************************
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std::vector<std::pair<int, Gnss_Synchro> > Rtcm::sort_by_PRN_mask(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map)
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std::vector<std::pair<int, Gnss_Synchro> > Rtcm::sort_by_PRN_mask(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map) const
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{
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std::vector<std::pair<int, Gnss_Synchro> >::const_iterator synchro_map_iter;
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std::vector<std::pair<int, Gnss_Synchro> > my_vec;
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@ -2298,7 +2288,7 @@ std::vector<std::pair<int, Gnss_Synchro> > Rtcm::sort_by_PRN_mask(const std::vec
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}
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std::vector<std::pair<int, Gnss_Synchro> > Rtcm::sort_by_signal(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map)
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std::vector<std::pair<int, Gnss_Synchro> > Rtcm::sort_by_signal(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map) const
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{
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std::vector<std::pair<int, Gnss_Synchro> >::const_iterator synchro_map_iter;
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std::vector<std::pair<int, Gnss_Synchro> > my_vec;
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@ -2401,7 +2391,7 @@ std::map<std::string, int> Rtcm::galileo_signal_map = []
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}();
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boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris & eph, double obs_time)
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boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris & eph, double obs_time) const
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{
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const double gps_t = obs_time;
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boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000);
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@ -2410,7 +2400,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris & eph, doubl
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}
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boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris & eph, double obs_time)
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boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris & eph, double obs_time) const
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{
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const double gps_t = obs_time;
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boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000);
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@ -2419,7 +2409,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris & eph,
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}
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boost::posix_time::ptime Rtcm::compute_Galileo_time(const Galileo_Ephemeris & eph, double obs_time)
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boost::posix_time::ptime Rtcm::compute_Galileo_time(const Galileo_Ephemeris & eph, double obs_time) const
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{
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double galileo_t = obs_time;
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boost::posix_time::time_duration t = boost::posix_time::millisec((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000);
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@ -4083,7 +4073,6 @@ int Rtcm::set_DF417(bool using_divergence_free_smoothing)
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int Rtcm::set_DF418(int carrier_smoothing_interval_s)
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{
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unsigned int smoothing_int = abs(carrier_smoothing_interval_s);
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if(carrier_smoothing_interval_s < 0)
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{
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DF418 = std::bitset<3>("111");
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@ -43,7 +43,6 @@
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#include <utility>
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#include <vector>
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#include <boost/asio.hpp>
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#include <boost/crc.hpp>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include "concurrent_queue.h"
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#include "gnss_synchro.h"
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@ -122,6 +121,8 @@ public:
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*/
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std::string print_MT1006(unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator, double height);
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std::string print_MT1005_test(); //<! For testing purposes
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/*!
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* \brief Prints message type 1008 (Antenna Descriptor & Serial Number)
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*/
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@ -264,28 +265,23 @@ public:
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unsigned int lock_time(const Gps_CNAV_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro); //<! Returns the time period in which GPS L2 signals have been continually tracked.
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unsigned int lock_time(const Galileo_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro); //<! Returns the time period in which Galileo signals have been continually tracked.
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std::string bin_to_hex(const std::string& s); //<! Returns a string of hexadecimal symbols from a string of binary symbols
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std::string hex_to_bin(const std::string& s); //<! Returns a string of binary symbols from a string of hexadecimal symbols
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std::string bin_to_hex(const std::string & s) const; //<! Returns a string of hexadecimal symbols from a string of binary symbols
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std::string hex_to_bin(const std::string & s) const; //<! Returns a string of binary symbols from a string of hexadecimal symbols
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unsigned long int bin_to_uint(const std::string& s); //<! Returns an unsigned long int from a string of binary symbols
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long int bin_to_int(const std::string& s); //<! Returns a long int from a string of binary symbols
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unsigned long int bin_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of binary symbols
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long int bin_to_int(const std::string & s) const; //<! Returns a long int from a string of binary symbols
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double bin_to_double(const std::string & s) const; //<! Returns double from a string of binary symbols
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unsigned long int hex_to_uint(const std::string& s); //<! Returns an unsigned long int from a string of hexadecimal symbols
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long int hex_to_int(const std::string& s); //<! Returns a long int from a string of hexadecimal symbols
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unsigned long int hex_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of hexadecimal symbols
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long int hex_to_int(const std::string & s) const; //<! Returns a long int from a string of hexadecimal symbols
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double bin_to_double(const std::string& s); //<! Returns double from a string of binary symbols
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std::string print_MT1005_test(); //<! For testing purposes
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bool check_CRC(const std::string & message); //<! Checks that the CRC of a RTCM package is correct
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bool check_CRC(const std::string & message) const; //<! Checks that the CRC of a RTCM package is correct
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void run_server(); //<! Starts running the server
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void stop_server(); //<! Stops the server
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void run_client(); //<! Starts running the client
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void stop_client(); //<! Stops the client
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void send_message(const std::string & message); //<! Sends a message through the server
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bool is_server_running(); //<! Returns true if the server is running, false otherwise
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void send_message(const std::string & message); //<! Sends a message through the server to all connected clients
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bool is_server_running() const; //<! Returns true if the server is running, false otherwise
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private:
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//
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@ -316,7 +312,6 @@ private:
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool sync_flag,
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bool divergence_free,
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bool more_messages);
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@ -337,11 +332,11 @@ private:
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//
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static std::map<std::string, int> galileo_signal_map;
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static std::map<std::string, int> gps_signal_map;
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std::vector<std::pair<int, Gnss_Synchro> > sort_by_signal(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map);
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std::vector<std::pair<int, Gnss_Synchro> > sort_by_PRN_mask(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map);
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boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, double obs_time);
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boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris & eph, double obs_time);
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boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time);
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std::vector<std::pair<int, Gnss_Synchro> > sort_by_signal(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map) const;
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std::vector<std::pair<int, Gnss_Synchro> > sort_by_PRN_mask(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map) const;
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boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const;
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boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris & eph, double obs_time) const;
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boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const;
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boost::posix_time::ptime gps_L1_last_lock_time[64];
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boost::posix_time::ptime gps_L2_last_lock_time[64];
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boost::posix_time::ptime gal_E1_last_lock_time[64];
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@ -768,11 +763,8 @@ private:
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//
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std::bitset<8> preamble;
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std::bitset<6> reserved_field;
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std::bitset<10> message_length;
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std::bitset<24> crc_frame;
|
||||
typedef boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> crc_24_q_type;
|
||||
std::string add_CRC(const std::string& m);
|
||||
std::string build_message(std::string data); // adds 0s to complete a byte and adds the CRC
|
||||
std::string add_CRC(const std::string & m) const;
|
||||
std::string build_message(const std::string & data) const; // adds 0s to complete a byte and adds the CRC
|
||||
|
||||
//
|
||||
// Data Fields
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user